CN110728022B - Direction finding method, device and equipment based on uniform five-element circular array - Google Patents
Direction finding method, device and equipment based on uniform five-element circular array Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The invention discloses a direction finding method, device and equipment based on a uniform five-element circular array. The method comprises the following steps: calculating a first price function of the uniform five-membered circular array based on the initial position, and extracting a target value set of the first price function; calculating a second cost function of the uniform five-element circular array after rotating a preset angle relative to the initial position, and extracting a target value set of the second cost function; and calculating a direction finding result obtained by using the uniform five-element circular array direction finding according to the target value set of the first cost function and the target value set of the second cost function. The invention can reduce the probability of error ambiguity resolution to a certain extent.
Description
Technical Field
The invention relates to the technical field of direction finding, in particular to a direction finding method, device and equipment based on a uniform five-element circular array.
Background
The interferometer phase difference direction-finding system is widely applied to a low-rail passive direction-finding system, and is an important direction-finding system. The uniform five-element circular array is widely applied because of simple structure, convenient realization, isotropy and no direction finding ambiguity in theory. However, noise interference often exists in engineering applications, which may cause an interferometer direction finding system to misdisambiguate (erroneously select one direction), thereby introducing a significant direction finding error.
Current research on phase difference interferometer ambiguity resolution has focused mainly on solving the long baseline interferometer direction finding ambiguity problem due to inverse trigonometric function polynomials. And ignores the effects of other factors on phase difference interferometer disambiguation.
Disclosure of Invention
In view of the problem that in the prior art, the research object for solving the ambiguity of the phase difference interferometer caused by the ambiguity of the long baseline interferometer caused by the ambiguity of the inverse trigonometric function is single, the invention provides a direction finding method, a direction finding device and direction finding equipment based on a uniform five-membered circular array, so as to solve or at least partially solve the problem.
In a first aspect, the present invention provides a direction finding method based on a uniform five-element circular array, the method comprising:
calculating a first price function of the uniform five-membered circular array based on the initial position, and extracting a target value set of the first price function;
calculating a second cost function of the uniform five-element circular array after rotating a preset angle relative to the initial position, and extracting a target value set of the second cost function;
calculating a direction finding result obtained by using the uniform five-element circular array direction finding according to the target value set of the first cost function and the target value set of the second cost function;
wherein the first cost function and the second cost function are both used to represent a phase error.
In a second aspect, the present invention provides a direction-finding device based on a uniform five-membered circular array, the device comprising:
the first calculation unit is used for calculating a first cost function of the uniform five-element circular array based on the initial position and extracting a target value set of the first cost function;
the second calculation unit is used for calculating a second cost function after the uniform five-element circular array rotates by a preset angle relative to the initial position, and extracting a target value set of the second cost function;
a third calculation unit for calculating a direction-finding result obtained by using the uniform five-element circular array direction-finding according to the target value set of the first cost function and the target value set of the second cost function;
wherein the first cost function and the second cost function are both used to represent a phase error.
In a third aspect, the present invention provides a direction-finding device based on a uniform five-membered circular array, comprising: including a processor and a memory; a memory storing computer-executable instructions; and a processor, the computer executable instructions, when executed, cause the processor to perform a direction finding method based on a uniform five-membered circular array.
In a fourth aspect, the present invention provides a computer readable storage medium, on which one or more computer programs are stored, which when executed implement a direction finding method based on a uniform five-membered circular array.
In summary, given an incoming wave direction, the direction finding fuzzy results possibly generated by the uniform five-element circular array have a great relationship with the relative positions of each base line and the incoming wave direction, and most of the direction finding fuzzy results are concentrated in a few directions. Based on the characteristics, the invention changes the relative positions of the incoming wave direction and each base line by rotating the uniform five-element array, even if direction finding blur is generated, the blur results of multiple direction finding often have discrete characteristics, and the correct solution is often gathered in a smaller area no matter how the base line rotates.
Drawings
FIG. 1 is a flow chart of a direction finding method based on a uniform five-element circular array according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a uniform five-element circular array based on an initial position according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a uniform five-membered circular array rotated reversely by a certain angle relative to an initial position according to an embodiment of the present invention;
FIG. 4 is a graph illustrating a first cost function according to one embodiment of the present invention;
FIG. 5 is a schematic diagram of a first cost function visual representation provided by one embodiment of the present invention;
FIG. 6 is a graph illustrating a second cost function according to one embodiment of the present invention;
FIG. 7 is a block diagram of a direction-finding device based on a uniform five-element circular array according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a direction-finding device based on a uniform five-element circular array according to an embodiment of the present invention.
Detailed Description
The inventor has found through research that: given an incoming wave direction, the possible direction finding fuzzy results generated by the uniform five-element circular array have a great relationship with the relative positions of each base line and the incoming wave direction, and most of the direction finding fuzzy results are concentrated in a few directions.
Based on the characteristics, the invention provides an error solution ambiguity relieving method based on a rotation baseline. The relative positions of the incoming wave direction and each base line are changed by rotating the uniform five-element array, so that even if direction finding blurring occurs, blurring results of multiple direction finding often have discrete characteristics, and correct solutions are often gathered in smaller intervals regardless of the rotation of the base line. By using the discrete characteristic of the fuzzy solution and the aggregation characteristic of the correct solution after the baseline is rotated, the probability of the incorrect solution fuzzy can be reduced to a certain extent.
Fig. 1 is a flowchart of a direction finding method based on a uniform five-element circular array according to an embodiment of the present invention, as shown in fig. 1, the method includes:
step S110, a first cost function of the uniform five-element circular array based on the initial position is calculated, and a target value set of the first cost function is extracted.
In the embodiment, the incoming wave direction is measured by using a uniform five-element circular array at an initial position to obtain a phase difference measurement value, an array element model corresponding to the uniform five-element circular array is built in advance, a phase difference theoretical value of each possible incoming wave direction relative to the initial position is calculated by using the array element model, and a first cost function of the uniform five-element circular array based on the initial position is calculated according to the phase difference measurement value and the phase difference theoretical value.
The theoretical value according to the present invention may be understood as a value calculated based on the array element model.
Step S120, a second cost function of the uniform five-element circular array after rotating a preset angle relative to the initial position is calculated, and a target value set of the second cost function is extracted.
The first cost function and the second cost function are both used for representing phase errors, and the calculation method of the second cost function is the same as that of the first cost function.
And step S130, calculating a direction finding result obtained by using the uniform five-element circular array direction finding according to the target value set of the first cost function and the target value set of the second cost function.
Because given an incoming wave direction, the possible direction finding fuzzy results generated by the uniform five-element circular array have a great relationship with the relative positions of each base line and the incoming wave direction, and most direction finding fuzzy results are concentrated in a few directions. Based on the characteristics, the invention changes the relative positions of the incoming wave direction and each base line by rotating the uniform five-element array, even if direction finding blur is generated, the blur results of multiple direction finding often have discrete characteristics, and the correct solution is often gathered in a smaller area no matter how the base line rotates.
The step S110 of the invention calculates a first cost function of the uniform five-element circular array based on the initial position, and the extracting the target value set of the first cost function specifically comprises the following steps: acquiring a phase difference measured value of the uniform five-element circular array on the basis of the initial position pair incoming wave signals; calculating a theoretical phase difference value of each possible incoming wave direction corresponding to the initial position; calculating the fitting error of the phase difference measured value and the first cost function.
In a specific embodiment, the first cost function is specifically:
m＝[m 1 ,...,m 5 ] T ，
wherein ,
for the phase to reach the angle, ζ is the angle variable, ++>
And phi (xi) respectively represent a phase difference measurement matrix and a phase difference theoretical value matrix, m is an intermediate variable, ++>
And->
Representing the phase measurement and the phase theory, respectively.
In step S110 of the present invention, the extracting the first set of target value of the cost function specifically includes: and extracting the maximum value and the next maximum value of the first price function to form a binary set. The extracting the target value set of the second cost function in step S120 specifically includes: and extracting the maximum value and the next maximum value of the second cost function to form a binary set.
Correspondingly, step S130 of the present invention calculates, according to the target value set of the first cost function and the target value set of the second cost function, a direction-finding result obtained by using the uniform five-membered circular array direction-finding specifically includes: calculating the absolute value of the difference value between the maximum value of the first cost function and the maximum value of the second cost function, and calculating the absolute value of the difference value between the maximum value of the first cost function and the secondary maximum value of the second cost function to obtain a first difference value and a second difference value; calculating the absolute value of the difference value between the secondary maximum value of the first cost function and the maximum value of the second cost function, and calculating the absolute value of the difference value between the secondary maximum value of the first cost function and the secondary maximum value of the second cost function to obtain a third difference value and a fourth difference value; and selecting the minimum value of the first difference value, the second difference value, the third difference value and the fourth difference value as the direction finding result.
The disambiguation capability of the direction finding method of the present invention is described in detail below with reference to FIGS. 2-6.
First, main peak and secondary peak extraction is performed based on a first cost function of the starting position. And calculating fitting errors of the current baseline phase difference measurement values and the baseline theoretical phase differences corresponding to the possible incoming wave directions as a first cost function, and extracting the incoming wave directions corresponding to the maximum and the next maximum of the first cost function as a binary set containing correct solutions of the incoming wave directions.
As shown in fig. 2, with the center O as a reference point, the direction from the reference point to the first array element A1 is the reference direction (i.e. the initial position), then the phase of the signal received at the nth array element is:
wherein, the radius is the radius of the circular array, the wavelength of the signal, alpha E [0,2 pi ] is the angle of signal arrival, and θ=2pi/5, namely delta (alpha) = [ delta ] 1 (α),...,δ 5 (α)] T 。
The phase difference between the array elements can be calculated according to the above formula (1), with:
Φ(α)＝C N,S δ(α) (2)
wherein the phase difference matrix
For the phase difference between two array elements, n=1,..5.
C in formula (2) N,S Five sides are taken as matrixes of measuring baselines for the uniform circular array, and the matrixes are abbreviated as side baseline matrixes.
Illustratively, constructing a side-baseline matrix of direction-finding baselines in adjacent cells is:
the edge baseline matrix for constructing the direction finding baseline with one unit interval is:
and calculating theoretical phase difference values corresponding to the initial positions of the possible incoming wave directions based on the formulas (1) - (4).
Taking measurement errors into consideration, there are the following phase differences containing the measurement errors:
wherein the phase difference measurement matrix
Phase difference measurement error matrix
For the phase difference measurement error between two array elements, n=1.
In the actual phase difference measurement process, only the folding effect can be obtained
And->
The following conditions are satisfied:
where mod (A, 2π) represents taking a 2 pi modulus for A, i.e., mod (A, 2π) =A+2jpi, where j satisfies an integer of 0.ltoreq.mod (A, 2π) < 2π.
In general, measurement errors
Independent co-distribution, where the least squares direction finding method can be expressed as: />
Wherein, ζ is an angle variable and 0 is less than or equal to ζ < 2 pi, and since Φ (ζ) > pi is often existed when the radius r is larger, in order to avoid the influence caused by the folding effect of the phase measurement in the formula (7), the formula (7) is improved as follows:
wherein, formula (8) is the first cost function, and m= [ m ] in formula (8) 1 ,...,m 5 ] T ，
The invention provides a group of phase difference measurement values of incoming wave directions for visualization
The first cost function value for each possible incoming wave direction may be calculated based on the following equation (9):
when there is a phase difference measurement error, there may be
In the case of (1), in which
Namely, inconsistent direction finding results are obtained under the conditions of phase folding and non-folding, and the misinterpretation is performed at the moment.
In practice, due to the folding effect, it is impossible to follow
The direction of the incoming wave is calculated only from equation (8) or equation (9). In the present invention, in order to keep the corresponding correct result +.>
Retaining the angle of the corresponding highest peak and second highest peak +>
In addition, for subsequent evaluation of the error resolving blur capability of the direction finding method, the cost function when the positioning phase difference is not folded is as follows:
and secondly, extracting possible incoming wave directions based on the main peak and the secondary peak of the second cost function of the rotated position. After calculating the anticlockwise rotation gamma of the circular array, each baseline phase difference measurement value and each possible incoming wave direction correspond to a second cost function of the baseline theoretical phase difference, and extracting the incoming wave direction corresponding to the maximum and the second maximum of the second cost function as a binary set containing an incoming wave direction correct solution.
As shown in fig. 3, with the center O as the reference point, the original reference direction is still adopted, and then the phase of the signal received at the nth array element is:
the same calculation method of formulas (2) - (9) is adopted to obtain the angle corresponding to the highest peak and the second peak of the second cost function after the circular array rotates gamma
/>
And thirdly, fusing direction finding results.
Definition:
according to H 1 、H 2 、H 3 、H 4 Defining a final direction finding result as: corresponds to minimum H n N=1, 2,3,4
Or->
For example, when H n The minimum value of (2) is H 2 Then
The final direction finding result; when H is n The minimum value of (2) is H 4 Then->
And the final direction finding result is obtained.
A typical uniform five-membered circular array is examined, the radius wavelength ratio is 5.5, and the edge base line is selected as shown in a formula (3). Defining standard deviation of phase difference measurement error to 20 degrees, and giving a first cost function when a certain initial position is measured in direction according to the position of main peak and secondary peak as
Fig. 5 shows the cost function L' (ζ) for this time when the direction-finding phase difference measurement is not folded, where the main peak is 61 ° for the angle, and it is seen that the correct defuzzification direction-finding angle should be 61 °. If the main peak is taken as the incoming wave direction estimation according to the traditional method, the direction finding at this time blurs the error according to the result shown in fig. 4.
FIG. 6 further shows a second cost function after 15℃rotation of the circular array, corresponding to the main and sub peak positions as
Then according to the invention there is a third step: h 1 ＝61°、H 2 ＝44°、H 3 ＝1°、H 4 =104°, final selection
And (5) realizing correct ambiguity resolution for the final direction finding result.
Stepping by 1 degree in the range of 0-360 degrees, and counting error ambiguity resolution probability for 3600 samples when 10 samples are measured in each degree: the traditional method 8.6806%, the method 1.4583% of the invention, and the rotating baseline method of the invention can obviously reduce the probability of error defuzzification of the uniform five-element circular array.
Fig. 7 is a block diagram of a direction-finding device based on a uniform five-element circular array according to an embodiment of the present invention, as shown in fig. 7, the direction-finding device according to an embodiment of the present invention includes:
the first calculation unit is used for calculating a first cost function of the uniform five-element circular array based on the initial position and extracting a target value set of the first cost function;
the second calculation unit is used for calculating a second cost function after the uniform five-element circular array rotates by a preset angle relative to the initial position, and extracting a target value set of the second cost function;
and a third calculation unit for calculating a direction-finding result obtained by using the uniform five-element circular array direction-finding according to the target value set of the first cost function and the target value set of the second cost function.
In one embodiment of the present invention, the first calculating unit specifically obtains a phase difference measurement value of the uniform five-element circular array on the basis of the initial position on the incoming wave signal; calculating a theoretical phase difference value of each possible incoming wave direction corresponding to the initial position; calculating the fitting error of the phase difference measured value and the first cost function.
In one embodiment of the present invention, the first computing unit extracts the maximum value and the next maximum value of the first cost function to form a binary set, and the second computing unit extracts the maximum value and the next maximum value of the second cost function to form a binary set.
Correspondingly, the third calculating unit specifically calculates the absolute value of the difference value between the maximum value of the first cost function and the maximum value of the second cost function, and calculates the absolute value of the difference value between the maximum value of the first cost function and the secondary maximum value of the second cost function, so as to obtain a first difference value and a second difference value; calculating the absolute value of the difference value between the secondary maximum value of the first cost function and the maximum value of the second cost function, and calculating the absolute value of the difference value between the secondary maximum value of the first cost function and the secondary maximum value of the second cost function to obtain a third difference value and a fourth difference value; and selecting the maximum value or the second maximum value of the first price function corresponding to the minimum value in the first difference value, the second difference value, the third difference value and the fourth difference value as the direction finding result.
It should be noted that, the embodiments of the apparatus shown in fig. 7 correspond to the embodiments of the method shown in fig. 1, and the detailed description is given above, which is not repeated here.
Fig. 8 is a schematic structural diagram of a direction-finding device based on a uniform five-element circular array according to an embodiment of the present invention, where, as shown in fig. 8, the device includes a processor, and optionally further includes an internal bus, a network interface, and a memory, at a hardware level. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Of course, the computer device may also include hardware required for other services.
The processor, network interface, and memory may be interconnected by an internal bus, which may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 8, but not only one bus or type of bus.
And the memory is used for storing programs. In particular, the program may comprise program code comprising computer executable instructions. The memory may include memory and non-volatile storage and provide instructions and data to the processor.
The processor reads the corresponding computer program from the nonvolatile memory to the memory and then operates the computer program to form the direction finding device of the uniform five-element circular array on the logic level. The processor executes the program stored in the memory to realize the direction finding method of the uniform five-element circular array as described above.
The method executed by the direction-finding device of the uniform five-element circular array disclosed in the embodiment of fig. 8 of the present specification can be applied to a processor or implemented by the processor. The processor may be an integrated circuit chip having signal processing capabilities. In the implementation process, each step of the direction finding method of the uniform five-element circular array described above can be completed by an integrated logic circuit of hardware in a processor or an instruction in a software form. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of this specification may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present specification may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is positioned in the memory, the processor reads the information in the memory, and the steps of the communication effect arbitration analysis method are completed by combining the hardware of the processor.
The invention also provides a computer readable storage medium. The computer readable storage medium stores one or more computer programs comprising instructions that, when executed by a processor, enable the direction finding method of a uniform five-membered circular array described above.
The foregoing is merely a specific embodiment of the invention and other modifications and variations can be made by those skilled in the art in light of the above teachings. It is to be understood by persons skilled in the art that the foregoing detailed description is provided for the purpose of illustrating the invention more fully, and that the scope of the invention is defined by the appended claims.
Claims (7)
1. The direction finding method based on the uniform five-element circular array is characterized by comprising the following steps of:
calculating a first price function of the uniform five-membered circular array based on the initial position, and extracting a target value set of the first price function;
calculating a second cost function of the uniform five-element circular array after rotating a preset angle relative to the initial position, and extracting a target value set of the second cost function;
calculating a direction finding result obtained by using the uniform five-element circular array direction finding according to the target value set of the first cost function and the target value set of the second cost function;
the first cost function and the second cost function are used for representing phase errors, and the calculation method of the second cost function is the same as that of the first cost function;
the calculating the first cost function of the uniform five-element circular array based on the initial position, extracting a target value set of the first cost function, and comprises the following steps:
acquiring a phase difference measured value of the uniform five-element circular array on the basis of the initial position pair incoming wave signals;
calculating a theoretical phase difference value of each possible incoming wave direction corresponding to the initial position;
calculating a fitting error of the phase difference measured value and the phase difference theoretical value, and taking the fitting error as the first cost function;
the first cost function is specifically:
wherein ,
for the phase to reach the angle, ζ is the angle variable, ++>
And phi (xi) respectively represent a phase difference measurement matrix and a phase difference theoretical value matrix, m is an intermediate variable, ++>
And->
Respectively represent the phase measurement value andphase theory.
2. The method according to claim 1, wherein said extracting said first set of cost function target values is specifically: and extracting the maximum value and the next maximum value of the first price function to form a binary set.
3. The method according to claim 2, wherein the extracting the set of target values of the second cost function is specifically: and extracting the maximum value and the next maximum value of the second cost function to form a binary set.
4. The method of claim 3, wherein the calculating the direction finding result using the uniform five-membered circular array direction finding from the set of target values of the first cost function and the set of target values of the second cost function comprises:
calculating the absolute value of the difference value between the maximum value of the first cost function and the maximum value of the second cost function, and calculating the absolute value of the difference value between the maximum value of the first cost function and the secondary maximum value of the second cost function to obtain a first difference value and a second difference value;
calculating the absolute value of the difference value between the secondary maximum value of the first cost function and the maximum value of the second cost function, and calculating the absolute value of the difference value between the secondary maximum value of the first cost function and the secondary maximum value of the second cost function to obtain a third difference value and a fourth difference value;
and selecting the maximum value or the second maximum value of the first price function corresponding to the minimum value in the first difference value, the second difference value, the third difference value and the fourth difference value as the direction finding result.
5. The utility model provides a direction finding device based on even five-membered circular array which characterized in that includes:
the first calculation unit is used for calculating a first cost function of the uniform five-element circular array based on the initial position and extracting a target value set of the first cost function; in particular forCalculating a theoretical phase difference value of each possible incoming wave direction corresponding to the initial position; calculating a fitting error of the phase difference measured value and the phase difference theoretical value, and taking the fitting error as the first cost function; the first cost function is specifically:
m＝[m 1 ,...,m 5 ] T ，
wherein ,/>
For the phase to reach the angle, ζ is the angle variable, ++>
And phi (xi) respectively represent a phase difference measurement matrix and a phase difference theoretical value matrix, m is an intermediate variable, ++>
And->
Respectively representing a phase measurement value and a phase theoretical value;
the second calculation unit is used for calculating a second cost function after the uniform five-element circular array rotates by a preset angle relative to the initial position, and extracting a target value set of the second cost function;
a third calculation unit for calculating a direction-finding result obtained by using the uniform five-element circular array direction-finding according to the target value set of the first cost function and the target value set of the second cost function;
the first cost function and the second cost function are both used for representing phase errors, and the calculation method of the second cost function is the same as that of the first cost function.
6. The direction finding equipment based on the uniform five-element circular array is characterized by comprising a processor and a memory;
the memory stores computer executable instructions;
the processor, when executed, causes the processor to perform the method of any of claims 1-4.
7. A computer readable storage medium, characterized in that it has stored thereon one or more computer programs, which when executed implement the method of any of claims 1-4.
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