CN110471025B - 一种单站三维定位与测速方法 - Google Patents

一种单站三维定位与测速方法 Download PDF

Info

Publication number
CN110471025B
CN110471025B CN201910782217.5A CN201910782217A CN110471025B CN 110471025 B CN110471025 B CN 110471025B CN 201910782217 A CN201910782217 A CN 201910782217A CN 110471025 B CN110471025 B CN 110471025B
Authority
CN
China
Prior art keywords
station
dimensional
dimensional positioning
estimation sequence
moving target
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910782217.5A
Other languages
English (en)
Other versions
CN110471025A (zh
Inventor
万群
王勇强
胡乘龙
宫健
丁学科
汤四龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tong Fang Electronic Science & Technology Co ltd
University of Electronic Science and Technology of China
Original Assignee
Tong Fang Electronic Science & Technology Co ltd
University of Electronic Science and Technology of China
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tong Fang Electronic Science & Technology Co ltd, University of Electronic Science and Technology of China filed Critical Tong Fang Electronic Science & Technology Co ltd
Priority to CN201910782217.5A priority Critical patent/CN110471025B/zh
Publication of CN110471025A publication Critical patent/CN110471025A/zh
Application granted granted Critical
Publication of CN110471025B publication Critical patent/CN110471025B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/08—Systems for determining direction or position line
    • G01S1/38—Systems for determining direction or position line using comparison of [1] the phase of the envelope of the change of frequency, due to Doppler effect, of the signal transmitted by an antenna moving, or appearing to move, in a cyclic path with [2] the phase of a reference signal, the frequency of this reference signal being synchronised with that of the cyclic movement, or apparent cyclic movement, of the antenna
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
    • G01S1/76—Systems for determining direction or position line
    • G01S1/763—Systems for determining direction or position line using the Doppler shift introduced by the relative motion between beacon and receiver
    • 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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/10—Systems for determining distance or velocity not using reflection or reradiation using radio waves using Doppler effect
    • 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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • 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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
    • 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
    • G01S3/52—Systems for determining direction or deviation from predetermined direction using a receiving antenna moving, or appearing to move, in a cyclic path to produce a Doppler variation of frequency of the received signal
    • 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
    • G01S3/78—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 electromagnetic waves other than radio waves
    • 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
    • G01S3/80—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 ultrasonic, sonic or infrasonic waves
    • G01S3/802—Systems for determining direction or deviation from predetermined direction
    • G01S3/8022—Systems for determining direction or deviation from predetermined direction using the Doppler shift introduced by the relative motion between source and receiver

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

本发明属于电子信息技术领域，具体涉及一种单站三维定位与测速方法。本发明提出一种单站三维定位与测速方法，目的是利用一个观测站对运动目标辐射信号的多普勒频率估计序列和二维来波方向估计序列确定单站三维定位与测速分析矩阵，通过对单站三维定位与测速分析矩阵的奇异值分析，实现对运动目标进行三维定位与测速的目的。本发明只需要利用单个观测站对运动目标辐射信号的多普勒频率估计序列和二维来波方向估计序列，即可实现对运动目标进行三维定位与测速的目的，由于利用了单站三维定位与测速分析矩阵的奇异值分析，不仅具有系统成本低、占地小、维护和误差校正简单等优点，还具有较小的相对定位误差与相对测速误差。

