CN109975755A - A kind of shortwave multistation direct localization method under calibration source existence condition - Google Patents
A kind of shortwave multistation direct localization method under calibration source existence condition Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/04—Position of source determined by a plurality of spaced direction-finders
Abstract
The present invention relates to shortwave multistation location technical fields, a kind of direct localization method of shortwave multistation under calibration source existence condition is disclosed, this method places shortwave calibration source known to several positions simultaneously first near shortwave target source, and short-wave signal data are received using the uniform circular array in multiple observation stations, then determine that signal reaches the azimuth of different observation stations and the relationship at the elevation angle and its longitude and latitude and Ionospheric virtual height parameter, target source longitude and latitude is estimated followed by maximum-likelihood criterion tectonic syntaxis, the cost function of Ionospheric virtual height parameter and more array amplitude phase errors, finally using alternative and iterative algorithm to target source longitude and latitude, Ionospheric virtual height and more array amplitude phase errors carry out Combined estimator, so that it is determined that the location information of target.Due to the presence of calibration source, method proposed by the present invention can effectively inhibit influence of the array amplitude phase error to shortwave multistation location precision.
Description
Technical field
Shortwave multistation the present invention relates to shortwave multistation location technical field, in particular under a kind of calibration source existence condition
Direct localization method.
Background technique
It is well known that wireless signal location technology is widely used in communication, radar, target monitoring, navigation telemetering, earthquake are surveyed
The fields such as survey, radio astronomy, Emergency Assistance, safety management all play an important role in industrial production and Military Application.
(i.e. position parameter Estimation) is positioned to target the active equipments such as radar, laser, sonar can be used and is completed, such technology
Referred to as active location technology, it has many advantages, such as round-the-clock, high-precision.However, active location system is usually required by transmitting
Great-power electromagnetic signal is easy to be found by other side come the position realized, therefore easily sticked one's chin out, thus dry by other side's electronics
The influence disturbed, causes positioning performance sharply to deteriorate, or even can jeopardize system security and reliability.
Target, which positions, to be realized using the radio signal of target (active) radiation or (passive) scattering, such
Technology is known as passive location technology, it refers in the case where observation station not actively transmission of electromagnetic signals, by receiving target spoke
The radio signal penetrated or scattered estimates target position parameter.Compared with active location system, passive location system has
The advantages that actively transmission of electromagnetic signals, survival ability be not strong, reconnaissance range is remote, to obtain the extensive pass of domestic and foreign scholars
Note and further investigation.Passive location system can be divided into Single passive location system according to observation station number and multistation is passive fixed
Position system two major classes, wherein multi-station positioning system can provide more observed quantities, so that target location accuracy is improved, this patent
Relate generally to Multi-Station passive location system.
It is well known that shortwave multistation location is a kind of important Multi-Station passive location system, which are mainly applied to ultraphotic
It is positioned away from distant object.Array amplitude phase error is a key factor for influencing positioning accuracy, when each observation station
Array antenna is without just will appear array amplitude phase error when channel correcting.
On the other hand, existing passive location process can be summarized as greatly Two-step estimation station-keeping mode, i.e., first from letter
Positional parameter (such as orientation, delay inequality, Doppler etc.) is extracted in number, then calculates target based on these parametric solutions again
Location information.Although this two steps station-keeping mode is widely used in modern positioning system, Israel scholar
A.J.Weiss and A.Amar but indicates several disadvantages in the presence of it, and proposes the thought that single step directly positions, the skill
The basic concept of art is the location parameter that target is directly determined from collected signal data, without estimating that other centres are fixed
Position parameter.Obviously, the direct station-keeping mode of this single step is also applied for the shortwave multistation location under array amplitude phase error existence condition
Scene, only direct localization method equally will receive the influence of array amplitude phase error, to generate biggish deviations.
