CN110297213A - Radiation source positioning device and method based on the unmanned aerial vehicle platform for loading relatively prime linear array - Google Patents
Radiation source positioning device and method based on the unmanned aerial vehicle platform for loading relatively prime linear array Download PDFInfo
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- CN110297213A CN110297213A CN201910648100.8A CN201910648100A CN110297213A CN 110297213 A CN110297213 A CN 110297213A CN 201910648100 A CN201910648100 A CN 201910648100A CN 110297213 A CN110297213 A CN 110297213A
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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
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
Radiation source positioning device and method based on the unmanned aerial vehicle platform for loading relatively prime linear array, the present invention relies on unmanned aerial vehicle platform, aerial reconnaissance maneuverability and array is sufficiently combined to position high-precision advantage, integrated Airborne Search positioning function, frequency spectrum data is acquired in real time using spectrum monitoring module, by carrying out signal processing, the relatively prime battle array spatial spectral estimation algorithm of combined high precision, fast search and the arrival bearing for being accurately positioned radiation source to the reception data for loading array.The present invention provides a kind of new approaches to carry out radiation source direction finding based on aerial platform, the high accuracy positioning of relatively prime array realization radiation source is combined using unmanned plane, it is intended to break through the limitation in the search and orientation method of conventional radiation source, key technology therein is captured, to assist radio monitoring and interference to investigate and prosecute.
Description
Technical field
The invention belongs to the technical fields of wireless radiation source direction finding, in particular to flat based on the unmanned plane for loading relatively prime linear array
The radiation source positioning device and method of platform.
Background technique
With wireless transmission, the fast development of wireless communication technique and diversification application, works radio monitoring and propose
Higher requirement.Illegal wireless electricity influences whether the life of the people, threatens the safety such as civil aviaton's flight, and aggravation electromagnetism is dirty
Dye, What is more has endangered national security.Interference source search at this stage mostly uses directional aerial, by fixed monitoring station, moves
The monitoring patterns such as dynamic monitoring car investigation, lacks flexibility, and encounter building block or when complicated geographical environment its direction finding it is fixed
Position precision meeting sharp fall, even can not receive radio-interference signals when monitoring platform present position is lower, cover
Area can not also adapt to the development of modern communications business, thus the radio monitoring work under the such complex electromagnetic environment of solution is
The task of top priority.
On-air radio pyroelectric monitor based on unmanned aerial vehicle platform has more preferably electromagnetic propagation road compared with traditional ground monitoring
Diameter, wider array of coverage area improve the accuracy and flexibility of radio monitoring and direction-finding, reduce complicated geographical environment to nothing
The influence of line pyroelectric monitor can significantly promote radio control level.Compared with single sensor antenna, array antenna is in wave beam
Control, spatial resolving power, raising signal gain, noise resisting ability etc. all have more obvious advantage.Relatively prime array
It is a kind of principal mode of thinned array, there is compared with equal even linear array higher spatial degrees of freedom with array number, it can be real
Fixed Mutual coupling is now owed, there is higher estimated accuracy and resolution ratio.Relatively prime linear array is loaded on unmanned aerial vehicle platform, it can
Using a small amount of antenna detection more multi radiation sources, and it is able to achieve the positioning of higher precision.
Summary of the invention
The present invention aiming at the shortcomings in the prior art, provides a kind of radiation based on the unmanned aerial vehicle platform for loading relatively prime linear array
Source positioning device and method.It is intended to break through the limitation in the search and orientation method of conventional radiation source, captures key technology therein, and
New approaches are provided to carry out radiation source direction finding based on aerial platform, to assist radio monitoring and interference to investigate and prosecute.
On the one hand, the present invention provides a kind of radiation source positioning device based on the unmanned aerial vehicle platform for loading relatively prime linear array, according to
It asks unmanned aerial vehicle platform to realize 3 D complex search, radio data is acquired in real time using spectrum monitoring module, by right
The reception data for loading array carry out signal processing, are carried out according to high-precision array signal processing algorithm to target radiation source fast
Speed positioning.
