CN110412504A - It is associated with based on angle with the passive track-corelation of time difference information and localization method - Google Patents
It is associated with based on angle with the passive track-corelation of time difference information and localization method Download PDFInfo
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- CN110412504A CN110412504A CN201910738048.5A CN201910738048A CN110412504A CN 110412504 A CN110412504 A CN 110412504A CN 201910738048 A CN201910738048 A CN 201910738048A CN 110412504 A CN110412504 A CN 110412504A
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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
- G01S5/0257—Hybrid positioning
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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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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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
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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- Radar, Positioning & Navigation (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention belongs to electronic countermeasure technology fields, and in particular to a kind of to be associated with based on angle with the passive track-corelation of time difference information and localization method.Method of the invention mainly uses multi radiation sources data association algorithm, is associated to obtain cost matrix C by the angular observation data of multiple observation stations and time difference observation data simultaneously respectively1(p, q) and C2(p, q), then it is utilized respectively angle measurement and the standard deviation of range difference measurement value error obtains total cost matrix C (p, q), C'=1./C is enabled, the position by solving the local maximum that C' corresponds to number of targets positions target.Beneficial effects of the present invention are that the present invention accurately can complete to be associated with to multistation data, and finally accurately estimate the position of target, and method is simple, works well.
Description
Technical field
The invention belongs to electronic countermeasure technology fields, and in particular to a kind of passive multistation based on angle and time difference information is more
Target association and localization method.
Background technique
In electronic countermeasure field, due to the development of perturbation technique, active location technology poor anti jamming capability lacks hidden
Property weakness start gradually to become obvious, and passive location technology has very strong superiority relative to active location technology.
It has many advantages, such as remote operating distance, lobe-on-receive, strong antijamming capability and is not easy to be realized by other side, for improving system in electricity
Survival ability and fighting efficiency under son war environment have a very important role.Passive location mainly passes through radiation emission
Electromagnetic wave signal reaches the time difference of observation station obtaining the azimuth of radiation source, pitch angle or electromagnetic wave and realizes.Therefore
Passive location generally requires multiple base station collaborations and completes.But when there are multiple targets, passive multistation location is easy to appear void
Decoy point causes to position mistake.So carrying out data correlation for Multiple targets observation data, false target point is rejected for standard
Determine that position is of great significance.
In passive location system, direction cross positioning is presented as that a plurality of straight line crosses in space, be with most extensively,
A kind of longest localization method of search time.But meanwhile it there is also some problems, such as in a practical situation it measurement miss
Difference is larger, can have biggish position error particularly with long distance positioning；If it is in the case where carrying out Multi-target position,
Multiple observation stations can generate a large amount of false crosspoint.And positioning using TDOA is presented as that multiple hyperboloids cross in space, with it
Anti-interference, the advantages that Yi Shixian and precision are high, occupies more and more important position in passive location.Positioning using TDOA is to pass through
Measurement emitter Signals reach the time difference of different observation stations to determine target position, need multiple base stations to cooperate with, therefore also hold
Easily there is false target point.So angle information and time difference information joint are carried out data correlation, for realizing that target is accurately fixed
Position has great research significance.
Summary of the invention
In view of the above-mentioned problems, being closed the invention proposes a kind of based on the passive track-corelation of angle information and time difference information
Connection and localization method.
The technical solution adopted by the present invention is that:
It is a kind of that the positioning of track-corelation is realized based on being associated with localization method for angle information and time difference information, it is described
Be in the positioning that crossed using angle and the straight line of the progress of time difference information and hyperbola, to false target reject to
Realize the data correlation of multi-source data.The track-corelation location model of this method is as shown in Figure 1.
It has been known that there is 3 observation stations, and wherein observation station 1 is main website, and observation station 2 and observation station 3 are slave station, their coordinate point
Not are as follows: (x1,y1)、(x2,y2)、(x3,y3), the coordinate of target 1 and target 2 is unknown.Assuming that 3 observation stations observe target respectively
1 azimuth is θ1,1、θ2,1、θ3,1If the coordinate of radiation source 1 is (xp,yq), then by formula:
When only existing single target, the coordinate of radiation source 1 can be found out by azimuth information, wherein niIt is i-th
The angle measurement error of observation station.