Description

一种单站三维定位与测速方法
技术领域
本发明属于电子信息技术领域，具体涉及一种单站三维定位与测速方法。
背景技术
对运动目标辐射信号的定位与测速在遥控、遥测、遥感以及雷达、声纳、通信等领域具有重要的应用价值。但是，基于信号波达方向、到达时差、多普勒频率/频差等参数测量的辐射信号定位方法往往需要使用分布在一定空间范围内的多个观测站，不仅系统复杂，成本高，还存在时间、空间、频率等系统误差校正问题。与利用多个观测站的定位方法相比，利用单个观测站的定位方法具有成本低、维护简单的优。但是，由于单个观测站在同一时刻只能测量辐射信号的波达方向、多普勒频率等参数，当测量辐射信号的波达方向、多普勒频率等参数测量的个数小于6时，利用单个观测站对目标进行三维定位和三位测速的问题就将成为一个欠定问题，因此，难以利用单个静止的观测站对静止目标进行三维定位和三位测速。
针对运动目标的辐射信号，由于单个观测站可以在多个时刻测量辐射信号随时间变化的波达方向、随时间变化的多普勒频率，形成单站对运动目标辐射信号的波达方向估计序列、多普勒频率估计序列，因此，当辐射信号的波达方向估计序列、多普勒频率估计序列中的参数测量个数大于6时，是有可能利用单个观测站对运动目标进行三维定位和三位测速的。
发明内容
针对上述问题，本发明提出一种单站三维定位与测速方法，目的是利用一个观测站对运动目标辐射信号的多普勒频率估计序列和二维来波方向估计序列确定单站三维定位与测速分析矩阵，通过对单站三维定位与测速分析矩阵的奇异值分析，实现对运动目标进行三维定位与测速的目的。
本发明采用的技术方案是：
一种单站三维定位与测速方法，包括以下步骤：
步骤1：设置观测站的位置坐标为坐标原点，将运动目标辐射信号的波长、参数估计序列的长度、单站进行参数估计的时间间隔、单站对运动目标辐射信号的多普勒频率估计序列和二维来波方向估计序列写入内存。
步骤2：由运动目标辐射信号的多普勒频率估计序列和二维来波方向估计序列确定单站三维定位与测速分析矩阵；
步骤3：对单站三维定位与测速分析矩阵进行奇异值分解，确定最小奇异值对应的奇异向量；
步骤4：由单站三维定位与测速分析矩阵的最小奇异值对应的奇异向量确定目标的三维初始位置坐标和速度。
具体的，步骤1的具体方法为：将运动目标辐射信号的波长λ、参数估计序列的长度N、单站进行参数估计的时间间隔△、单站对运动目标辐射信号的多普勒频率估计序列fdn，n＝1,2,...,N和二维来波方向估计序列(θn,φn)，n＝1,2,...,N写入内存；
具体的，步骤2的具体方法为：由运动目标辐射信号的多普勒频率估计序列和二维来波方向估计序列确定单站三维定位与测速分析矩阵，为：
Figure BDA0002176950930000021
其中，T表示矩阵的转置，
Figure BDA0002176950930000022
ηxn＝cos(φn)cos(θn)，ηyn＝cos(φn)sin(θn)，ηzn＝sin(φn)
具体的，所述步骤3的具体方法为：对单站三维定位与测速分析矩阵进行奇异值分解，为：
Figure BDA0002176950930000023
其中q1,q2,…,q8为奇异值α1,α2,…,α8对应的奇异向量，且α1≥α2≥…≥α8，从而确定最小奇异值对应的奇异向量，为
Figure BDA0002176950930000031
注意：粗体表示向量，细体表示标量；
具体的，所述步骤4的具体方法为：由单站三维定位与测速分析矩阵的最小奇异值对应的奇异向量确定目标的三维初始位置坐标，为(gq1 gq3 gq5)
和三维速度，为(gq2 gq4 gq6)
其中
Figure BDA0002176950930000032
本发明的有益效果为，本发明只需要利用单个观测站对运动目标辐射信号的多普勒频率估计序列和二维来波方向估计序列，即可实现对运动目标进行三维定位与测速的目的，由于利用了单站三维定位与测速分析矩阵的奇异值分析，不仅具有系统成本低、占地小、维护和误差校正简单等优点，还具有较小的相对定位误差与相对测速误差。
具体实施方式
下面结合实施例，对本发明作进一步的详细描述：
实施例
本例中的观测站位置坐标为(0，0，0)米(m)，运动目标实际的初始位置坐标为(4.0241 4.7364 1.0570)km和实际的运动速度为(-173.21-100.00-20.00)m/s，运动目标辐射信号的波长0.3米、参数估计序列的长度为200、单站进行参数估计的时间间隔为0.1s。
本例中本发明的目的就是利用单站对运动目标辐射信号的多普勒频率估计序列和二维来波方向估计序列对运动目标进行三维定位与测速。
本发明具体实施方式流程如下：
步骤1：初始化设置，将运动目标辐射信号的波长λ＝0.3米、参数估计序列的长度N＝200、单站进行参数估计的时间间隔△＝0.1s、单站对运动目标辐射信号的多普勒频率估计序列fd1＝-6.3002kHz，fd2＝-6.2983kHz，……，fd200＝-4.4835kHz和二维来波方向估计序列(θ1,φ1)＝(0.8674,0.1763)，(θ2,φ2)＝(0.8709,0.1676)，……，(θ200,φ200)＝(1.3648,0.2234)写入内存；
步骤2：由运动目标辐射信号的多普勒频率估计序列和二维来波方向估计序列确定单站三维定位与测速分析矩阵，为
Figure BDA0002176950930000041
步骤3：对单站三维定位与测速分析矩阵进行奇异值分解，从而确定最小奇异值对应的奇异向量，为
Figure BDA0002176950930000042
步骤4：由单站三维定位与测速分析矩阵的最小奇异值对应的奇异向量确定目标的三维初始位置坐标为(3.9057 4.6121 1.0161)km，三维速度为(-170.02-102.88-19.91)m/s。
通常以实际向量和估计向量之间的欧氏距离度量估计误差，可见，本例中本发明确定的运动目标的初始位置坐标和运动速度与运动目标实际的初始位置坐标(4.02414.7364 1.0570)km和实际的运动速度(-173.21-100.00-20.00)m/s相比，初始位置坐标估计误差为176.4348m，相对误差(相对于运动目标初始位置与观测站之间的距离)为2.80％；测速误差为4.2950m/s，相对误差(相对于运动目标的实际速率)为2.14％，实现了利用单站对运动目标辐射信号的多普勒频率估计序列和二维来波方向估计序列对运动目标进行三维定位与测速的目的。