On the other hand, the present invention provides a kind of radiation source localization method of unmanned aerial vehicle platform for loading relatively prime linear array, firstly,
Vectorized process is carried out to data covariance matrix is received, the equivalent single snap for obtaining virtual array receives data；Then, it utilizes
The rough estimate evaluation of radiation source is acquired in conjunction with the propagator method of space smoothing, which has lower complexity；Finally,
Rough estimate evaluation nearby constructs the complete wordbook in part, and compressed sensing based method is rebuild optimization problem and solved, radiated
The accurate positioning in source.This method can overcome conventional compression perception algorithm that need to construct global complete dictionary, carry out global iterative solution
The deficiency for bringing high complexity reduces computational complexity, the more conducively quick prison of radiation source while guaranteeing estimated accuracy
It surveys.
To achieve the above object, the invention adopts the following technical scheme:
Radiation source positioning device based on the unmanned aerial vehicle platform for loading relatively prime linear array characterized by comprising unmanned plane is flat
Platform and Ground analysis terminal；
Spectrum monitoring receiving module, Unmanned Aerial Vehicle Data transmission module, flight control modules are integrated on the unmanned aerial vehicle platform
With high definition photoelectric probe；Wherein, spectrum monitoring receiving module includes electromagnetic spectrum data receiver and relatively prime linear array, for searching
The each frequency point of rope acquires the raw spectroscopy data of target radiation source, and is passed frequency spectrum data by Unmanned Aerial Vehicle Data transmission module
Ground based terminal is transported to be handled；Flight control modules control unmanned plane during flying state according to the unmanned aerial vehicle flight path of planning；High definition
Photoelectric probe carries out shooting evidence obtaining for checking scene, assists investigation work；
The Ground analysis terminal integrates terrestrial data transmission module, signal processing module, flight path programming module and terminal
Display module；Wherein, terrestrial data transmission module is transmitted for realizing the data of unmanned plane and Ground analysis terminal room；At signal
Reason module is handled received frequency spectrum data and is obtained effective information, utilizes the incoming wave signal received in fixed frequency range, base
In array signal processing algorithm, high-precision direction finding is carried out to radiation source；Flight path programming module plans unmanned aerial vehicle flight path for real-time,
The track planned itself flight control system is modified, search positioning radiation source；Terminal display module is used for real-time display spoke
Penetrate source detection positioning result and unmanned plane during flying situation.
And the radiation source localization method based on the unmanned aerial vehicle platform for loading relatively prime linear array, which is characterized in that including as follows
Step:
Step 1: establishing the mathematical model that relatively prime linear array receives signal；
Step 2: according to the mathematical model of foundation, calculating the covariance matrix for receiving signal；
Step 3: to covariance matrix vectorized process, sorting by phase and delete redundant row, obtain corresponding to relatively prime line
The reception signal of battle array Virtual array；
Step 4: the reception signal based on relatively prime linear array Virtual array utilizes Search Space Smoothing combination propagator method
Initial estimation is carried out to radiation source DOA；
Step 5: constructing sparse recovery equation and solution obtains the accurate estimation of radiation source angle.
To optimize above-mentioned technical proposal, the concrete measure taken further include:
Further, step 1 is specific as follows:
Relatively prime linear array is made of two even linear arrays as submatrix, and the antenna number of submatrix is respectively 2M and N, array element spacing point
Not Wei Nd and Md, wherein d be half-wavelength, M and N are relatively prime, and M < N, the relatively prime total array number of linear array be Mt=2M+N-1；It suppose there is K
A far field narrow band signal independent of each other is incident on relatively prime linear array, and the angle of arrival of k-th of signal is θk(k=1,2 ..., K), mutually
Matter linear array receives signal and is expressed as
X=AS+N
Wherein, X=[x (1), x (2) ..., x (L)] is the reception signal of array, and L is number of snapshots, S=[s1, s2..., sK]T
For information source matrix, sk=[sk(1), sk(2) ..., sk(l) ..., sk(L)], skIt (l) is the l sampling to k-th of signal, l=
1,2 ..., L；Indicate additive white Gaussian noise, mean value zero, variance are It is direction matrix,It is direction vector, a1(θk)
And a2(θk) be respectively the direction vector of two submatrixs and be expressed as
Further, in step 2, receive the covariance matrix of signal byIt is calculated.