Summary of the invention
The present invention is directed to the influence problem of array amplitude phase error, provides the shortwave multistation under a kind of calibration source existence condition
Direct localization method, to improve the multistation location precision to shortwave radiation source.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of shortwave multistation direct localization method under calibration source existence condition, comprising:
Step 1: placing shortwave calibration source known to D longitude and latitude simultaneously on shortwave target source region periphery；
Step 2: target source signal and D correction source signal being received using N number of observation station, each observation station utilizes
The uniform circular array for not obtaining channel correcting acquires K sample of signal, and establishes the corresponding array signal model of K sample of signal；
Step 3: determine target source signal reach N number of observation station azimuth and the elevation angle respectively with target source longitude and latitude and electricity
The relationship of absciss layer virtual height；
Step 4: determine D correction source signal reach N number of observation station azimuth and the elevation angle respectively with the d calibration source
The relationship of longitude and latitude and Ionospheric virtual height；
Step 5: each observation station utilizes the corresponding array signal Construction of A Model covariance square of collected K sample of signal
Battle array, and covariance matrix is sent to the central station in N number of observation station；
Step 6: central station utilizes the covariance matrix of N number of observation station, estimates mesh based on maximum-likelihood criterion tectonic syntaxis
The cost function of mark source longitude and latitude, Ionospheric virtual height and more array amplitude phase errors；
Step 7: according to target source signal reach N number of observation station azimuth and the elevation angle respectively with target source longitude and latitude and electricity
The relationship of absciss layer virtual height, D correction source signal reach N number of observation station azimuth and the elevation angle respectively with d-th of calibration source longitude and latitude
Relationship and the cost function of degree and Ionospheric virtual height, it is empty to target source longitude and latitude, ionosphere using alternative and iterative algorithm
High and more array amplitude phase errors carry out Combined estimator, so that it is determined that the location information of target.
Further, array signal model in the step 2 are as follows:
In formula, xn(tk) be n-th of observation station k-th of array received signal；sc,n,d(tk) it is d-th of correction source signal
Reach the complex envelope of n-th of observation station；st,n(tk) it is the complex envelope that target source signal reaches n-th of observation station；εn(tk) it is n-th
The uniform circular array additive noise of a observation station；For n-th of sight of signal arrival
The complex envelope vector of survey station； hnN-th of observation station Ionospheric virtual height experienced is reached for signal；an(ωc,d,ρc,d,hn) be
D-th of correction source signal reaches the array manifold vector of n-th of observation station, ωc,dFor calibration source longitude, ρc,dFor calibration source latitude,
hnFor Ionospheric virtual height；an(ωt,ρt,hn) it is the array manifold vector that target source signal reaches n-th of observation station, ωtFor target source
Longitude, ρtFor target source latitude；
For the array manifold matrix of n-th of observation station；ΓnFor the amplitude phase error matrix of n-th of observation station.
Further, the step 3 includes:
Step 3.1: the latitude and longitude coordinates of target source are converted to the horizontal coordinate centered on observation station according to formula (2):
In formula, (xt,n,g,yt,n,g,zt,n,g) it is coordinate of the target source under n-th of observation station horizontal system of coordinates；ωo,nWith
ρo,nThe longitude and latitude of respectively n-th observation station；R is earth radius；
Step 3.2: azimuth angle theta is obtained according to formula (2)t,nWith longitude ωt, latitude ρtAnd Ionospheric virtual height hnRelationship:
In formula,
Step 3.3: obtaining and face upward using triangle sine by observation station, center point and ionization layer building triangle
Angle betatWith longitude ωt, latitude ρtAnd the relationship of Ionospheric virtual height h:
In formula,It is the triangle using center point as the interior angle on vertex.
Further, the step 4 includes:
Step 4.1: the latitude and longitude coordinates of d-th of calibration source are converted to the Horizon centered on observation station according to formula (5)
Coordinate:
In formula, (xd,n,g,yd,n,g,zd,n,g) it is d-th of calibration source target source under n-th of observation station horizontal system of coordinates
Coordinate；
Step 4.2: azimuth angle theta is obtained according to formula (5)c,d,nWith longitude ωc,dAnd latitude ρc,dRelationship:
Step 4.3: utilizing triangle sine, obtain elevation angle βc,d,nWith longitude ωc,d, latitude ρc,dAnd ionosphere is empty
High hnRelationship:
In formula,
Further, the step 5 includes:
Step 5.1: n-th of observation station utilizes the corresponding array signal model { x of collected K sample of signaln
(tk)}1≤k≤KConstruct array output covariance matrix
Step 5.2: the covariance matrix constructed is transferred to the central station in N number of observation station by each observation station.
