CN111257901A - Positioning method for known position of scatterer under multipath propagation condition - Google Patents
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Abstract
The invention discloses a positioning method for a known scatterer under a multipath propagation condition, and aims to provide a positioning method with high positioning speed and high precision. The invention is realized by the following technical scheme: in the environment of a direct path and a non-direct path reflected by a scatterer, an observation station antenna array receives a target radiation source signal direct wave and a scatterer reflected wave, transmits an electromagnetic wave signal emitted by a target radiation source to an observation station, measures an observation position coordinate and a scatterer position coordinate, and determines the distance between the scatterer and the observation station; under the condition that the target position is unknown, estimating the time difference between direct waves and indirect waves, the azimuth angle of the direct waves and the azimuth angle of the indirect waves according to intercepted target signals, calculating the distance between a scattering body and an observation station and the distance between a target and the observation station, estimating the target position, determining the closed solution of the distance between a target radiation source and the observation station and the target position, obtaining a TDOA time delay difference value, and estimating the position coordinates of a node to be positioned.
Description
Technical Field
The invention belongs to the technical field of electronic information, and particularly relates to a method for positioning a target by adopting an observation station antenna array to receive a target radiation source signal direct wave and a scatterer reflected wave and utilizing an azimuth angle of the target direct wave, an azimuth angle of the scatterer reflected wave and an arrival time difference TDOA between the target radiation source signal direct wave and the scatterer reflected wave measured by the observation station antenna array.
Background
The main mode of radio wave propagation is spatial waves, i.e., direct waves, reflected waves, refracted waves, diffracted waves, and their composite waves. The multipath environment has larger influence on the antenna with lower ground clearance, the path loss coefficient of the antenna is more than 2, and when the ground clearance of the antenna is increased, the path loss coefficient of the antenna tends to be 2 as the loss coefficient value of free space; that is, the lower the antenna ground clearance, the greater the impact on path loss. Furthermore, the path loss coefficient curve for horizontal polarization has more ripple than for vertical polarization. In a complex electromagnetic environment, some non-target scatterers in the periphery can generate a large number of multipath components due to electromagnetic scattering effects. In this case, the target echo signal and the multipath scattered signal of the background environment are often mixed together and enter the antenna together, causing amplitude fading and phase change of the target echo signal, thereby causing errors in positioning and distance measurement. When a radio wave encounters an object, it is reflected, refracted and scattered, and when the radio wave travels, it encounters a different object, and thus it is transmitted, refracted and scattered differently, so that at any receiving point, it is possible to receive the same source electromagnetic wave from different paths, which is multipath propagation. Multipath propagation effects are caused by large buildings or mountains reflecting signals. The receiving antenna will receive the direct signal and the reflected delayed signal. Multipath effects can produce distortion and can cause "ghosting" of images when viewing television programs. The signal received at the receiving end is a composite of a direct wave and a plurality of reflected waves. The cause of multipath propagation is many, and the main role is the reflection and refraction of radio waves by scatterers present around the signal source and the base station. Since atmospheric refraction is time-varying, the propagation path difference will also vary with time and terrain. If the multipath signals are in phase, adding; if the phases are reversed, they cancel. This causes a change in the amplitude of the signal at the receiving end, known as fading. This fading is due to multipath and is therefore referred to as multipath fading. In the spread spectrum ranging system, a signal from a signal source is influenced by environmental factors in the transmitting and propagating processes of the signal, so that a received signal is brought into the surrounding environment to form a reflected or diffracted signal, the polarization mode, the phase and the multi-Purt frequency shift of the received signal are changed due to the signal distortion, and therefore, positioning deviation and even signal lock loss are generated, and a multipath effect is formed. The multipath effect belongs to the accidental error range and has stronger regionality and time variability. Since the relative position of the signal source and the receiving antenna changes at any moment, the incident angle of the signal changes correspondingly, and thus the multipath effect is also time-varying. The spread spectrum ranging system generally adopts a satellite as a signal source, and if the position of a receiver is fixed, the space structure of the satellite is repeated relative to an observation point according to the operation period of the satellite, so that a scene generating multipath is also repeated. This directly leads to the repeatability of multipath effects. The multipath signal cannot be attributed to a definite periodic signal, and cannot be accurately predicted by a certain model, so that it should be a random signal. Because the environment is complex and changeable, there are various diffractions, scattering and reflections in the signal propagation process, the incident electric wave propagates and arrives from different directions, because the signal propagation can meet different paths, the propagation distances of the paths are also different, so the time of the paths arriving at the receiver is different, the multipath signals with different time delays are superposed at the receiving end, sometimes the in-phase superposition of the multipath signals is enhanced, sometimes the reverse superposition of the multipath signals is weakened, therefore, the amplitude of the received multipath signals will change, and the fading of the signals is generated, which is called multipath fading because of the multipath effect. In some environments where complex multipath exists, detection of the direct path is not easy. This is because in the complex multipath environment, there are object scattering multipath and a large number of non-object scattering multipath, and at this time, if there is a direct path, it is likely not to be the strongest path, which increases the difficulty of detection; another reason is that if there are conditions in which the multipaths do not resolve from each other, there may be interference between the received pulses and, therefore, the direct path may coincide with the other paths.