Further, step 3 is specific as follows:
It is rightVectorized process is carried out, the equivalent single snap for obtaining virtual array receives data z:
Wherein,In=vec (I)；Regard the direction matrix of virtual array as, p is seen
Make the signal phasor of a single snap；It is obtained according to the phase of B, the continuous array element in the virtual array is located at [- MN, MN] range
Interior, i.e., continuous part corresponds to the even linear array that an array number is 2MN+1；Z is sorted by phase and deletes redundant row, is obtained
Reception signal corresponding to relatively prime linear array Virtual arrayWhereinFor corresponding equivalent directions matrix,It is In
It is ranked up, deletes the noise vector obtained after redundant operation.
Further, step 4 is to carry out space smoothing to the corresponding signal in the continuous array element part of virtual array, obtains sky
Between smoothed covariance matrix, further calculate propagation operator, and the invariable rotary characteristic based on data field obtains angle estimation
Closed expression, solution obtains the rough estimate evaluation of radiation source angle, specific as follows:
If zcFor in zvThe part of the continuous array element of the correspondence of middle interception, corresponding virtual array are divided into MN+1 phase mutual respect
Folded subarray；Remember zciFor the reception data of wherein i-th (i=1,2 ..., MN+1) a subarray, constructor covariance matrix is
Ri=zcizci H
All sub- covariance matrixes are averaged, can obtain space smoothed covariance matrix is
For the covariance matrix R of first reference subarray obtained by space smoothingc1,And
Wherein, A11Indicate corresponding direction matrix, A=diag (σ1 2, σ2 2..., σK 2), IMNIndicate that dimension is MN × MN
Unit matrix；By Rc1Piecemeal is Rc1=[G, H], whereinWithAnd calculate propagation operator
By the direction matrix A of first reference subarray11Piecemeal is
Wherein,For non-singular matrix,Propagation operator be byIt is converted intoIt is unique
Linear transformation hasFurther construction
Wherein, P0It is by IKWithCombine a matrix of neotectonics, IKIndicate that dimension is the unit matrix of K × K；
Enable PaFor P0Preceding MN row, PbFor P0Rear MN row, according to formulaIt can obtainAccordingly enable AaFor A11's
Preceding MN row, AbFor A11Rear MN row, by array relationship it can be concluded that Ab=AaΦq, Φq=diag { q1, q2..., qK(k=1,
2 ..., K), whereinθkIt is the DOA of radiation source；Due to It enablesThen there is Pb=Paψq；According to ψqAnd ΦqCharacteristic value having the same calculates ψq=Pa +PbCharacteristic value
Obtain qk, to obtain the DOA rough estimate of radiation source:
Wherein,It is θkRough estimate evaluation.
Further, step 5 is specific as follows:
It is by corresponding airspace Ratage Coutpressioit according to the resulting DOA rough estimate evaluation of step 4
WhereinΔ θ indicate airspace angle choose interval, i.e., by radiation source airspace that may be present by [-
90 °, 90 °] it is contracted in rough estimate evaluation+Δ θ angular range, then compressed airspace range is evenly dividing as D parts of (D
> > K), i.e. excessively complete redundant dictionary Θ={ θ of building part1, θ2..., θD, thus the equivalent directions matrix being expandedWith sparse signal vector pΘ, θ1, θ2..., θDIt is D parts that compressed airspace range is evenly dividing by expression
Afterwards, the D angle obtained；
ForConstruct sparse recovery equation:
Wherein β is regularization parameter；Remember Δ zvFor zvEvaluated error, Δ z can be obtainedvAsymptotic normality distribution is obeyed, is denoted as
Wherein, AsN (μ, σ2) indicate that obeying mean value is μ, variance σ2Asymptotic normality distribution；It may further obtain
Wherein Tr () indicates to seek the mark of matrix；The convex optimization problem is solved, optimum value p is obtainedΘ；Search process is backward
Measure pΘThe corresponding θ of spectrum peak positionk(k=1,2 ..., K) is the estimated result of radiation source DOA.
