CN110426698A - A kind of over the horizon Multi-Sensor Target observed result unified coordinate system representation method - Google Patents

A kind of over the horizon Multi-Sensor Target observed result unified coordinate system representation method Download PDF

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Publication number
CN110426698A
CN110426698A CN201910657729.9A CN201910657729A CN110426698A CN 110426698 A CN110426698 A CN 110426698A CN 201910657729 A CN201910657729 A CN 201910657729A CN 110426698 A CN110426698 A CN 110426698A
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CN
China
Prior art keywords
target
coordinate system
latitude
horizon
longitude
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Pending
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CN201910657729.9A
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Chinese (zh)
Inventor
匡华星
陆翔
张玉涛
王奇
王志刚
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Southeast University
724th Research Institute of CSIC
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Southeast University
724th Research Institute of CSIC
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Application filed by Southeast University, 724th Research Institute of CSIC filed Critical Southeast University
Priority to CN201910657729.9A priority Critical patent/CN110426698A/en
Publication of CN110426698A publication Critical patent/CN110426698A/en
Pending legal-status Critical Current

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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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/006—Theoretical aspects
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The present invention relates to a kind of over the horizon Multi-Sensor Target observed result unified coordinate system representation methods.Aiming at the problem that target observation result different sensors uses the high coordinate system of longitude and latitude and leads to not directly carry out target position association apart from the expression of azimuth pitch coordinate system, and it is influenced on earth curvature under extra large over the horizon observation condition on caused by coordinate conversion, completing over-the-horizon target observed result the invention proposes a kind of over the horizon Multi-Sensor Target observed result unified coordinate system representation method indicates to be converted to the method indicated apart from azimuth pitch from longitude and latitude height, after the target observation result for obtaining different sensors, for the target observation result indicated using the high coordinate system of longitude and latitude, this platform observed object is resolved apart from azimuth pitch method according to this platform under the conditions of over the horizon and target longitude and latitude height, the unification of target observation result is indicated with apart from azimuth pitch coordinate system；Export the unified target observation result indicated apart from azimuth pitch coordinate system.

Description

A kind of over the horizon Multi-Sensor Target observed result unified coordinate system representation method
Technical field
The present invention relates to a kind of unified coordinate system representation methods.
Background technique
Being combined using multisensor to sea detection is the effective means promoted to sea detection efficiency, especially for over the horizon mesh Target detection, the detectivity for giving full play to multisensor is the effective means promoted to such target acquisition ability.More sensings Device, which is combined, to be registrated sea detection by the observed result to multi-source detection sensor, is associated with, fused filtering, is exported to target High Accuracy Observation result.However, causing in target registration work since the observation coordinate system that different sensors use is different It needs to carry out coordinate conversion.By taking AIS information source is merged with radar active probe result information as an example, what AIS information provided is target The target position that indicates under the high coordinate system of longitude and latitude is as a result, what radar active probe information provided is target range azimuth pitch coordinate Target position result under system's expression.Above two target position result can not directly carry out registration related quantities.
Since operative sensor intelligently provides the direction finding message or ranging information of target, the absolute position of target can not be provided Information.Therefore, it to meet the needs of fusion is taught in different sensors observation, is needed under normal conditions by the high coordinate system following table of longitude and latitude The target position result shown is converted to the target position result indicated under azimuth pitch coordinate system.
In realizing process of the present invention, inventor has found that existing coordinate transformation method has the following problems: existing target It in observed result unified coordinate system representation method, converts, realizes by using rectangular coordinate system-polar coordinate system target coordinate position The target position result indicated under the high coordinate system of longitude and latitude is converted to the target position knot indicated under azimuth pitch coordinate system Fruit, the spherical excess as caused by earth curvature influences in the case of not considering over the horizon, so that there are errors for coordinate conversion.The mistake Difference increases at a distance from observation platform with target and is increased.It is remote when needing to carry out high precision tracking task, such as to Small object When distance objective indicates etc., which is often greater than a target seat in the plane, and task is irradiated or intercepted so as to cause post laser Failure.
Summary of the invention
The purpose of the invention is to overcome the coordinate conversion error as caused by earth curvature to combine multisensor to see The adverse effect of survey, the characteristics of comprehensively considering spherical excess, it is unified to propose a kind of over the horizon Multi-Sensor Target observed result Coordinate system representation method: different sensors target observation result is obtained；For the target observation indicated using the high coordinate system of longitude and latitude As a result, target observation result is united according to the method that this platform longitude and latitude is high and the high solving target of target longitude and latitude is apart from azimuth pitch One is indicated with apart from azimuth pitch coordinate system；Export the unified target observation indicated apart from azimuth pitch coordinate system of each sensor As a result.
It is wherein as follows according to the method that this platform longitude and latitude is high and the high solving target of target longitude and latitude is apart from azimuth pitch:
Firstly, solving the azimuth angle theta and geodesic distance R of this platform observed object according to target and this platform longitude and latitude(1)； Secondly, according to object height h2, this podium level h1, earth radius RGround, described geodesic distance R(1), solve platform and observe mesh Target pitch angleFinally, according to the geodesic distance R(1), described the earth's core angle w0, the platform observed object bows The elevation angleSolve target range R(2)。
Detailed description of the invention
Fig. 1 is a kind of over the horizon Multi-Sensor Target observed result unified coordinate system representation method schematic diagram.
Fig. 2 is high according to this platform longitude and latitude in the embodiment of the present invention and the high solving target of target longitude and latitude is apart from azimuth pitch Specific embodiment schematic diagram.
Fig. 3 is the specific embodiment schematic diagram that target range is solved in the embodiment of the present invention.
Fig. 4 is a kind of flow chart of over the horizon Multi-Sensor Target observed result unified coordinate system representation method.
Specific embodiment
Below with reference to embodiment and attached drawing, the present invention is described in further details.
Step 1: obtaining the high observed result of target longitude and latitude that the observation of sensor 1 obtains.2 observed object of sensor is obtained to obtain Target range azimuth pitch observed result；
Step 2: in earth plane, the azimuth angle theta and survey of platform observed object are solved according to target and this platform longitude and latitude Ground distance R(1)。
Enabling earth radius is RGround, L is solved as followsLatitude、LThrough:
LLatitude=(Lat2-Lat1)·RGround
LThrough=(Long2-Long1)·(RGround·cos(Lat1))
From spherical trigonometry formula:
Therefore, angle w0It can indicate are as follows:
According to LThrough、R(1)、RGroundSolve target observation Descartes azimuth angle theta:
Therefore
The azimuth angle theta of target is solved according to target observation Descartes's azimuth angle thetaoutAre as follows:
Step 3: carrying out geodesic distance R(1)With distance R(2)Conversion.
According to the definition of distance in the patch ground space, there is the following differential equation about h (w) in Fig. 3:
So that
Solving the indefinite integral can obtain:
In conjunction with Fig. 3, according to the physical significance of h (w) it is found that h (0)=RGround+h1, therefore A=RGround+h1, that is, have
According to the relationship of arc length and angle it is found that target is relative to this platform distance R(2)It can indicate are as follows:
Step 4: considering earth curvature, the pitch angle of platform observed object is solved according to target and this podium level
According to the Analytical Expression of the h (w) above derivedBy the height of target position Spend h2、 w0(being solved in 1.) can simultaneous obtain equation group:
The pitch angle of target can be obtained by solving equation group are as follows:
Step 5: the target observation result that output is indicated using unified coordinate system.

Claims (1)

1. a kind of over the horizon Multi-Sensor Target observed result unified coordinate system representation method, it is characterised in that:
Step 1: obtaining the target observation result of each sensor；
Step 2: according to target longitude Long2, latitude Lat2And this platform longitude Long1, latitude Lat1, solve this platform observation mesh Target azimuth angle thetaoutAnd geodesic distance R(1)；Select auxiliary magnet Pmin, so that auxiliary magnet PminLongitude LThroughWith latitude LLatitudeMeet one Lower condition:
LLatitude=(Lat2-Lat1)·RGround；
LThrough=(Long2-Long1)·(RGround·cos(Lat1))；
Geodesic distance R is acquired according to following formula(1):
Calculate the earth's core angle w0:
Enabling earth radius is RGround, according to LThrough、R(1)、RGroundSolve target observation Descartes azimuth angle theta:
The azimuth angle theta of target is solved according to target observation Descartes's azimuth angle thetaoutAre as follows:
Step 3: according to object height h2, this podium level h1, earth radius RGround, described geodesic distance R(1), solve platform The pitch angle of observed object
Step 4: according to the geodesic distance R(1), described the earth's core angle w0, the platform observed object pitch angleIt asks Solve target range R(2):
Step 5: exporting the unified target observation result indicated apart from azimuth pitch coordinate system of each sensor.
CN201910657729.9A 2019-07-20 2019-07-20 A kind of over the horizon Multi-Sensor Target observed result unified coordinate system representation method Pending CN110426698A (en)

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CN201910657729.9A CN110426698A (en) 2019-07-20 2019-07-20 A kind of over the horizon Multi-Sensor Target observed result unified coordinate system representation method

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115292941A (en) * 2022-08-11 2022-11-04 中国人民解放军海军航空大学 Cross-platform target indication error estimation method

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CN104076348A (en) * 2014-07-09 2014-10-01 中国船舶重工集团公司第七二四研究所 Radar beyond visual range base line passive cooperative localization method
CN108957433A (en) * 2018-08-14 2018-12-07 中国电子科技集团公司第三十八研究所 A kind of bistatic radar precision distance measurement device and method
CN109061622A (en) * 2018-06-22 2018-12-21 电子科技大学 A kind of concealed target multipath detection method based on millimetre-wave radar
CN109188389A (en) * 2018-10-16 2019-01-11 哈尔滨工业大学 The method that solution time difference measurement in the more base passive radars of over the horizon obscures
CN109298388A (en) * 2018-08-21 2019-02-01 中国人民解放军战略支援部队信息工程大学 Over-the-horizon target geographical coordinate direct method estimating based on azimuth information
CN109613487A (en) * 2018-12-07 2019-04-12 中国船舶重工集团公司第七二四研究所 A method of radar, which is promoted, using satellite detecting information quickly intercepts and captures highest priority
CN109765593A (en) * 2019-03-14 2019-05-17 苏州理工雷科传感技术有限公司 A kind of acquisition methods and device of target object position information

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104076348A (en) * 2014-07-09 2014-10-01 中国船舶重工集团公司第七二四研究所 Radar beyond visual range base line passive cooperative localization method
CN109061622A (en) * 2018-06-22 2018-12-21 电子科技大学 A kind of concealed target multipath detection method based on millimetre-wave radar
CN108957433A (en) * 2018-08-14 2018-12-07 中国电子科技集团公司第三十八研究所 A kind of bistatic radar precision distance measurement device and method
CN109298388A (en) * 2018-08-21 2019-02-01 中国人民解放军战略支援部队信息工程大学 Over-the-horizon target geographical coordinate direct method estimating based on azimuth information
CN109188389A (en) * 2018-10-16 2019-01-11 哈尔滨工业大学 The method that solution time difference measurement in the more base passive radars of over the horizon obscures
CN109613487A (en) * 2018-12-07 2019-04-12 中国船舶重工集团公司第七二四研究所 A method of radar, which is promoted, using satellite detecting information quickly intercepts and captures highest priority
CN109765593A (en) * 2019-03-14 2019-05-17 苏州理工雷科传感技术有限公司 A kind of acquisition methods and device of target object position information

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115292941A (en) * 2022-08-11 2022-11-04 中国人民解放军海军航空大学 Cross-platform target indication error estimation method

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