If being positioned using time difference information to single target, it may be assumed that when known to 1 position of target, target 1 reaches
The distance between main website 1 and slave station 2,3 difference are respectively △ d21、△d31, according to hyp definition as can be seen that target 1 is located at
It is fixed point with main website and slave station, is that fixed length is formed by hyperbola with the distance between the fixed point of target 1 to two difference.When target position
When setting unknown, it is assumed that the coordinate of unknown object 2 is (x in Fig. 1p,yq), with main website 1, the distance of slave station 2 and slave station 3 is distinguished
For Indicate target 2 reach the distance between main website and slave station k it is poor, then just like
Lower equation:
When being related to single goal positioning, above equation can directly calculate the position (x of unknown object 2p,yq), target position
Set be two-by-two observation station the intersection point on hyperbola is formed by using range difference as fixed length.
Above method can only be positioned with single target, when there are multiple targets, each observation
The problem of azimuth information or time difference information of multiple targets can all be observed by standing, this relates to data correlation.For example sentence
Which angle information is the corresponding same target in disconnected each observation station out, could more accurately be positioned in this way, otherwise
The influence of false target may be will receive, to cause positioning mistake.Since angle measurement error is opposite in actual measurement
It is larger, if will cause biggish position error in the farther away situation in target range observation station, therefore, in order to ensure that target positions
Accuracy, the present invention use angle information and the united method of time difference information, association algorithm flow chart as shown in Fig. 2, tool
Body method is as follows:
Assuming that observation station and target are all located on X/Y plane, if main website position coordinates (x1,y1), the coordinate of slave station is (xk,
yk), wherein k=2,3 ..., K, K are observation station sum.Then there is j-th of target to the distance of k-th observation station and arrives main website
Apart from its difference are as follows:Wherein k=2,3 ..., K, j=1,2 ..., J, J be target sum,Table
Show measurement error.It enablesFor the azimuth information of j-th of target of k-th of observation station measurement, wherein k=1,
2 ..., K, j=1,2 ..., J, θk,jIndicate k-th of observation station to j-th of target azimuth information true value, nk,jTable
Show measurement noise.
Objective plane is divided into the grid of P × Q range, each mesh point represents a position coordinates in objective plane
(xp,yq), wherein p=1,2 ..., P, q=1,2 ... Q traverses each mesh point in grid plan:
1, point (x is calculatedp,yq) azimuth relative to each observation station:Meanwhile
Calculate this for the distance of main website and slave station and they the distance between it is poor:Its
Middle k=2,3 ..., K.
2, each Searching point (x is calculatedp,yq) azimuth relative to observation stationThe side observed with observation station
Parallactic angleBetween errorWherein k=1,2 ..., K, j=1,2 ..., J.
Range difference of this relative to observation station is calculated simultaneouslyThe range difference observed with observation stationBetween
ErrorWherein k=2,3 ..., K, j=1,2 ..., J.
3, the cost matrix being made of the angle overall error searched for every time is calculatedWherein
K=1,2 ..., K, p=1,2 ..., P, q=1,2 ..., Q and the cost matrix being made of range difference overall errorWherein k=2,3 ..., K, p=1,2 ..., P, q=1,2 ..., Q.
4, combine the cost matrix C based on angle1With the cost matrix C based on range difference2Obtain total cost matrix C (p,
Q)=1/ σ1*C1+1/σ2*C2, wherein σ1And σ2Respectively represent the standard of observation station angle measurement and range difference measurement value error
Difference.
5, C'=1./C is enabled, the position by solving the local maximum that C' corresponds to number of targets positions target.
Beneficial effects of the present invention are that can accurately be associated to multistation data, and finally accurately estimate target
Position, method is simple, works well.
Detailed description of the invention
Fig. 1 is multistation angle and time difference Model for joint positioning figure；
Fig. 2 is multi radiation sources data association algorithm flow chart；
Fig. 3 is the Multi-target position puppet spectral peak figure based on angle；
Fig. 4 is the Multi-target position puppet spectral peak figure based on angle and the time difference；
Fig. 5 is positioning result figure；
Fig. 6 is correct localization with threshold variation curve graph.
Specific embodiment
The present invention is described in detail below with reference to specific example:
It is fixed that this example intersects the above-mentioned passive track-corelation direction finding based on angle information and time difference information using matlab
Position method is verified, and for simplicity, is made the following assumptions to algorithm model:
1. main website, slave station and target are all in X/Y plane；
2. main website and slave station range accuracy having the same；
3. all Engineering Errors are all added in range error；
4. assuming that target is static or movement velocity is extremely low.
Assuming that target area is the rectangular region of 100km × 80km, 500 Monte Carlo emulation, 4 mesh are carried out
Target coordinate is respectively (15,70), (35,75), (58,75), (85,70), unit km.Use 1 main website and 3 slave stations pair
Above-mentioned target is positioned, and the coordinate of main website and slave station is respectively (5,30), (30,15), (70,15), (95,30), and unit is
Km, the range error at all stations obey the Gaussian Profile that mean value is zero, and mutually indepedent between the range error at all stations.500
Multistation data correlation effect and locating effect are obtained after secondary Monte Carlo emulation.