Further, the step 6 includes:
Central station utilizes the covariance matrix of N number of observation stationEstimated based on maximum-likelihood criterion tectonic syntaxis
Target source longitude ωt, latitude ρt, Ionospheric virtual height { hn}1≤n≤NAnd more array amplitude phase error matrix { Γn}1≤n≤NCost
Function；The cost function are as follows:
In formula, h=[h1h2…hN]TIndicate Ionospheric virtual height parameter；Indicate array amplitude phase error parameter；Π⊥
[ΓnAn(ωt,ρt,hn)] indicate orthogonal intersection cast shadow matrix, Π⊥[ΓnAn(ωt,ρt,hn)]=I- ΓnAn(ωt,ρt,hn)((ΓnAn
(ωt,ρt,hn))HΓnAn(ωt,ρt,hn))-1(ΓnAn(ωt,ρt,hn))H, (1≤n≤N)
Wherein, I is unit matrix.
Further, the step 7 includes:
Step 7.1: by ωt、ρtAnd { hn}1≤n≤NAs first group of parameter, by { Γn}1≤n≤NAs second group of parameter,
Second group of parameter is fixed as current updated value, i.e., by { Γn}1≤n≤NIt is fixed asG is fixed asAccording to target source
Signal reach N number of observation station azimuth and the elevation angle respectively with the relationship of target source longitude and latitude and Ionospheric virtual height, D calibration source
Signal reach N number of observation station azimuth and the elevation angle respectively with the relationship of the d calibration source longitude and latitude and Ionospheric virtual height and
The cost function estimates first group of parameter according to formula (10):
In formula, μ is step factor, 0 < μ < 1, μiFor i-th iteration step factor；And h(i)It is i-th
Secondary iteration result；And h(i+1)It is i+1 time iteration result；For gradient vector；For Hessian matrix；
Wherein the expression formula of each element is respectively
In formula,
In formula, lnFor the uniform circular array radius of n-th of observation station, λ is signal wavelength,For (D+1) × (D+1) rank
The last one column vector in unit matrix；
Step 7.2: first group of parameter being fixed as current updated value, i.e., by ωt、ρtAnd h is fixed to
AndAccording to target source signal reach N number of observation station azimuth and the elevation angle respectively with target source longitude and latitude and Ionospheric virtual height
Relationship, D correction source signal reach N number of observation station azimuth and the elevation angle respectively with d-th of calibration source longitude and latitude and electricity
The relationship of absciss layer virtual height and the cost function optimize second group of parameter according to formula (11):
In formula, g(i)For i-th iteration result；g(i+1)For i+1 time iteration result；For gradient vector；For Hessian matrix；
Wherein the expression formula of each element is respectively
Step 7.3: according to formula (10) and formula (11) alternately to first group join into and second group of parameter optimize,
Until iteration convergence.
Compared with prior art, the invention has the benefit that
The present invention places shortwave calibration source known to several positions simultaneously first near shortwave target source, and utilizes multiple
Uniform circular array in observation station receives short-wave signal data (while including target source signal and correction source signal), then determines letter
Number the azimuth of different observation stations and the relationship at the elevation angle and its longitude and latitude and Ionospheric virtual height parameter are reached, followed by maximum
Likelihood criterion tectonic syntaxis estimates the cost function of target source longitude and latitude, Ionospheric virtual height parameter and more array amplitude phase errors,
Combined estimator finally is carried out to target source longitude and latitude, Ionospheric virtual height and more array amplitude phase errors using alternative and iterative algorithm,
So that it is determined that the location information of target.The present invention is based on the basic thoughts directly positioned, utilize the accurately known calibration source in position
Short-wave signal source is positioned, can effectively eliminate the deviations as caused by more array amplitude phase errors, to improve shortwave
Multistation location precision.