Claims (3)

1.一种单站三维定位与测速方法，其特征在于，包括以下步骤：
步骤1：设置观测站的位置坐标为坐标原点，初始化确定运动目标辐射信号的波长λ、参数估计序列的长度N、单站进行参数估计的时间间隔Δ、单站对运动目标辐射信号的多普勒频率估计序列fdn和二维来波方向估计序列(θn,φn)，n＝1,2,...,N；
步骤2：由运动目标辐射信号的多普勒频率估计序列和二维来波方向估计序列确定单站三维定位与测速分析矩阵；具体方法为：由运动目标辐射信号的多普勒频率估计序列和二维来波方向估计序列确定单站三维定位与测速分析矩阵，为：
Figure FDA0003923946700000011
其中，T表示矩阵的转置，
Figure FDA0003923946700000012
ηxn＝cos(φn)cos(θn)，ηyn＝cos(φn)sin(θn)，ηzn＝sin(φn)；
步骤3：对单站三维定位与测速分析矩阵进行奇异值分解，确定最小奇异值对应的奇异向量；
步骤4：由单站三维定位与测速分析矩阵的最小奇异值对应的奇异向量确定目标的三维初始位置坐标和速度。
2.根据权利要求1所述的一种单站三维定位与测速方法，其特征在于，所述步骤3的具体方法为：
对单站三维定位与测速分析矩阵进行奇异值分解，为：
Figure FDA0003923946700000013
其中q1,q2,…,q8为奇异值α1,α2,…,α8对应的奇异向量，且α1≥α2≥…≥α8，从而确定最小奇异值对应的奇异向量，为
Figure FDA0003923946700000021
3.根据权利要求2所述的一种单站三维定位与测速方法，其特征在于，所述步骤4的具体方法为：
由单站三维定位与测速分析矩阵的最小奇异值对应的奇异向量确定目标的三维初始位置坐标，为
(gq1 gq3 gq5)
和三维速度，为
(gq2 gq4 gq6)
其中
Figure FDA0003923946700000022
CN201910782217.5A 2019-08-23 2019-08-23 一种单站三维定位与测速方法 Active CN110471025B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910782217.5A CN110471025B (zh) 2019-08-23 2019-08-23 一种单站三维定位与测速方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910782217.5A CN110471025B (zh) 2019-08-23 2019-08-23 一种单站三维定位与测速方法

Publications (2)