The beneficial effects of the present invention are:
1, the characteristics of making full use of aerial reconnaissance maneuverability can overcome the limitation of traditional ground investigation；
2, compared with single antenna positioning, the advantage of aerial array high accuracy positioning can be played, and more multi radiation sources can be detected；
3, relatively prime linear array is loaded on unmanned aerial vehicle platform, compared with the even linear array for loading identical array number, can get more
High spatial degrees of freedom increases detectable radiation source number, and has higher radiation source positioning accuracy；
4, two dimension angular only can be realized with one dimensional linear array using unmanned plane rotation to estimate；
5, the location algorithm in scheme carries out just estimation by the space smoothing propagator method of low complex degree, reduces
The spectrum iteration ranges of excessively complete wordbook in traditional compressed sensing algorithm, complexity is lower, is conducive to realize that radiation source is fixed in real time
Position.
Detailed description of the invention
Fig. 1 is the flow chart that the present invention carries out the positioning of wireless radiation source detection.
Fig. 2 is the relatively prime linear array structure schematic diagram loaded in the present invention.
Fig. 3 is the angle estimation result that the method provided by the present invention obtains.
Fig. 4 is the angle estimation performance comparison figure of Cascading Methods provided by the invention Yu conventional compression perception algorithm.
Fig. 5 is comparison diagram of the angle estimation performance of the method provided by the present invention under different number of snapshots.
Fig. 6 is comparison diagram of the angle estimation performance of the method provided by the present invention under different array numbers.
Fig. 7 is comparison diagram of the angle estimation performance of the method provided by the present invention under various information source number.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.
Symbol indicates: ()T()HRespectively indicate matrix transposition and conjugate transposition, capital X representing matrix, small letter
Alphabetical x indicates vector, | | | |1With | | | |2Respectively indicate l1And l2Norm, E () are statistical expection operators,It indicates
Khatri-Rao product,Indicate Kronecker product, angle () expression takes phase angle, IMIndicate that dimension is the unit square of M × M
Battle array.
Radiation source positioning device based on the unmanned aerial vehicle platform for loading relatively prime linear array of the invention, is broadly divided into two parts,
Respectively unmanned aerial vehicle platform and Ground analysis terminal.Basic framework is unmanned plane, is the main carriers and support platform of device.
Highly integrated spectrum monitoring receiving module on unmanned aerial vehicle platform, Unmanned Aerial Vehicle Data transmission module, flight control modules,
High definition photoelectric probe.Wherein, spectrum monitoring receiving module includes electromagnetic spectrum data receiver and array antenna part, is used for
Each frequency point is searched for, acquires the raw spectroscopy data of target radiation source, and be transmitted to monitoring signals by data transmission module
Ground based terminal is handled；Unmanned Aerial Vehicle Data transmission module for realizing unmanned plane and Ground analysis terminal room high speed, it is stable
Data transmission；Flight control modules control unmanned plane during flying state according to instruction is received；High definition photoelectric probe is for checking scene
Shooting evidence obtaining is carried out, investigation work is assisted.
Ground analysis terminal is the Data Analysis Services center of the present apparatus, integrates ground data transmission module, signal processing
Module, flight path programming module, terminal display module.Wherein, terrestrial data transmission module is for realizing unmanned plane and Ground analysis
Terminal room high speed, stable data transmission；Signal processing module is handled received frequency spectrum data and is obtained effective information,
Using the incoming wave signal received in fixed frequency range, it is based further on array signal processing algorithm, high-precision survey is carried out to radiation source
To；Flight path programming module is searched for for planning that unmanned aerial vehicle flight path, the track planned itself flight control system are modified in real time
Position radiation source；Terminal display module is for real-time display radiation source detection positioning result and unmanned plane during flying situation.