Track-corelation data correlation effect:
To compare direction cross positioning method based on angle information and being closed based on the target of angle information and time difference information
Connection localization method, in addition sets (10,50) for target, (13,50), (50,30), (85,60), wherein the first two target position
Relatively.It is to be obtained after the angle information of each target observed to multiple observation stations is associated as shown in Figure 3
Target puppet spectral peak figure, as can be seen from the figure since two of them target range closely causes very much corresponding two spectrums cutting edge of a knife or a sword to become one
Spectrum cutting edge of a knife or a sword to can not be accurately positioned, Fig. 4 be in situation identical with the target position Fig. 3 to the angle information of each target and when
What poor information obtained after being associated has the pseudo- spectral peak figure of 4 peak values, Fig. 3 is compared, in Fig. 4 corresponding to 4 target positions
It is high-visible to compose cutting edge of a knife or a sword, it follows that the object localization method based on angle information and time difference information is excellent for the resolution ratio of distance
In the direction cross positioning method based on angle information.
For the locating effect for more intuitively showing algorithm, Fig. 5 gives the 100th locating effect.In figure, border circular areas
Correct localization region is represented, estimated location is located in border circular areas then identification and correct positioning has been carried out, can from Fig. 5
To find out, estimated location and target actual position very close to, it is believed that accurate target position estimation may be implemented in the algorithm.
Error minimum value, max value of error and average error representated by three curves respectively indicate multiple in Fig. 6
The minimum value of the distance between target state estimator position and actual position, maximum value and to multiple target state estimator positions and true position
The distance between set the average value that summation is averaged.Thresholding is the judgment criteria of target positioning correctness, when target is estimated
It indicates that positioning is correct when counting position and actual position distance lower than thresholding, and then indicates to position mistake beyond thresholding.Accuracy is
Refer to and positions the percentage that correct number accounts for total degree in 500 positioning carried out in the case where some determines thresholding.It can be with by Fig. 6
Find out, correct localization is gradually promoted with the increase of thresholding, the energy when actual position and Estimated Position Error are in 3km or so
Reach very high correct localization, it can be seen that the passive track-corelation direction finding based on angle information and time difference information is handed over
Fork localization method works well.
Claims (1)
1. being associated with based on angle with the passive track-corelation of time difference information and localization method, observation station and target is enabled to be all located at XY
In plane, main website position coordinates (x1,y1), the coordinate of slave station is (xk,yk), wherein k=2,3 ..., K, K are observation station sum；
There is distance of j-th of target to k-th of observation stationWith the distance for arriving main websiteDifference are as follows:Wherein
J=1,2 ..., J, J are target sums,It indicates measurement error, enablesFor the jth of k-th of observation station measurement
The azimuth information of a target, wherein k=1,2 ..., K, j=1,2 ..., J, θk,jIndicate k-th of observation station to j-th of mesh
The true value of target azimuth information, nk,jIndicate measurement noise.Objective plane is divided into the grid of P × Q range, each net
Lattice point represents a position coordinates (x in objective planep,yq), wherein p=1,2 ..., P, q=1,2 ... Q, traversal grid are flat
Each mesh point in face；It is characterized in that, the described method comprises the following steps:
S1, Searching point (x is calculatedp,yq) azimuth relative to each observation station:Meanwhile it calculating
This for the distance of main website and slave station and they the distance between it is poor:
S2, each Searching point (x is calculatedp,yq) azimuth relative to observation stationThe azimuth observed with observation stationBetween errorRange difference of this relative to observation station is calculated simultaneouslyWith
The range difference that observation station is observedBetween error
The cost matrix that S3, calculating are made of the angle overall error searched for every timeAnd by away from
The cost matrix of deviation overall error composition
S4, combine the cost matrix C based on angle1With the cost matrix C based on range difference2Obtain total cost matrix C (p, q)
=1/ σ1*C1+1/σ2*C2, wherein σ1And σ2Respectively represent the standard deviation of observation station angle measurement and range difference measurement value error；
S5, C'=1./C is enabled, the position by solving the local maximum that C' corresponds to number of targets positions target.
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| CN113390406A (en) * | 2021-06-16 | 2021-09-14 | 电子科技大学 | Multi-target data association and positioning method based on passive multi-sensor system |
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Cited By (8)
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