Detailed description of the invention
Fig. 1 is the direct localization method flow chart of shortwave multistation under a kind of calibration source existence condition of the embodiment of the present invention.
Fig. 2 is coordinate system of embodiment of the present invention transition diagram.
Fig. 3 is the triangle schematic diagram that the embodiment of the present invention determines elevation angle expression formula.
Fig. 4 is that multistation of embodiment of the present invention data transmit schematic diagram.
Fig. 5 is change curve of target source of the embodiment of the present invention position root-mean-square error with target source signal-to-noise ratio.
Fig. 6 is that Ionospheric virtual height of the embodiment of the present invention estimates root-mean-square error with the change curve of target source signal-to-noise ratio
Figure.
Fig. 7 is that array of embodiment of the present invention amplitude phase error estimates root-mean-square error with the change curve of target source signal-to-noise ratio
Figure.
Fig. 8 is change curve of target source of the embodiment of the present invention position root-mean-square error with circle battle array radius and wavelength ratio
Figure.
Fig. 9 is that Ionospheric virtual height of the embodiment of the present invention estimates that root-mean-square error is bent with the variation of circle battle array radius and wavelength ratio
Line chart.
Figure 10 is that array of embodiment of the present invention amplitude phase error estimates root-mean-square error with the change of circle battle array radius and wavelength ratio
Change curve graph.
Specific embodiment
With reference to the accompanying drawing with specific embodiment the present invention will be further explained explanation:
Embodiment one:
As shown in Figure 1, the direct localization method of shortwave multistation under a kind of calibration source existence condition, comprising the following steps:
Step S101: shortwave calibration source known to D longitude and latitude is placed simultaneously on shortwave target source region periphery；
Step S102: target source signal and D correction source signal are received using N number of observation station, each observation station
K sample of signal is acquired using the uniform circular array for not obtaining channel correcting, and establishes the corresponding array signal mould of K sample of signal
Type；
Step S103: determine target source signal reach N number of observation station azimuth and the elevation angle respectively with target source longitude and latitude
And the relationship of Ionospheric virtual height；
Step S104: determine that D correction source signal reaches the azimuth of N number of observation station and the elevation angle is corrected with d-th respectively
The relationship of source longitude and latitude and Ionospheric virtual height；
Step S105: each observation station utilizes collected K sample of signal corresponding array signal Construction of A Model association side
Poor matrix, and covariance matrix is sent to the central station in N number of observation station；
Step S106: central station utilizes the covariance matrix of N number of observation station, is estimated based on maximum-likelihood criterion tectonic syntaxis
The cost function of target source longitude and latitude, Ionospheric virtual height and more array amplitude phase errors；
Step S107: according to target source signal reach N number of observation station azimuth and the elevation angle respectively with target source longitude and latitude
And Ionospheric virtual height relationship, D correction source signal reach N number of observation station azimuth and the elevation angle respectively with d-th of calibration source
The relationship and the cost function of longitude and latitude and Ionospheric virtual height, using alternative and iterative algorithm to target source longitude and latitude, ionization
Layer virtual height and more array amplitude phase errors carry out Combined estimator, so that it is determined that the location information of target.
Specifically, in the step S101, D longitude and latitude has been placed accurately simultaneously on shortwave target source region periphery
The shortwave calibration source known, the longitude of target source are ωt, latitude ρt, the longitude of d (1≤d≤D) a calibration source is ωc,d, latitude
Degree is ρc,d。
Specifically, in the step S102, D+1 short-wave signal (including D correction source signal and 1 target source signal)
Reach N number of observation station after ionospheric scattering, each observation station is not using obtaining the uniform circular array of channel correcting to shortwave
Signal is received, and be total to acquisition K sample of signal, then in the presence of array amplitude phase error n-th of observation station array
Signal model are as follows:
In formula, xn(tk) be n-th of observation station k-th of array received signal；sc,n,d(tk) it is d-th of correction source signal
Reach the complex envelope of n-th of observation station；st,n(tk) it is the complex envelope that target source signal reaches n-th of observation station；εn(tk) it is n-th
The uniform circular array additive noise of a observation station；For n-th of sight of signal arrival
The complex envelope vector of survey station； hnN-th of observation station Ionospheric virtual height experienced is reached for signal；an(ωc,d,ρc,d,hn) be
D-th correction source signal reach n-th of observation station array manifold vector, it simultaneously with calibration source longitude ωc,d, latitude ρc,dWith
And Ionospheric virtual height hnTotally 3 relating to parameters；an(ωt,ρt,hn) it is the array manifold that target source signal reaches n-th of observation station
Vector, it simultaneously with target source longitude ωt, latitude ρtAnd Ionospheric virtual height hnTotally 3 relating to parameters；For the array of n-th of observation station
Manifold matrix is only regarded as since calibration source longitude and latitude are accurately known about target source longitude ωt, latitude ρt
And Ionospheric virtual height hnFunction；ΓnFor the amplitude phase error matrix of n-th of observation station, it is a diagonal matrix, and its
In first diagonal element can be set as 1.
Specifically, the step S103 includes:
Step S103.1: the latitude and longitude coordinates of target source are converted to the Horizon centered on observation station according to formula (2) and are sat
Mark, as shown in Figure 2:
In formula, (xt,n,g,yt,n,g,zt,n,g) it is coordinate of the target source under n-th of observation station horizontal system of coordinates；ωo,nWith
ρo,nThe longitude and latitude of respectively n-th observation station；R is earth radius；
Step S103.2: azimuth angle theta is obtained according to formula (2)t,nWith longitude ωt, latitude ρtAnd Ionospheric virtual height hnPass
System:
In formula,
Step S103.3: by observation station, center point and ionization layer building triangle, the triangle is shaped like as shown in Figure 3
Δ ABC obtain elevation angle β using triangle sinetWith longitude ωt, latitude ρtAnd the relationship of Ionospheric virtual height h:
In formula,It is the triangle using center point as the interior angle on vertex.
Specifically, the step S104 includes:
Step S104.1: the latitude and longitude coordinates of d-th of calibration source are converted to the ground centered on observation station according to formula (5)
Flat coordinate:
In formula, (xd,n,g,yd,n,g,zd,n,g) it is d-th of calibration source target source under n-th of observation station horizontal system of coordinates
Coordinate；
Step S104.2: azimuth angle theta is obtained according to formula (5)c,d,nWith longitude ωc,dAnd latitude ρc,dRelationship:
Step S104.3: Δ ABC as shown in Figure 3 obtains elevation angle β using triangle sinec,d,nWith longitude
ωc,d, latitude ρc,dAnd Ionospheric virtual height hnRelationship:
In formula,
Specifically, the step S105 includes:
S105.1: n-th observation station of step utilizes the corresponding array signal model { x of collected K sample of signaln
(tk)}1≤k≤KConstruct array output covariance matrix
Step S105.2: the covariance matrix constructed is transferred to the central station in N number of observation station by each observation station,
As shown in figure 4, standing centered on the 1st observation station (observation station 1), the covariance matrix constructed is transmitted to by other observation stations
1 observation station.
Specifically, the step S106 includes:
Central station utilizes the covariance matrix of N number of observation stationEstimated based on maximum-likelihood criterion tectonic syntaxis
Target source longitude ωt, latitude ρt, Ionospheric virtual height { hn}1≤n≤NAnd more array amplitude phase error matrix { Γn}1≤n≤NCost
Function；The cost function are as follows:
In formula, h=[h1h2…hN]TIndicate Ionospheric virtual height parameter；Indicate array amplitude phase error parameter,
Vecd () expression extracts the diagonal element of diagonal matrix to form vector；Π⊥[ΓnAn(ωt,ρt,hn)] indicate just to trade
Shadow matrix,
Π⊥[ΓnAn(ωt,ρt,hn)]=I- ΓnAn(ωt,ρt,hn)((ΓnAn(ωt,ρt,hn))HΓnAn(ωt,ρt,
hn))-1(ΓnAn(ωt,ρt,hn))H, (1≤n≤N)
Wherein, I is unit matrix.