Publication Number Publication Date
CN110471025A CN110471025A (zh) 2019-11-19
CN110471025B true CN110471025B (zh) 2023-03-21

Family

ID=68513580

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910782217.5A Active CN110471025B (zh) 2019-08-23 2019-08-23 一种单站三维定位与测速方法

Country Status (1)

Country Link
CN (1) CN110471025B (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112083407B (zh) * 2020-09-17 2022-03-29 电子科技大学 一种利用时差与一维方位测量的外辐射源三维定位方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013044602A (ja) * 2011-08-23 2013-03-04 Nec Corp 目標運動推測システム及び方法
CN106501768A (zh) * 2016-10-19 2017-03-15 电子科技大学 一种单站动中定位方法
CN109188353A (zh) * 2018-08-14 2019-01-11 西安电子科技大学 基于多普勒频率差和压缩感知的单站无源定位方法
CN109884583A (zh) * 2019-03-26 2019-06-14 电子科技大学 利用一维测向确定目标三维坐标的凸优化方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013044602A (ja) * 2011-08-23 2013-03-04 Nec Corp 目標運動推測システム及び方法
CN106501768A (zh) * 2016-10-19 2017-03-15 电子科技大学 一种单站动中定位方法
CN109188353A (zh) * 2018-08-14 2019-01-11 西安电子科技大学 基于多普勒频率差和压缩感知的单站无源定位方法
CN109884583A (zh) * 2019-03-26 2019-06-14 电子科技大学 利用一维测向确定目标三维坐标的凸优化方法

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
基于多个外辐射源的单站无源定位与目标跟踪算法研究;杨明盛;《中国优秀硕士学位论文全文数据库信息科技辑》;20071231;全文 *
方位和差分多普勒联合定位;李立萍等;《系统工程与电子技术》;20000120(第01期);全文 *

Also Published As

Publication number Publication date
CN110471025A (zh) 2019-11-19

Similar Documents

Publication Publication Date Title
CN107817469B (zh) 基于非视距环境下超宽频测距实现室内定位方法
CN109548141B (zh) 基于卡尔曼滤波算法的室内环境基站坐标位置标定方法
CN108734725B (zh) 基于高斯过程的概率数据关联滤波扩展目标跟踪方法
CN104076348A (zh) 一种雷达超视距基线无源协同定位方法
KR100977246B1 (ko) 순방향 링크 ａｏａ를 이용한 위치 추정 장치 및 방법
CN110132281B (zh) 一种基于询问应答模式的水下高速目标高精度自主声学导航方法
CN109507635A (zh) 利用两个未知方位辅助源的阵列幅相误差估算方法
CN109975840B (zh) 一种调零天线卫星导航接收机定位校正方法
CN110673148A (zh) 一种主动声纳目标实时航迹解算方法
CN110738275A (zh) 基于ut-phd的多传感器序贯融合跟踪方法
CN106353720A (zh) 基于tdoa/groa的多站连续定位模型
CN105044667A (zh) 一种运动目标的双星跟踪方法、装置和系统
CN110657806A (zh) 一种基于CKF、chan解算和Savitzky-Golay平滑滤波的位置解算方法
CN112444776A (zh) 一种基于tdoa和fdoa的无人机高精度定位方法
CN110471025B (zh) 一种单站三维定位与测速方法
CN117146830B (zh) 一种自适应多信标航位推算和长基线的紧组合导航方法
CN112240957B (zh) 一种卫星导航干扰测向中天线幅相特性校正方法
CN107144815B (zh) 一种基于一维测向的三维定位方法
CN111983599B (zh) 一种基于方位-俯仰字典的目标二维doa估计方法
CN111487586B (zh) 基于分布式无源定位技术的定位精度提高方法
Yu In-situ calibration of transceiver alignment for a high-precision USBL system
CN110208741B (zh) 一种基于多圆阵测相的超视距单目标直接定位方法
CN109884583B (zh) 利用一维测向确定目标三维坐标的凸优化方法
CN104931932A (zh) 一种改进的去偏坐标转换卡尔曼滤波方法
CN110515076B (zh) 一种基于相推测距和相推测角的宽带雷达目标定位方法

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant