CN111175731A - Multi-radar target single-machine passive positioning method - Google Patents

Multi-radar target single-machine passive positioning method Download PDF

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CN111175731A
CN111175731A CN201911381487.1A CN201911381487A CN111175731A CN 111175731 A CN111175731 A CN 111175731A CN 201911381487 A CN201911381487 A CN 201911381487A CN 111175731 A CN111175731 A CN 111175731A
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target
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来飞
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Hunan Hongchuan Technology Co Ltd
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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
    • G01S13/02—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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/292—Extracting wanted echo-signals

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  • Radar, Positioning & Navigation (AREA)
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Abstract

The invention relates to a passive positioning method for a multi-radar target single machine. The method uses an airborne array antenna as a receiving platform, processes ground radar signals in a passive reconnaissance mode, correlates the data of multiple-observation ground radar targets, and realizes passive positioning of the ground radar targets by adopting a projection algorithm based on the characteristic space of received echoes. The method can directly realize target passive positioning without acquiring target direction-finding parameters, and the effectiveness of the method is verified by a simulation result.

Description

Multi-radar target single-machine passive positioning method
Technical Field
The invention belongs to the technical field of electronic signal reconnaissance, and particularly relates to a passive positioning method for a multi-radar target single machine.
Background
In the information war and electronic war environment of modern war, the electromagnetic environment is increasingly complex, and a passive positioning technology with rapidness, stability, high precision and high detection identification rate is adopted as an important development direction of an airborne electronic reconnaissance system for target detection and positioning tracking. The single-station passive positioning technology only depends on a single observation platform, has strong independence and flexibility, high concealment performance, relatively simple structure and easy realization, has wide application prospect in the fields of airborne electronic reconnaissance monitoring, alarming, search and rescue and the like, and has very wide tactical application requirement range.
Because the relative distance of the target cannot be directly obtained during single-station passive detection, the current single-station passive positioning implementation process usually uses a single moving observation station to continuously measure the radiation source parameters, and performs appropriate data processing to obtain the position information of the radiation source target on the basis of obtaining a certain amount of positioning parameter information accumulation, so that the positioning is realized by the intersection of a plurality of positioning curves (surfaces) in a geometric sense. At present, the main specific implementation systems of the airborne single-station passive positioning technology mainly include: direction finding location, azimuth/doppler frequency location, phase difference rate of change location, and doppler frequency rate of change location. In recent years, professor a.j. Weiss at telavav university, israel has proposed a completely new passive reconnaissance positioning method, namely Direct Position Determination (DPD). The method directly utilizes signals detected by a plurality of platform arrays to carry out accumulation transformation on space, and then directly obtains the estimation of the target position. The method can realize high-precision positioning of the target under the conditions of low signal-to-noise ratio, complex multi-signal and the like, does not need to extract positioning parameters, can realize direct positioning of unsorted time-frequency aliasing multi-signal, and can reach the theoretical CRLB lower limit of positioning error in positioning precision.
The current airborne multifunctional radar basically adopts a phased array system, particularly after the space-time adaptive processing (STAP) technology is widely applied. However, because the radar is generally powered on for a short time during the combat, the phased array antenna used by the APG-77 radar equipped with F22 is reported to be under the task of passive electronic reconnaissance for the most part of the time.
Disclosure of Invention
The invention provides a phased array-based direct positioning method for a moving single station, aiming at passive reconnaissance data modeling based on the characteristics of an airborne phased array.
A passive positioning method for a multi-radar target single machine comprises the following steps:
1) for signals received by the airborne array antenna at time m,received data Cm,nkIs an NxK dimensional data matrix with x elementsn,kRepresenting the received data of the nth array element under the k pulse of the target, the data matrix Cm,nkCan be expressed as
Figure RE-GDA0002424337870000021
2) According to the airborne array received signal model, the covariance matrix R of the signal data received at the m momentmCan be obtained by the following equation
Figure RE-GDA0002424337870000022
3) For signal data covariance moment R received at m timemPerforming characteristic decomposition, wherein the characteristic vector corresponding to the large characteristic value is the target signal guide vector,
Figure RE-GDA0002424337870000023
in the above formulaiIs a large characteristic value, viIs the eigenvector corresponding to the large eigenvalue,
Figure RE-GDA0002424337870000024
is the noise variance, and I is the identity matrix.
4) Assuming the positional coordinates of the multiple radiation source targets as:
Pi＝[xi,yi,zi](4)
the slow time interval of each observation is T, and the coordinate P of the carrier platform at the (m-1) T + T momentm,tComprises the following steps:
Pm,t＝[xa+vx((m-1)T+t),ya+vy((m-1)T+t),za+vz((m-1)T+t)](5)
[xa,ya,za]is the initial position coordinates of the carrier. So that a position-dependent array reception azimuth theta can be obtainedmAngle of pitch
Figure RE-GDA0002424337870000025
Are respectively as
Figure RE-GDA0002424337870000026
Figure RE-GDA0002424337870000031
Thereby obtaining a position-dependent receive array space-directed vector of
SS(ωS(m,t))＝[1,exp(jωS(m,t)),…,exp(j(N-1)ωS(m,t))]T(8)
Figure RE-GDA0002424337870000032
5) If M observed targets are totally obtained in the flight process of the airplane, for data received for multiple times, the position of a ground target radiation source can be solved through a characteristic space projection algorithm of a received target signal, and specifically, the following constraint equation is used for solving
Figure RE-GDA0002424337870000033
Wherein viFor the signal data received at time m, the covariance matrix RmCharacteristic vector corresponding to ith large characteristic value obtained by characteristic decomposition, SS(ωS(m,t)) And receiving a space domain guide vector for the target corresponding to the mth receiving time t for the same ground target, solving by adopting a searching mode because the target guide is not known in a proper amount in practice, and realizing passive positioning of the radiation source target according to a calculation result because only the position coordinate of the target can minimize the constraint in the formula (10) after multiple observations.
The method takes an airborne array antenna as a receiving platform, processes ground radar signals in a passive reconnaissance mode, correlates the data of multiple-observation ground radar targets, and meanwhile realizes passive positioning of the ground radar targets by adopting a projection algorithm based on the characteristic space of received echoes. The method can directly realize target passive positioning without acquiring target direction-finding parameters, and the effectiveness of the method is verified by a simulation result.
Drawings
Figure 1 is a graph of the relationship of an antenna array to a target,
figure 2 is a diagram of an onboard single station positioning process,
figure 3 is a diagram of a signal frequency domain waveform,
figure 4 is a graph of the eigenvalues of the target covariance matrix for a single reception pass,
figure 5 is a graph of single-observation target location intensity,
fig. 6 shows the target positioning results after multiple observations.
Detailed Description
The following describes a multi-radar target single-machine passive positioning method provided by the present invention in detail with reference to the accompanying drawings and the detailed description.
Airborne array passive detection signal model
After the array antenna is moved to the high-altitude moving platform, the ground radiation source target moves relative to the receiving antenna, and the position relationship between the airborne array antenna and the ground radiation source target in general is shown in fig. 1
In fig. 1, the speed V of the aerial carrier is parallel to the ground plane, the target signal wavelength of the ground radiation source is λ, the vector direction of the speed of the aerial array plane and the aerial carrier is usually 90 degrees (side installation), and the pitch angle and azimuth angle of the target relative to the aerial array plane of the array at a certain observation time m are respectively
Figure BDA0002342376390000041
And thetam. If the airborne receiving array is a uniform linear array, and m times of observation are carried out, echo data C received by the nth array element under the kth pulse of the target radar radiation sourcem,nkCan be expressed as
Figure BDA0002342376390000042
Figure BDA0002342376390000043
Gain of the nth antenna for m reception times, AmIs the amplitude of the signal.
Figure BDA0002342376390000044
And
Figure BDA0002342376390000045
the spatial angular frequency and the temporal frequency corresponding to the target array data received at the time m are respectively. S (t) is a target radar signal carrier wave, wnkIn order to be a noise, the noise is,
Figure BDA0002342376390000046
doppler frequencies superimposed on the target radar signal for movement by the carrier. S (t) is a target radar signal, d is an antenna spacing, lambda is a target radar signal wavelength, V is an aircraft speed,
assuming the position coordinates of the radiation source target are:
Pi＝[xi,yi,zi](13)
if the slow time interval of each observation is T, the coordinate P of the platform of the carrier at the (m-1) T + T momentm,tComprises the following steps:
Pm,t＝[xa+vx((m-1)T+t),ya+vy((m-1)T+t),za+vz((m-1)T+t)](14)
[xa,ya,za]is the initial position coordinates of the carrier. So that a position-dependent array reception azimuth theta can be obtainedmAngle of pitch
Figure BDA0002342376390000047
Are respectively as
Figure BDA0002342376390000051
Figure BDA0002342376390000052
Thereby obtaining a position-dependent receive array space-directed vector of
SS(ωS(m,t))＝[1,exp(jωS(m,t)),…,exp(j(N-1)ωS(m,t))]T(17)
Figure BDA0002342376390000053
The data model described above is a single reception, assuming that a single motion scout receiver station has a total of M observations, as shown in fig. 2.
The received signal over the entire M observations can be written in the form of a matrix
C＝[C1,nkC2,nk… CM,nk]T(19)
The above formula is a phased array data mode directly positioning the corresponding single station.
Multi-target single-machine passive positioning algorithm:
for the signals received by the airborne array antenna at the moment m, the received data Cm,nkIs an N × K dimensional data matrix with element xn,kRepresenting the received data of the nth array element at the k pulse of the target, and the data matrix Cm,nkCan be expressed as
Figure BDA0002342376390000054
The covariance matrix R of the signal data received at time m is generally based on the principle of spatial spectrum estimationmCan be found by the following formula
Figure BDA0002342376390000055
In the above formulaiIs characterized by large characteristicEigenvalues,. nuiIs the eigenvector corresponding to the large eigenvalue,
Figure BDA0002342376390000056
is the noise variance, and I is the identity matrix.
If the target is observed for M times in the aircraft flying process, the position of the ground target radiation source can be solved by a characteristic space projection algorithm of the received target signal for data received for multiple times, and the following constraint equation is used for solving
Figure BDA0002342376390000061
SS(ωS(m,t)) And receiving the airspace guide vector for the target corresponding to the mth receiving time t for the same ground target, wherein the target guide is not known in a proper amount in practice, so that the solution is carried out by adopting a searching mode. As only the position coordinates of the target can minimize the constraint in the formula (10) after multiple observations, and multiple targets correspond to multiple eigenvectors, passive positioning of multiple radiation source targets is realized through searching.
Results and analysis of the experiments
The simulation adopts an airborne uniform linear array as a receiving model, the number of array elements is 16, four ground targets are simulated, target coordinates are respectively a target 1[18000,29000], a target 2[25000,24000] target 3[27000,32000] target 4[32000,18000], wherein the target frequency band is an X frequency band, a radar PRF is 2000Hz, a transmitting signal is a linear frequency modulation signal with a bandwidth of 30MHz, the speed of an airborne carrier is 150m/s, the height of the airborne carrier is 8000 m, the target radar is assumed to be a mechanical scanning radar, the airborne reconnaissance antenna receives signals every ten seconds, the airborne moving direction moves at a constant speed in the Y direction in figure 2, and the initial position coordinate of the airborne carrier is (0,10000,8000) m. The radar returns received by a single antenna are shown in figure 3.
As can be seen from fig. 4, for four ground targets, after performing feature decomposition on the received multi-channel data, four larger feature values are obviously provided, the feature vectors corresponding to the four feature values are the feature vectors of the four ground targets, and the other feature values are noise spaces.
After multiple times of observation, the observation results at different moments can be fused, and the final position of the target can be obtained through calculation. The whole single machine positioning process principle is to fuse the target tracks corresponding to the ground at different moments so as to solve the positions of different targets. The ground radar signals are received once every 10 seconds in the simulation, the target is received 5 times in total, and the final target positioning result is shown in fig. 5.
As can be seen from fig. 6, after a plurality of direct positioning processes, the real distance of the target can be better obtained through the most preferable method, and after 10 monte carlo tests, the maximum error is about 100 meters, and the probability error of the circle reduction is 0.24% R (measured by the initial distance between the target and the carrier).

Claims (1)

1. A multi-radar target single-machine passive positioning method is characterized in that data of ground radar targets observed for many times are correlated, and a space-domain adaptive processing algorithm is adopted to realize direct positioning of the ground radar targets, and the method comprises the following steps: comprises the following steps:
1) for the signals received by the airborne array antenna at the moment m, the received data Cm,nkIs an NxK dimensional data matrix with x elementsn,kRepresenting the received data of the nth array element at the k pulse of the target, and the data matrix Cm,nkIs shown as
Figure RE-FDA0002424337860000011
2) According to the airborne array received signal model, the covariance matrix R of the signal data received at the m momentmIs obtained by the following formula
Figure RE-FDA0002424337860000012
3) For signal data covariance moment R received at m timemPerforming characteristic decomposition, wherein the characteristic vector corresponding to the large characteristic value is the characteristic vectorThe target signal is directed to a vector of vectors,
Figure RE-FDA0002424337860000013
in the above formulaiIs a large characteristic value, viIs the eigenvector corresponding to the large eigenvalue,
Figure RE-FDA0002424337860000014
is the noise variance, I is the identity matrix;
4) assuming the positional coordinates of the multiple radiation source targets as:
Pi＝[xi,yi,zi](4)
the slow time interval of each observation is T, and the coordinate P of the carrier platform at the (m-1) T + T momentm,tComprises the following steps:
Pm,t＝[xa+vx((m-1)T+t),ya+vy((m-1)T+t),za+vz((m-1)T+t)](5)
[xa,ya,za]is the initial position coordinate of the carrier, thereby obtaining the array receiving azimuth angle theta determined by the positionmAngle of pitch
Figure RE-FDA0002424337860000015
Are respectively as
Figure RE-FDA0002424337860000021
Figure RE-FDA0002424337860000022
Thereby obtaining a position-dependent receive array space-directed vector of
SS(ωS(m,t))＝[1,exp(jωS(m,t)),…,exp(j(N-1)ωS(m,t))]T(8)
Figure RE-FDA0002424337860000023
5) If M observed targets are totally obtained in the flying process of the airplane, for data received for multiple times, the position of a ground target radiation source is solved through a projection algorithm in a characteristic space of received target signals, and the following constraint equation is used for solving
Figure RE-FDA0002424337860000024
Wherein viFor the signal data received at time m, the covariance matrix RmCharacteristic vector corresponding to ith large characteristic value obtained by characteristic decomposition, SS(ωS(m,t)) And (3) receiving the airspace guide vector for the target corresponding to the mth receiving time t for the same ground target, and solving in a searching mode, wherein the constraint in the formula (10) after multiple times of observation can be minimum only by the position coordinate of the target, so that the passive positioning of the radiation source target is realized, and the passive positioning of multiple targets is realized according to the calculation result.
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111983592A (en) * 2020-08-14 2020-11-24 西安应用光学研究所 Passive positioning fitting direction-finding speed-measuring method for airborne photoelectric system
CN112394318A (en) * 2020-10-30 2021-02-23 西南电子技术研究所（中国电子科技集团公司第十研究所） Infield passive positioning test system for airborne single-station flight test
CN114428246A (en) * 2020-10-29 2022-05-03 刘义 Space target sensing method based on multi-source code division system
CN117741561A (en) * 2024-01-17 2024-03-22 中国科学院空天信息创新研究院 Three-dimensional passive positioning device and method for radiation source target

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111983592A (en) * 2020-08-14 2020-11-24 西安应用光学研究所 Passive positioning fitting direction-finding speed-measuring method for airborne photoelectric system
CN114428246A (en) * 2020-10-29 2022-05-03 刘义 Space target sensing method based on multi-source code division system
CN112394318A (en) * 2020-10-30 2021-02-23 西南电子技术研究所（中国电子科技集团公司第十研究所） Infield passive positioning test system for airborne single-station flight test
CN112394318B (en) * 2020-10-30 2023-08-15 西南电子技术研究所（中国电子科技集团公司第十研究所） In-situ passive positioning test system for airborne single-station flight test
CN117741561A (en) * 2024-01-17 2024-03-22 中国科学院空天信息创新研究院 Three-dimensional passive positioning device and method for radiation source target

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