Specifically, the step S107 includes:
Step S107.1: by ωt、ρtAnd { hn}1≤n≤NAs first group of parameter, by { Γn}1≤n≤NAs second group of ginseng
Number, is fixed as current updated value for second group of parameter, i.e., by { Γn}1≤n≤NIt is fixed asG is fixed asAccording to
Target source signal reach N number of observation station azimuth and the elevation angle respectively with the relationship of target source longitude and latitude and Ionospheric virtual height, D
Correction source signal reach N number of observation station azimuth and the elevation angle respectively with d-th of calibration source longitude and latitude and Ionospheric virtual height
Relationship and the cost function estimate first group of parameter according to formula (10):
In formula, μ is step factor, 0 < μ < 1, μiFor i-th iteration step factor；And h(i)It is i-th
Secondary iteration result；And h(i+1)It is i+1 time iteration result；For gradient vector；For Hessian matrix；WithExpression formula be respectively
Wherein the expression formula of each element is respectively
In formula, n1Representing matrix n-th1Row, n2Representing matrix n-th2Column；
It is worth noting thatWithWith
The expression formula difference of element is identical；
In formula, lnFor the uniform circular array radius of n-th of observation station, λ is signal wavelength,It is single for (D+1) × (D+1)
The last one column vector in bit matrix.
Step S107.2: first group of parameter is fixed as current updated value, i.e., by ωt、ρtAnd h is fixed toAndAccording to target source signal reach N number of observation station azimuth and the elevation angle respectively with target source longitude and latitude and electricity
The relationship of absciss layer virtual height, D correction source signal reach N number of observation station azimuth and the elevation angle respectively with d-th of calibration source longitude and latitude
Relationship and the cost function of degree and Ionospheric virtual height, optimize second group of parameter according to formula (11):
In formula, g(i)For i-th iteration result；g(i+1)For i+1 time iteration result；For gradient to
Amount；For Hessian matrix；
Wherein the expression formula of each element is respectively
Step S107.3: according to formula (10) and formula (11) alternately to first group join into and second group of parameter optimize and ask
Solution, until iteration convergence.
To verify effect of the invention, following experimental data is provided.
Assuming that there is 3 observation stations to position shortwave target source, the longitude of the 1st observation station is 124.49 ° of east longitude,
Latitude is 40.75 ° of north latitude, and the longitude of the 2nd observation station is 114.04 ° of east longitude, and latitude is 34.68 ° of north latitude, the 3rd observation station
Longitude be 118.30 ° of east longitude, latitude be 26.80 ° of north latitude, wherein the 1st observation station is defaulted as central station；Shortwave target source
Longitude is 122.46 ° of east longitude, and latitude is 27.82 ° of north latitude；Two shortwave calibration sources are now placed, the longitude of the 1st calibration source is east
Through 123.62 °, latitude is 28.68 ° of north latitude, and the longitude of the 2nd calibration source is 124.54 ° of east longitude, and latitude is 29.96 ° of north latitude.3
A observation station is respectively mounted uniform circular array, and each circle battle array includes 10 antennas, and the sample of signal points for directly positioning are 500,
Shortwave target source signal and correction source signal reach above-mentioned 3 observation stations Ionospheric virtual height experienced be respectively 270 kilometers,
310 kilometers and 360 kilometers, and assume that target source signal-to-noise ratio and calibration source signal-to-noise ratio are equal.
Circle battle array radius and wavelength ratio are fixed as 1.5, Fig. 5 to Fig. 7 first, target source position root-mean-square mistake is set forth
Difference, Ionospheric virtual height estimation root-mean-square error and array amplitude phase error estimate root-mean-square error with the change of target source signal-to-noise ratio
Change curve；Then target source signal-to-noise ratio is fixed as 10dB, Fig. 8 to Figure 10 be set forth target source position root-mean-square error,
Ionospheric virtual height estimates root-mean-square error and array amplitude phase error estimation root-mean-square error with circle battle array radius and wavelength ratio
Change curve.
It can be seen that the advantage of published method of the present invention in from Fig. 5 to Figure 10, and the advantage is with target source signal-to-noise ratio
Increase and be obviously improved.
Illustrated above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (7)
1. the direct localization method of shortwave multistation under a kind of calibration source existence condition characterized by comprising
Step 1: placing shortwave calibration source known to D longitude and latitude simultaneously on shortwave target source region periphery；
Step 2: target source signal and D correction source signal being received using N number of observation station, each observation station, which utilizes, not to be obtained
Uniform circular array to channel correcting acquires K sample of signal, and establishes the corresponding array signal model of K sample of signal；
Step 3: determine target source signal reach N number of observation station azimuth and the elevation angle respectively with target source longitude and latitude and ionosphere
The relationship of virtual height；
Step 4: determine D correction source signal reach N number of observation station azimuth and the elevation angle respectively with d-th of calibration source longitude and latitude
And the relationship of Ionospheric virtual height；
Step 5: each observation station utilizes the corresponding array signal Construction of A Model covariance matrix of collected K sample of signal,
And covariance matrix is sent to the central station in N number of observation station；
Step 6: central station utilizes the covariance matrix of N number of observation station, estimates target source based on maximum-likelihood criterion tectonic syntaxis
The cost function of longitude and latitude, Ionospheric virtual height and more array amplitude phase errors；
Step 7: according to target source signal reach N number of observation station azimuth and the elevation angle respectively with target source longitude and latitude and ionosphere
The relationship of virtual height, D correction source signal reach N number of observation station azimuth and the elevation angle respectively with d-th of calibration source longitude and latitude with
And relationship and the cost function of Ionospheric virtual height, using alternative and iterative algorithm to target source longitude and latitude, Ionospheric virtual height with
And more array amplitude phase errors carry out Combined estimator, so that it is determined that the location information of target.
2. the direct localization method of shortwave multistation under a kind of calibration source existence condition according to claim 1, feature exist
In array signal model in the step 2 are as follows:
In formula, xn(tk) be n-th of observation station k-th of array received signal；sc,n,d(tk) it is that d-th of correction source signal reaches
The complex envelope of n-th of observation station；st,n(tk) it is the complex envelope that target source signal reaches n-th of observation station；εn(tk) it is n-th of sight
The uniform circular array additive noise of survey station；sn(tk)=[sc,n,1(tk) … sc,n,D(tk)|st,n(tk)]TFor n-th of signal arrival
The complex envelope vector of observation station；hnN-th of observation station Ionospheric virtual height experienced is reached for signal；an(ωc,d,ρc,d,hn) be
D-th of correction source signal reaches the array manifold vector of n-th of observation station, ωc,dFor calibration source longitude, ρc,dFor calibration source latitude
Degree, hnFor Ionospheric virtual height；an(ωt,ρt,hn) it is the array manifold vector that target source signal reaches n-th of observation station, ωtFor
Target source longitude, ρtFor target source latitude；An(ωt,ρt,hn)=[an(ωc,1,ρc,1,hn) … an(ωc,D,ρc,D,hn)an
(ωt,ρt,hn)] be n-th of observation station array manifold matrix；ΓnFor the amplitude phase error matrix of n-th of observation station.
3. the direct localization method of shortwave multistation under a kind of calibration source existence condition according to claim 1, feature exist
In the step 3 includes:
Step 3.1: the latitude and longitude coordinates of target source are converted to the horizontal coordinate centered on observation station according to formula (2):
In formula, (xt,n,g,yt,n,g,zt,n,g) it is coordinate of the target source under n-th of observation station horizontal system of coordinates；ωo,nAnd ρo,nPoint
Not Wei n-th of observation station longitude and latitude；R is earth radius；
Step 3.2: azimuth angle theta is obtained according to formula (2)t,nWith longitude ωt, latitude ρtAnd Ionospheric virtual height hnRelationship:
In formula,
Step 3.3: elevation angle β is obtained using triangle sine by observation station, center point and ionization layer building trianglet
With longitude ωt, latitude ρtAnd the relationship of Ionospheric virtual height h:
In formula,It is the triangle using center point as the interior angle on vertex.