The process for carrying out radiation source positioning using the present invention is as shown in Figure 1.Spectrum monitoring, which is loaded, using unmanned plane receives mould
Block acquires radio data in real time, to the reception high-precision array signal processing algorithm of data application to wireless radiation source
It is quickly positioned, the position for obtaining abnormal radio signal is real-time transmitted on terminal device, is shown in the user interface；
Real-time array positioning result, the path planning algorithm based on unmanned plane are finally utilized, manual or automatic remote controlled drone is approached
Emission source.It is implemented as follows:
Step 1: establish the mathematical model of array signal:
The Array Model that relatively prime linear array is loaded on unmanned aerial vehicle platform is as shown in Figure 2.The array is made by two even linear arrays
For submatrix composition, the antenna number of submatrix is respectively 2M and N, and array element spacing is respectively Nd and Md, and wherein d is half-wavelength, and M and N are mutual
Matter, and M < N.The relatively prime total array number of linear array is Mt=2M+N-1.It suppose there is K far field narrow band signals independent of each other to be incident on
The array, the angle of arrival of k-th of signal are θk(k=1,2 ..., K), relatively prime linear array receive signal and can be expressed as
X=AS+N
Wherein, X=[x (1), x (2) ..., x (L)] is the reception signal of array, and L is number of snapshots, s=[s1, s2..., sK]T
For information source matrix, sk=[sk(1), sk(2) ..., sk(l) ..., sk(L)], skIt (l) is the l sampling to k-th of signal, l=
1,2 ..., L；Indicate additive white Gaussian noise, mean value zero, variance are It is direction matrix,It is direction vector, a1(θk)
And a2(θk) be respectively the direction vector of two submatrixs and be represented by
Step 2: seek the covariance matrix of signal:
Receive signal covariance beWhereinIndicate the autocorrelation matrix of radiation source,Respectively indicate the energy of K radiation source
Amount,Expression dimension is Mt×MtUnit matrix.In Practical Project, since sampling is carried out under limited number of snapshots, letter
The covariance matrix of number matrix byIt is calculated.
Step 3: virtual signal is obtained to covariance matrix vector quantization:
It is rightVectorized process is carried out, the equivalent single snap for obtaining virtual array receives data:
Wherein,In=vec (I)；The direction matrix of virtual array, p can be regarded as
The signal phasor of a single snap can be regarded as.According to the phase of B it can be concluded that, continuous array element in the virtual array be located at [-
MN, MN] in range, i.e., the corresponding array number of continuous part be 2MN+1 even linear array.Z is sorted by phase and is deleted superfluous
Yu Hang obtains the reception signal corresponding to relatively prime linear array Virtual arrayWhereinFor corresponding equivalent directions
Matrix,It is InAccording to its with correspond to row vector in z and equally sorted, delete the noise vector obtained after redundant operation, i.e., to In
Be ranked up, delete redundant operation, the sequence of sequence, delete the row of redundancy and to the sequence of z-order, to delete the row of redundancy be corresponding.
Step 4: initial estimation is carried out to radiation source using Search Space Smoothing combination propagator method:
If zcFor in zvThe part of the continuous array element of the correspondence of middle interception, corresponding virtual array can be divided into MN+1 mutually
The subarray of overlapping.Remember zciFor the reception data of wherein i-th (i=1,2 ..., MN+1) a subarray, constructor covariance matrix
For
Ri=zcizci H
All sub- covariance matrixes are averaged, can obtain space smoothed covariance matrix is
It is available from above formulaWherein
Rc1Indicate the covariance matrix of first reference subarray obtained by space smoothing, IMNIndicate that dimension is MN
The unit matrix of × MN, A11Indicate corresponding direction matrix, A=diag (σ1 2, σ2 2..., σK 2).Due to Rc1With full rank spy
Property, and according to Rc1InPart can intuitively find out that it meets the covariance of subspace class algorithm for estimating point
Solution form.Below based on the invariable rotary characteristic of data field, just estimation is carried out to radiation source using propagator method.By first
The corresponding space smoothing covariance matrix R of a reference subarrayc1Piecemeal is Rc1=[G, H], whereinWithAnd calculate propagation operator
By the direction matrix A of first reference subarray11Piecemeal is
Wherein,For non-singular matrix,Propagation operator be byIt is converted intoIt is unique
Linear transformation hasFurther construction
IKIndicate that dimension is the unit matrix of K × K, P0It is equivalent to by IKWithThe matrix of neotectonics is combined, convenient in next step
It is solved in data field using rotational invariance；Enable PaFor P0Preceding MN row, PbFor P0Rear MN row, according to formulaIt can
?Accordingly enable AaFor A11Preceding MN row, AbFor A11Rear MN row, by array relationship it can be concluded that Ab=Aa
Φq, Φq=diag { q1, q2..., qK(k=1,2 ..., K), whereinθkThe radiation source angle for as needing to estimate
Degree.Due toIt enablesThen there is Pb=Paψq.According to ψqWith
ΦqCharacteristic value having the same calculates ψq=Pa +PbCharacteristic value q can be obtainedk, to obtain the DOA of radiation source, (signal is arrived
Up to angle) rough estimate
Space smoothing propagator method is not necessarily to spectrum peak search, and without carrying out Eigenvalues Decomposition, root to covariance matrix
The closed solutions that angle estimation can be obtained according to the invariable rotary characteristic of data field, compared with space smoothing MUSIC, ESPRIT algorithm
The DOA rough estimate of target radiation source can be obtained with lower computation complexity.
Step 5: it constructs sparse recovery equation and solution obtains radiation source angle and accurately estimates:
Conventional compression perception algorithm is divided to airspace and is iterated optimization in [- 90 °, 90 °] range, is resulted in
Higher complexity is unfavorable for radiation source and positions real-time, quickly.This algorithm will be corresponded to according to the resulting DOA rough estimate evaluation of step 4
Airspace Ratage Coutpressioit beWhereinΔ θ indicates the choosing of airspace angle
Interval is taken, i.e., is contracted in radiation source airspace that may be present in rough estimate evaluation+Δ θ angular range by [- 90 °, 90 °], so
Compressed airspace range is evenly dividing as D parts (D > > K), i.e. excessively complete redundant dictionary Θ={ θ of building part afterwards1,
θ2..., θD, thus the equivalent directions matrix being expandedWith sparse signal vector pΘ, θ1, θ2..., θD
Compressed airspace range is evenly dividing by expression be D parts after, obtained D angle.
It is rightConstruct sparse recovery equation
Wherein β is regularization parameter.Remember Δ zvFor zvEvaluated error, Δ z can be obtainedvAsymptotic normality distribution is obeyed, is denoted as
Wherein, AsN (μ, σ2) indicate that obeying mean value is μ, variance σ2Asymptotic normality distribution.It may further obtain
Wherein Tr () indicates to seek the mark of matrix.Above-mentioned convex optimization problem is solved, optimum value p is obtainedΘ.After search process
Vector pΘSpectral peak, the corresponding θ of spectrum peak positionk(k=1,2 ..., K) is the estimated result of radiation source DOA.Compared to tradition
Algorithm, this method has greatly reduced excessively complete redundant dictionary, therefore can effectively reduce Optimized Iterative number, so that it is multiple to reduce operation
Miscellaneous degree.In addition, based on the flexible characteristic of unmanned plane, being utilized when needing to estimate the two dimension angular information of target radiation source
Only two dimension angular estimation can be realized with one dimensional linear array in unmanned plane rotation.
Effect of the invention is further described below with reference to simulation example.
Fig. 3 is when 13 narrow band signals are incident on M=3, and when the relatively prime linear array of N=4, what the method provided by the present invention obtained returns
One changes spatial spectrum.Wherein, incoming signal direction is uniformly distributed in -60 ° to 60 ° interval ranges, number of snapshots J=500, signal-to-noise ratio
SNR=5dB.Below in emulation, Δ θ=5 ° are taken when constructing local complete dictionary excessively.Show effectively estimate radiation
Source angle, and estimable radiation source number is greater than practical array number.
Fig. 4 be when 2 signals are incident on M=3, when the relatively prime linear array of N=4, Cascading Methods provided by the invention and tradition
The angle estimation performance comparison of compressed sensing algorithm.Wherein the incident angle of radiation source is (10 °, 20 °), number of snapshots J=500.
It can be seen that the Cascading Methods in offer have estimation performance identical with traditional algorithm, but since this method is flat first with space
The method of sliding technology combination propagation operator carries out initial estimation to angle, greatly reduces compressed sensing algorithm and corresponded to complete dictionary
The spectral limit of collection, to substantially reduce Optimized Iterative number, therefore this method can guarantee while complexity is effectively reduced
Estimated accuracy has good engineer application.
Fig. 5 be when 2 signals are incident on M=3, when the relatively prime linear array of N=4, the angle estimation of the method provided by the present invention
It can be in the comparison under different number of snapshots.Wherein the incident angle of radiation source is (10 °, 20 °).It can be seen that in certain signal-to-noise ratio item
Under part, with the increase of number of snapshots, the positioning accuracy of algorithm can be promoted further.
Fig. 6 is when 2 signals are incident on relatively prime linear array, and the present invention proposes the angle estimation performance of method in different array elements
Comparison under several.Wherein number of snapshots J=500, the incident angle of radiation source are (10 °, 20 °).It can be seen that the estimation of algorithm
It can be improved with the increase of array element.
Fig. 7 is comparison of the angle estimation performance of proposition method of the present invention under different radiation source numbers.Wherein M=3, N=
4, number of snapshots J=500, the incident angle of radiation source are respectively (10 °, 20 °), (10 °, 20 °, 30 °), (10 °, 20 °, 30 °,
40°).It can be seen that algorithm estimation performance is declined with the increase of information source number.
It should be noted that the term of such as "upper", "lower", "left", "right", "front", "rear" cited in invention, also
Only being illustrated convenient for narration, rather than to limit the scope of the invention, relativeness is altered or modified, in nothing
Under essence change technology contents, when being also considered as the enforceable scope of the present invention.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (7)
1. the radiation source positioning device based on the unmanned aerial vehicle platform for loading relatively prime linear array characterized by comprising unmanned aerial vehicle platform
With Ground analysis terminal；
Spectrum monitoring receiving module, Unmanned Aerial Vehicle Data transmission module, flight control modules and height are integrated on the unmanned aerial vehicle platform
Letter out electric probe；Wherein, spectrum monitoring receiving module includes electromagnetic spectrum data receiver and relatively prime linear array, for searching for respectively
A frequency point acquires the raw spectroscopy data of target radiation source, and is transmitted to frequency spectrum data by Unmanned Aerial Vehicle Data transmission module
Ground based terminal is handled；Flight control modules control unmanned plane during flying state according to the unmanned aerial vehicle flight path of planning；High definition photoelectricity
Probe carries out shooting evidence obtaining for checking scene, assists investigation work；
The Ground analysis terminal integrates terrestrial data transmission module, signal processing module, flight path programming module and terminal and shows
Module；Wherein, terrestrial data transmission module is transmitted for realizing the data of unmanned plane and Ground analysis terminal room；Signal processing mould
Block is handled received frequency spectrum data and is obtained effective information, using the incoming wave signal received in fixed frequency range, is based on battle array
Column signal Processing Algorithm carries out high-precision direction finding to radiation source；Flight path programming module for planning unmanned aerial vehicle flight path in real time, to certainly
The track that body flight control system is planned is modified, search positioning radiation source；Terminal display module is used for real-time display radiation source
Detect positioning result and unmanned plane during flying situation.
2. the radiation source localization method based on the unmanned aerial vehicle platform for loading relatively prime linear array, which comprises the steps of:
Step 1: establishing the mathematical model that relatively prime linear array receives signal；
Step 2: according to the mathematical model of foundation, calculating the covariance matrix for receiving signal；
Step 3: to covariance matrix vectorized process, sorting by phase and delete redundant row, obtain corresponding to relatively prime linear array void
The reception signal of matroid member；
Step 4: the reception signal based on relatively prime linear array Virtual array, using Search Space Smoothing combination propagator method to spoke
It penetrates source DOA and carries out initial estimation；
Step 5: constructing sparse recovery equation and solution obtains the accurate estimation of radiation source angle.
3. the radiation source localization method as claimed in claim 2 based on the unmanned aerial vehicle platform for loading relatively prime linear array, feature exist
In: step 1 is specific as follows:
Relatively prime linear array is made of two even linear arrays as submatrix, and the antenna number of submatrix is respectively 2M and N, and array element spacing is respectively
Nd and Md, wherein d is half-wavelength, and M and N are relatively prime, and M < N, and the relatively prime total array number of linear array is Mt=2M+N-1；Suppose there is K that
This independent far field narrow band signal is incident on relatively prime linear array, and the angle of arrival of k-th of signal is θk(k=1,2 ..., K), relatively prime line
Battle array receives signal and is expressed as
X=AS+N
Wherein, X=[x (1), x (2) ..., x (L)] is the reception signal of array, and L is number of snapshots, s=[s1, s2..., sK]TFor letter
Source matrix, sk=[sk(1), sk(2) ..., sk(l) ..., sk(L)], skIt (l) is the l sampling to k-th of signal, l=1,
2 ..., L；Indicate additive white Gaussian noise, mean value zero, variance are It is direction matrix,It is direction vector, a1(θk)
And a2(θk) be respectively the direction vector of two submatrixs and be expressed as
4. the radiation source localization method as claimed in claim 3 based on the unmanned aerial vehicle platform for loading relatively prime linear array, feature exist
In: in step 2, receive the covariance matrix of signal byIt is calculated.
5. the radiation source localization method as claimed in claim 4 based on the unmanned aerial vehicle platform for loading relatively prime linear array, feature exist
In: step 3 is specific as follows:
It is rightVectorized process is carried out, the equivalent single snap for obtaining virtual array receives data z:
Wherein,In=vec (I)；Regard the direction matrix of virtual array as, p regards one as
The signal phasor of a list snap；It being obtained according to the phase of B, the continuous array element in the virtual array is located in [- MN, MN] range,
I.e. continuous part corresponds to the even linear array that an array number is 2MN+1；Z is sorted by phase and deletes redundant row, is corresponded to
In the reception signal of relatively prime linear array Virtual arrayWhereinFor corresponding equivalent directions matrix,It is InInto
The noise vector obtained after redundant operation is deleted in row sequence.
6. the radiation source localization method as claimed in claim 5 based on the unmanned aerial vehicle platform for loading relatively prime linear array, feature exist
In: step 4 is specific as follows:
If zcFor in zvThe part of the continuous array element of the correspondence of middle interception, it is a overlapped that corresponding virtual array is divided into MN+1
Subarray；Remember zciFor the reception data of wherein i-th (i=1,2 ..., MN+1) a subarray, constructor covariance matrix is
Ri=zcizci H
All sub- covariance matrixes are averaged, can obtain space smoothed covariance matrix is
For the covariance matrix R of first reference subarray obtained by space smoothingc1,And
Wherein, A11Indicate corresponding direction matrix, A=diag (σ1 2, σ2 2..., σK 2), IMNIndicate that dimension is the unit of MN × MN
Matrix；By Rc1Piecemeal is Rc1=[G, H], whereinWithAnd calculate propagation operator
By the direction matrix A of first reference subarray11Piecemeal is
Wherein,For non-singular matrix,Propagation operator be byIt is converted intoUnique linear
Transformation, that is, haveFurther construction
Wherein, P0It is by IKWithCombine a matrix of neotectonics, IKIndicate that dimension is the unit matrix of K × K；Enable Pa
For P0Preceding MN row, PbFor P0Rear MN row, according to formulaIt can obtainAccordingly enable AaFor A11Preceding MN
Row, AbFor A11Rear MN row, by array relationship it can be concluded that Ab=AaΦq, Φq=diag { q1, q2..., qK(k=1,2 ...,
K), whereinθkIt is the DOA of radiation source；Due to It enablesThen there is Pb=Paψq；According to ψqAnd ΦqCharacteristic value having the same calculates ψq=Pa +PbCharacteristic value
Obtain qk, to obtain the DOA rough estimate of radiation source:
Wherein,It is θkRough estimate evaluation.
7. the radiation source localization method as claimed in claim 6 based on the unmanned aerial vehicle platform for loading relatively prime linear array, feature exist
In: step 5 is specific as follows:
It is by corresponding airspace Ratage Coutpressioit according to the resulting DOA rough estimate evaluation of step 4WhereinΔ θ indicate airspace angle choose interval, i.e., by radiation source airspace that may be present by [- 90 °,
90 °] it is contracted in rough estimate evaluation+Δ θ angular range, then compressed airspace range is evenly dividing as D parts of (D > >
K), i.e. excessively complete redundant dictionary Θ={ θ of building part1, θ2..., θD, thus the equivalent directions matrix being expandedWith sparse signal vector pΘ, θ1, θ2..., θDIt is D parts that compressed airspace range is evenly dividing by expression
Afterwards, the D angle obtained；
ForConstruct sparse recovery equation:
Wherein β is regularization parameter；Remember Δ zvFor zvEvaluated error, Δ z can be obtainedvAsymptotic normality distribution is obeyed, is denoted as
Wherein, AsN (μ, σ2) indicate that obeying mean value is μ, variance σ2Asymptotic normality distribution；It may further obtain
Wherein Tr () indicates to seek the mark of matrix；The convex optimization problem is solved, optimum value p is obtainedΘ；Vector p after search processΘ
The corresponding θ of spectrum peak positionk(k=1,2 ..., K) is the estimated result of radiation source DOA.
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