CN110133575A - A kind of novel pseudo- doppler direction finding system and method - Google Patents
A kind of novel pseudo- doppler direction finding system and method Download PDFInfo
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- CN110133575A CN110133575A CN201910395709.9A CN201910395709A CN110133575A CN 110133575 A CN110133575 A CN 110133575A CN 201910395709 A CN201910395709 A CN 201910395709A CN 110133575 A CN110133575 A CN 110133575A
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The invention discloses a kind of novel pseudo- doppler direction finding system and methods.Including three-dimensional pseudo- Doppler's aerial array, antenna combination device, antenna switcher and switch control unit, signal receiver and computing unit；Switching at high speed between the virtual antenna element constituted using mutiple antennas unit and antenna element combination carries out the reception of space radiation signal, and the pseudo- Doppler Feature of the signal received is obtained using three variations for being mutually perpendicular to phase center point on face that antenna element in three-dimensional space and virtual antenna element are constituted, the three-dimensional space direction of arrival of radiation signal to obtain the phase pushing figure of low frequency signal and is obtained with this feature.The direction finding precision that more antennas unit can be only achieved can be obtained using less antenna element by the present invention, while only be measured using reception circuit all the way, have the advantages that at low cost, structure is simple.
Description
Technical field
The invention belongs to radio-signal direction finding methods in technical field of radio, and in particular to how general a kind of novel puppet is
Strangle direction-finding system and method.
Background technique
Recently as the development of Modern wireless communication technology, wireless telecom equipment quantity and frequency spectrum coverage density are all significant
Increase.More and more infrastructure become dependent upon wireless communication, therefore the signal interference of some bursts or malice may be right
User causes huge property loss；Terrorist and reactionary forces also can get in touch with or spread speech using wireless signal,
Threaten the personal and property safety of the people.Therefore key technology of the radio signal source location technology as radio monitoring,
It is played a crucial role in fields such as interference source positioning, illegal signal detection, questionable signal tracking.
Software-defined radio is a kind of radio communications system, wherein the component usually realized within hardware (such as solves
Adjust device, filter, amplifier etc.) it is realized with the software on computer.The concept of software-defined radio is simultaneously stale, it
Origin can trace back to 19 century 70s.For a long time, computer execute this task speed it is too slow.Recently as software
The price of defined radio hardware constantly declines, and software-defined radio has been obtained for the welcome of many people, and application can be with
It finds in many fields.
It is intermediate frequency that the main purpose of software-defined radio receiver, which is by required frequency conversion, then passes through high-speed a/d
Converter is converted into numerical data.The process the result is that digital information flow, pass through its sinusoidal and cosine component value table
Show original radio signal.
The development of wireless communication is to universal so that requirement of the related monitoring department to orientation of information source technology and equipment mentions significantly
The characteristics of height, we can make full use of pseudo- Doppler's antenna low cost, high flexibility, play this technology more in more occasions
Big effect.Therefore a set of cheap, portable wireless signal based on software and radio technique and RTL-SDR receiver is studied
Positioning device has its important meaning.
Summary of the invention
In order to solve the problems in background technique, the present invention provides a kind of novel pseudo- doppler direction finding systems and side
Method improves measurement accuracy while increasing stabilization of equipment performance.
Switching at high speed between the virtual antenna element that the present invention is constituted using mutiple antennas unit and antenna element combination
The reception of space radiation signal is carried out, and is mutually hung down using three that antenna element in three-dimensional space and virtual antenna element are constituted
The variation for facing phase center point directly obtains the pseudo- Doppler Feature of signal received, obtains low frequency signal with this feature
Phase pushing figure and the three-dimensional space direction of arrival for obtaining radiation signal.Antenna element and virtual antenna element are switched by antenna
Device is switched the antenna order on each axial plane by certain frequency, and connection RF receiving circuit, is received by processing
Signal obtains the phase change value of switching frequency signal, and calculated using this result the direction of arrival angle on each axial plane come
Obtain the direction of arrival of three-dimensional space.
Technical scheme is as follows:
One, a kind of novel pseudo- doppler direction finding system
It is connect including three-dimensional pseudo- Doppler's aerial array, antenna combination device, antenna switcher, switch control unit, signal
Device and computing unit are received, three-dimensional puppet Doppler's aerial array is connected to the input terminal of antenna combination device, antenna sets by coaxial line
The output end of clutch is connected to the input terminal of antenna switcher, and antenna combination device and antenna switcher are connected to switch control
The output end of unit, antenna switcher is connected to signal receiver by coaxial line, and signal receiver is connected to by USB interface
Computing unit；
Three-dimensional pseudo- Doppler's aerial array includes multiple omnidirectional antenna units being arranged symmetrically on three axial planes, and three
A axial plane vertically surrounds spherical array two-by-two, and three axial planes are respectively the circumferential surface of three disks, and each disk is evenly equipped with along circumferential surface
Multiple omnidirectional antenna units, and the coincidence site of two neighboring disk is equipped with an omnidirectional antenna units；All omnidirectional antennas
Unit is respectively connected to the input interface of antenna combination device；
The antenna combination device is equipped with multiple a pair of with the omnidirectional antenna units one of three-dimensional pseudo- Doppler's aerial array respectively
The input interface answered；Antenna combination device be equipped with it is multiple respectively with the one-to-one output interface of antenna switcher input interface；
The input of the output interface of each antenna combination device be antenna combination device input interface in all the way or the combination of two-way, by cutting
Parallel operation control unit controls the output at each output interface each moment.
The distance between two neighboring described omnidirectional antenna units are less than what three-dimensional pseudo- Doppler's antenna array receiver arrived
The half of radio signal wavelength.
Multiple omnidirectional antenna units export multiple omnidirectional antenna units and multiple omnidirectional antenna units groups through antenna combination device
The signal of the virtual antenna element constituted after conjunction is to antenna switcher.
The switch control unit is single-chip microcontroller, for controlling omnidirectional antenna units and virtual-antenna in antenna switcher
Sequence switching between unit, antenna switcher only export the signal or two omnidirectional antenna lists of an omnidirectional antenna units every time
The composite signal of member is to signal receiver.
The signal receiver is software radio receiver RTL-SDR, will be under antenna switcher received signal
It is converted to base band, digitized sampled signal is exported to computing unit by USB interface.
Two, the pseudo- doppler direction finding method novel using one kind of above system
Three-dimensional puppet Doppler's antenna array receiver space radiation signal, each axial plane in three-dimensional puppet Doppler's aerial array
Multiple omnidirectional antenna units by antenna combination device export multiple omnidirectional antenna units and multiple omnidirectional antenna units combination after structure
At virtual antenna element signal, multiple omnidirectional antenna units and virtual antenna element carry out high speed by antenna switcher and cut
It changes, antenna switcher exports the signal for switching at high speed acquisition to computing unit, and the signal received is successively computed in unit
Finite impulse response bandpass filter, frequency modulation demodulator, bandpass filter are obtained after extracting comprising direction of arrival information
Frequency waveform obtains frequency waveform each compared with the identical sine wave signal of antenna switcher switching frequency carries out phase difference
The direction of arrival of axial plane, and space radiation signal is obtained in the direction of arrival of three-dimensional space with this.
Beneficial effects of the present invention:
1) direction finding precision that more antennas unit can be only achieved can be obtained using less antenna element in the present invention, while only
It is measured using circuit is received all the way, has the advantages that at low cost, structure is simple.
2) initial Doppler's antenna is constituted by one around the omnidirectional antenna that mechanical circumferential movement is done at center.Of the invention
Pseudo- Doppler's antenna is improved by Doppler's antenna, several omnidirectional antennas is evenly spaced in disc circumference, by successively
The signal for connecting every antenna receives to simulate the movement of the mechanical circumferential of single antenna, and equipment is made no longer mechanical movement to be needed to fill
It sets, and analog high-speed rotation, improves measurement accuracy while increasing stabilization of equipment performance.And since synchronization only has
One antenna element is switched on, therefore the advantage with single channel direction finding, and equipment cost is greatly saved.
Detailed description of the invention
Fig. 1 is present system module diagram；
Fig. 2 is the three-dimensional pseudo- Doppler's aerial array schematic diagram of the present invention；
Fig. 3 is inventive antenna combiner schematic diagram；
Fig. 4 is inventive antenna switch schematic diagram；
Fig. 5 is the signal processing flow figure of computing unit of the present invention；
Fig. 6 (a) is the schematic diagram of Doppler's antenna array receiver signal, Fig. 6 (b) be three-dimensional pseudo- Doppler's aerial array its
In axial plane (X-Y plane) receive the schematic diagram of signal.
In figure: three-dimensional puppet Doppler's aerial array (1)；Antenna combination device (2)；Antenna switcher (3)；Switch control is single
First (4)；Signal receiver (5)；Computing unit (6).
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
Working principle of the present invention is as follows:
For reaching the plane wave of pseudo- Doppler's aerial array 1 at a certain angle, each antenna element is relative to other days
Line unit can receive the signal for being slightly delayed or shifting to an earlier date.Switching between antenna element makes the signal received generate phase step
Discontinuously, and phase step can discontinuously generate the pulse of frequency modulation demodulator.These pulses are substantially continuous sinusoidal letters
Sampled point on number, time needed for the period is equal to the switching of all antenna elements.It is sinusoidal according to sampling by certain calibration
The angle of arrival of the available incidence wave of the phase difference of signal and sine wave signal, the frequency of sine wave signal and antenna switcher
The inverse of three-dimensional switching cycle is equal.
Doppler effect makes the phase for receiving signal contain azimuth information, and initial Doppler's antenna is surrounded by one
The omnidirectional antenna that mechanical circumferential movement is done at center is constituted.Pseudo- Doppler's antenna is improved by Doppler's antenna, by several
Omnidirectional antenna is evenly spaced in disc circumference, and the signal by turn switching on every antenna receives to simulate the machinery of single antenna
Circular motion makes equipment no longer need mechanical movement means, and analog high-speed rotation.Then it will be connect by signal receiver 5
The signal received is output to computing unit 6 from USB interface, carries out signal processing by software in computing unit 6.Signal is through overfrequency
Frequency waveform relevant to direction of arrival is extracted after rate modem, bandpass filter, can be obtained by comparing phase difference
To direction of arrival.
As shown in Figure 1, the present invention includes three-dimensional pseudo- Doppler's aerial array 1, antenna combination device 2, antenna switcher 3, cuts
Parallel operation control unit 4, signal receiver 5 and computing unit 6.Antenna A to antenna F points of three-dimensional puppet Doppler aerial array 1
It is not connected to the interface G to interface L of antenna combination device 2；The interface M to interface T of antenna combination device 2 is respectively connected to antenna switching
RF1 to the RF8 interface of device 3；The RF0 interface of antenna switcher 3 is connected to signal receiver 5；Signal receiver 5 is connect by USB
Mouth is connected to computing unit 6.
In specific implementation, as shown in Fig. 2, each axial plane of three-dimensional puppet Doppler aerial array 1 is by 4 omnidirectional antenna groups
At being evenly spaced in a disk perimeter, the crosspoint of two axial planes then shares an antenna.First axle bread contains antenna
ABCD, the second axial plane include antenna AECF, and third axial plane includes antenna DEBF.
As shown in figure 3, the effect of antenna combination device 2 is combined antenna and exports to antenna switcher that interface G to L is defeated
Entrance, the aerial signal after interface M to T output combination.Interface M to T is provided simultaneously with handoff functionality, such as interface M can be exported
The input signal of interface G or interface J.Every 3 one-dimensional switching cycles are a three-dimensional switching cycle, each three-dimensional switching cycle
It is as shown in the table that input and output correspond to relationship:
Table 1
As shown in figure 4, antenna switcher 3 includes 9 SMA interface RF0-RF8.RF0 interface is output interface, RF1-RF8
Interface is input interface.In specific implementation, switch control unit 4 is single-chip microcontroller, and antenna switcher 3 is controlled by single-chip microcontroller
Switch between each channel, connect 1 channel every time, switching to RF8 from RF1 is an one-dimensional switching cycle.Each switching
Period is 0.002s, i.e., one-dimensional switching frequency is 500/3Hz.
In specific implementation, signal receiver 5 is RTL-SDR.RTL-SDR is the USB of a cheap domestic consumer class
The software radio receiver of interface.It is made of the RTL2832U chip of Realtek company and a R820T2 tuner.It
The radiofrequency signal in surrounding space within 25MHz to 1.76GHz can be received, and is down-converted to base band, it is defeated from USB interface
Digitized 8 sampled signals out.
Signal receiver 5 has carried out two processes in inside altogether: analog signal processing from RF to IF and from IF to base band
Digital Signal Processing.
The voltage-controlled whole frequency of oscillation for swinging device (VCO) of RTL-SDR can be controlled by the I2C interface of RTL2832U.If its frequency
Rate is flo, then flo=fc-fif, wherein fifIt is IF frequency, fcIt is the carrier frequency of signal to be received.For example, when needing to connect
A carrier frequency is received in the signal of 400MHz, needs to be down-converted to base band.Due to the IF frequency f of R820T2if=
3.57MHz, therefore the frequency of oscillation of VCO is flo=400-3.57=396.43MHz,
The high fdrequency component of 796.43MHz can be attenuated by the Mid Frequency low-pass filter of R820T2 after mixing, only the intermediate frequency of 3.57MHz
Component can enter the processing stage of next step.
After signal reaches Mid Frequency, bandwidth is about 6MHz, after adjusting its amplitude by AGC dynamic, needs to carry out it
Sampling is changed into digital signal, sample frequency fadc=28.8MHz, sampling resolution are 8.Digital signal warp after sampling
It crosses digital quadrature down conversion and is transformed to baseband signal.Signal is divided into two-way by digital quadrature down conversion, respectively multiplied byWithIt is expressed as with exponential form
In order to further decrease the calculating pressure of software, data volume is reduced, baseband signal must be extracted, be sampled
Frequency is reduced to about 2.8MHz (sample frequency is controllable).Finally, exporting this two-way IQ digital signal from USB interface to calculating
Machine carries out Digital Signal Processing by software.
It is the signal for being 400MHz by the frequency that radio-signal source generates, this system and method that this example, which receives signal,
Suitable for all signals in signal receiver range of receiving.Because signal frequency is 400MHz, so the spacing of adjacent antenna
It should be less than 0.375m.
In specific implementation, as shown in figure 5, first passing through one after computing unit 4 receives the signal from signal receiver 5
A finite impulse response bandpass filter, effect are the most of noise removes that will be received other than signal；Then frequency tune is carried out
System demodulation；Using a bandpass filter, passband 499.9/3-500.1/3Hz, it is therefore an objective to obtain believing comprising direction of arrival
The frequency waveform of breath；Finally compared with the sine wave of 500/3Hz carries out phase difference, direction of arrival is obtained.Pass through three axial planes
Direction of arrival can clear out the spatial position of wireless signal.
Embodiment:
It, can be signal as a plane wave when information source is remote enough apart from antenna as shown in Fig. 6 (a).Rx indicates to receive day
Line, Tx indicate transmitting antenna, and antenna radius r, t=0 moment incoming wave and antenna angle are θ.
Assuming that the signal that information source issues is shown below:
In formula, fcFor carrier frequency,For signal first phase.
The Doppler effect as caused by the switching of pseudo- Doppler's aerial array is actually to carry out to the signal received
Phase-modulation.The receipt signal model of each axial plane of three-dimensional puppet Doppler's antenna is all the amount of Doppler's aerial signal model
Change.There are four antenna element Rx1, Rx3, Rx5, Rx7 and four virtual days for axial plane where the middle X-Y plane as shown in Fig. 6 (b)
Line unit R x2, Rx4, Rx6, Rx8.
It is as follows that the antenna of three axial planes receives signal expression:
First axial plane (X-Y plane):
Second axial plane (Y-Z plane):
Third axial plane (X-Z plane):
If θ1、θ2、θ3Respectively the first axial plane (X-Y plane), the second axial plane (Y-Z plane), third axial plane (X-Z plane)
The angle between antenna that arrival bearing and t=0 moment connect.The switching interval of antenna switcher is ts, three-dimensional puppet Doppler
The antenna element of each axial plane of aerial array and the sum of virtual antenna element are N, and day is received in each switching interval time
The position of line be it is constant, the angle of two neighboring antenna element differs 2 π/N, therefore the equivalent angular speed of antenna are as follows:
The π of ω '=2/(N × ts)
The reception signal of the first axial plane is obtained by (1.1)-(1.8):
The reception signal of the second axial plane is obtained by (2.1)-(2.8):
The reception signal of third axial plane is obtained by (3.1)-(3.8):
Wherein, in 2.In 3.In 4.For first antenna of three axial planes of t=0 moment
Position,It indicates to be rounded downwards.
As formula 2. 3. 4. it is found that incoming wave azimuth angle theta required by us1、θ2And θ3It is to be contained in signal to add cosine phase
The phase bit position of item.Thus the pseudo- Doppler for finding out signal phase, obtains:
Then respectively withAndPhase
It is compared to solve θ1、θ2And θ3, and find out the direction of arrival of three-dimensional space.
Switching at high speed between the virtual antenna element that the present invention is constituted using mutiple antennas unit and antenna element combination
The reception of space radiation signal is carried out, and is mutually hung down using three that antenna element in three-dimensional space and virtual antenna element are constituted
The variation for facing phase center point directly obtains the pseudo- Doppler Feature of signal received, obtains low frequency signal with this feature
Phase pushing figure and the three-dimensional space direction of arrival for obtaining radiation signal.This method can be obtained more using less antenna element
The direction finding precision that antenna element can be only achieved, while only being measured using reception circuit all the way, at low cost, structure is simple
The advantages of.
Claims (6)
1. a kind of novel pseudo- doppler direction finding system, it is characterised in that: including three-dimensional pseudo- Doppler's aerial array (1), antenna
Combiner (2), antenna switcher (3), switch control unit (4), signal receiver (5) and computing unit (6) are three-dimensional pseudo- more
The general input terminal strangled aerial array (1) and be connected to antenna combination device (2) by coaxial line, the output end of antenna combination device (2) connect
It is connected to the input terminal of antenna switcher (3), antenna combination device (2) and antenna switcher (3) are connected to switch control unit
(4), the output end of antenna switcher (3) is connected to signal receiver (5) by coaxial line, and signal receiver (5) is connect by USB
Mouth is connected to computing unit (6)；
Three-dimensional pseudo- Doppler's aerial array (1) includes multiple omnidirectional antenna units being arranged symmetrically on three axial planes, and three
A axial plane vertically surrounds spherical array two-by-two, and three axial planes are respectively the circumferential surface of three disks, and each disk is evenly equipped with along circumferential surface
Multiple omnidirectional antenna units, and the coincidence site of two neighboring disk is equipped with an omnidirectional antenna units；All omnidirectional antennas
Unit is respectively connected to the input interface of antenna combination device；
The antenna combination device (2) be equipped with it is multiple respectively with the omnidirectional antenna units of three-dimensional pseudo- Doppler's aerial array (1) one by one
Corresponding input interface；Antenna combination device (2) is equipped with multiple defeated correspondingly with antenna switcher (3) input interface respectively
Outgoing interface；The input of the output interface of each antenna combination device (2) be antenna combination device (2) input interface in all the way or two-way
Combination, pass through the output that switch control unit (4) control each output interface each moment.
2. the novel pseudo- doppler direction finding system of one kind according to claim 1, it is characterised in that: described in two neighboring
The distance between omnidirectional antenna units are less than two points of the radio signal wavelength that three-dimensional pseudo- Doppler's aerial array (1) receives
One of.
3. the novel pseudo- doppler direction finding system of one kind according to claim 1, it is characterised in that: multiple omnidirectional antenna lists
The virtual-antenna list that member is constituted after antenna combination device (2) export multiple omnidirectional antenna units and the combination of multiple omnidirectional antenna units
The signal of member is to antenna switcher (3).
4. the novel pseudo- doppler direction finding system of one kind according to claim 3, it is characterised in that: the switch control
Unit (4) is single-chip microcontroller, is cut for controlling the sequence in antenna switcher (3) between omnidirectional antenna units and virtual antenna element
It changes, antenna switcher (3) only exports the signal an of omnidirectional antenna units or the composite signal of two omnidirectional antenna units every time
To signal receiver (5).
5. the novel pseudo- doppler direction finding system of one kind according to claim 1, it is characterised in that: the signal receives
Device (5) is software radio receiver RTL-SDR, will be down-converted to base band from antenna switcher (3) received signal, and pass through
USB interface exports digitized sampled signal to computing unit (6).
6. the novel pseudo- doppler direction finding method of one kind of -5 any systems according to claim 1, it is characterised in that: three-dimensional
Pseudo- Doppler's aerial array (1) reception space radiation signal, each axial plane is multiple complete in three-dimensional puppet Doppler's aerial array (1)
It is constituted after exporting multiple omnidirectional antenna units and the combination of multiple omnidirectional antenna units by antenna combination device (2) to antenna element
The signal of virtual antenna element, multiple omnidirectional antenna units and virtual antenna element carry out high speed by antenna switcher (3) and cut
It changes, antenna switcher (3) exports the signal for switching at high speed acquisition to computing unit (6), and the signal received is successively computed
Finite impulse response bandpass filter, frequency modulation demodulator, bandpass filter obtain reaching side comprising wave after extracting in unit (6)
To the frequency waveform of information, by frequency waveform compared with the identical sine wave signal of antenna switcher switching frequency carries out phase difference
The direction of arrival of each axial plane is obtained, and space radiation signal is obtained in the direction of arrival of three-dimensional space with this.
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