4. the direct localization method of shortwave multistation under a kind of calibration source existence condition according to claim 1, feature exist
In the step 4 includes:
Step 4.1: the latitude and longitude coordinates of d-th of calibration source are converted to the horizontal coordinate centered on observation station according to formula (5):
In formula, (xd,n,g,yd,n,g,zd,n,g) it is coordinate of d-th of calibration source target source under n-th of observation station horizontal system of coordinates；
Step 4.2: azimuth angle theta is obtained according to formula (5)c,d,nWith longitude ωc,dAnd latitude ρc,dRelationship:
Step 4.3: utilizing triangle sine, obtain elevation angle βc,d,nWith longitude ωc,d, latitude ρc,dAnd Ionospheric virtual height hn
Relationship:
In formula,
5. the direct localization method of shortwave multistation under a kind of calibration source existence condition according to claim 2, feature exist
In the step 5 includes:
Step 5.1: n-th of observation station utilizes the corresponding array signal model { x of collected K sample of signaln(tk)}1≤k≤KStructure
Make array output covariance matrix
Step 5.2: the covariance matrix constructed is transferred to the central station in N number of observation station by each observation station.
6. the direct localization method of shortwave multistation under a kind of calibration source existence condition according to claim 1, feature exist
In the step 6 includes:
Central station utilizes the covariance matrix of N number of observation stationTarget is estimated based on maximum-likelihood criterion tectonic syntaxis
Source longitude ωt, latitude ρt, Ionospheric virtual height { hn}1≤n≤NAnd more array amplitude phase error matrix { Γn}1≤n≤NCost function；
The cost function are as follows:
In formula, h=[h1h2…hN]TIndicate Ionospheric virtual height parameter；Indicate array amplitude phase error parameter；Π⊥
[ΓnAn(ωt,ρt,hn)] indicate orthogonal intersection cast shadow matrix, Π⊥[ΓnAn(ωt,ρt,hn)]=I- ΓnAn(ωt,ρt,hn)((ΓnAn
(ωt,ρt,hn))HΓnAn(ωt,ρt,hn))-1(ΓnAn(ωt,ρt,hn))H,(1≤n≤N)
Wherein, I is unit matrix.
7. the direct localization method of shortwave multistation under a kind of calibration source existence condition according to claim 6, feature exist
In the step 7 includes:
Step 7.1: by ωt、ρtAnd { hn}1≤n≤NAs first group of parameter, by { Γn}1≤n≤NAs second group of parameter, by second
Group parameter is fixed as current updated value, i.e., by { Γn}1≤n≤NIt is fixed asG is fixed asAccording to target source signal
Reach N number of observation station azimuth and the elevation angle respectively with the relationship of target source longitude and latitude and Ionospheric virtual height, D correction source signal
Reach N number of observation station azimuth and the elevation angle respectively with the relationship of d-th of calibration source longitude and latitude and Ionospheric virtual height and described
Cost function estimates first group of parameter according to formula (10):
In formula, μ is step factor, 0 < μ < 1, μiFor i-th iteration step factor；And h(i)It is that i-th changes
For result；And h(i+1)It is i+1 time iteration result；For gradient vector；For Hessian matrix；
Wherein the expression formula of each element is respectively
In formula,
In formula, lnFor the uniform circular array radius of n-th of observation station, λ is signal wavelength,For (D+1) × (D+1) rank unit square
The last one column vector in battle array；
Step 7.2: first group of parameter being fixed as current updated value, i.e., by ωt、ρtAnd h is fixed toAndAccording to target source signal reach N number of observation station azimuth and the elevation angle respectively with target source longitude and latitude and Ionospheric virtual height
Relationship, D correction source signal reach N number of observation station azimuth and the elevation angle respectively with d-th of calibration source longitude and latitude and ionization
The relationship of layer virtual height and the cost function, optimize second group of parameter according to formula (11):
In formula, g(i)For i-th iteration result；g(i+1)For i+1 time iteration result；For gradient vector；For Hessian matrix；
Wherein the expression formula of each element is respectively
Step 7.3: according to formula (10) and formula (11) alternately to first group join into and second group of parameter optimize, until
Until iteration convergence.
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