In recent years, the use of radio frequency identification RFID has increased significantly due to the substantial reduction in tag cost. Generally, the RFID system can be divided into an active RFID system and a passive RFID system, and the passive RFID system is more widely used in real life due to a cost relationship. Passive RFID systems operate based on the load modulation or backscatter modulation (Backscattering) principle. The RFID transmitted signal is not a single scattering mechanism but needs to undergo multiple reflections, refractions, diffractions and scatterings before reaching the receiving end. Multipath propagation is a determining factor among the many factors that affect the effective recognition range prediction of RFID systems. The received power strength varies over time and space due to variations in multiple reflected signals from the object and other topological features. The amount of change in the received signal strength depends on the degree of non line of sight (NLOS). The main error in positioning with the direction of arrival of the pulse DOA originates from urban multipath propagation. The angle of the target body with respect to the reference node is the signal angle of arrival, and the AOA of a signal is typically measured using an antenna array, which is calculated by measuring the difference in the arrival time of the incoming signal at each antenna element. The drawback of the AOA method is that it is susceptible to multipath and NLOS, and the algorithm is generally complex. In the practical application process, due to the blocking of scatterers, the direct line-of-sight (LOS) condition between a target and a single station is often difficult to satisfy, and signals transmitted by the target often reach the single station through a plurality of paths, so that non-line-of-sight (NLOS) propagation is formed. One important factor that causes positioning errors due to non-line-of-sight propagation of signals is the NLOS propagation phenomenon of signals between a mobile station and a base station. LOS propagation is a necessary condition for obtaining accurate signal characteristic measurement values, but it is often difficult to realize direct line-of-sight LOS propagation among a plurality of base stations, and more often, the LOS propagation is propagated through reflection and refraction, so that the RSSI of a received electric wave, the angle of arrival AOA of a signal and the time of arrival TOA of the signal are influenced. Under such an environment, even if there is no multipath effect and the timing accuracy of the clock is high, the influence of NLOS propagation is a key point for improving the wireless positioning accuracy. As there is still insufficient knowledge of the probability statistics of NLOS propagation models and the errors that they bring, there has not been a fully effective solution to this problem. In order to accurately extract the TDOA (time difference of arrival) delay difference information in the multipath environment, a lot of studies are carried out by many scholars. The method judges whether a non-line-of-sight error exists in the arrival delay difference or not through a residual error relative to a reference position, reduces the influence of non-line-of-sight (NLOS) through weighting or dividing a redundant positioning result, but needs more anchor nodes with known positions to participate in positioning; the method proposed by Wylie processes the measured TDOA time delay difference data according to the properties of different NLOS errors in a multipath environment to realize approximate Line of sight, and Line carries out positioning processing by using the data information of the reconstructed TDOA measured value. Therefore, in a dynamically changing multipath environment, the parameter estimation of the method is difficult to achieve, and thus the measured TOA is offset from the true TOA. In the single-antenna ranging, the same antenna is used for sending a detection signal and receiving a target echo signal, but when the signal passes through a filter, a power amplifier, a low-noise amplifier, an antenna and other devices, signal transmission delay which is difficult to estimate accurately is generated, and under the condition, system measurement errors caused by device transmission delay cannot be avoided. In addition, clock skew, noise and the like are also factors affecting the time domain measurement accuracy, and in practical ranging applications, most systems share a receiving/transmitting antenna, namely, the same antenna is used for transmitting a detection signal and receiving a target echo signal. Although such a system can be simplified in system structure, a signal passes through a filter, a power amplifier, a low noise amplifier, an antenna, and the like, and a certain propagation delay is generated, and such a delay is difficult to estimate accurately. Therefore, with the single antenna system for transmitting/receiving, the system ranging error caused by the device transmission delay is unavoidable.
In the prior art, the target is located by using equipment such as radar or laser, which belongs to active location, that is, the position of the target is measured and estimated by using an active device. A significant threat is that electronic interference or anti-radiation attacks may be encountered, compromising the security of the system. The passive positioning technology can also be adopted for positioning the target, and the observation station does not actively emit electromagnetic waves, but utilizes radio signals radiated or scattered by the target to realize the positioning of the target. The basic task is to receive signals from a target radiation source or a scattering source by using an observation station with a known position, extract observed quantities which can be used for target positioning, and realize estimation or calculation of target position parameters. Passive positioning speeds are much slower than active positioning, and cold starts can be as long as several minutes. The passive positioning technology is a technical set which measures signals of a target by using a technical means and estimates space coordinates of the target to be positioned according to a measurement result. The number of observation stations is divided, the passive positioning technology is divided into a single-station positioning technology and a multi-station positioning technology, the single-station positioning technology has the advantages of small equipment amount and low cost, but the information amount obtained by a single observation station is less than that of a plurality of observation stations, so the realization difficulty of the single-station positioning technology is high; meanwhile, under a complex propagation environment, non line-of-sight (NLOS) propagation between a target and an observation station generally exists, and the influence of NLOS propagation on positioning accuracy is more serious while the information quantity is increased for a system by using scatterer information in a single-station positioning technology. The single-station passive positioning can also be combined with other modes for positioning. The location based on the angle of arrival is to determine the direction of arrival DOA of an electric wave using a smart antenna, and once the direction of arrival DOA is determined, the location of the mobile station can be determined using two-station cross location or single-station hybrid location. However, as the TDOA delay difference measurement value and the multipath environment change, the offset of the delay error also changes. Thus, in a dynamically changing multipath environment, parameter estimation is difficult to achieve.
The radar system utilizes common FM broadcast, TV signal, satellite signal, base station signal and other civil chance irradiation source, and utilizes the reflected echo of the external radiation source of the target in air to perform relevant signal processing, so as to extract the parameters of time delay, Doppler, arrival direction and the like of the target, and track, identify and locate the target, and select and influence the target detection performance based on the radar system. The method separates and extracts target information from interferences such as strong direct waves, multipath, same frequency interference and the like, and is a key part based on signal processing of a frequency modulation broadcast radar system. Passive radar based on external radiation sources is a special type of bi (multi) base radar which does not emit electromagnetic wave signals by itself, but detects targets by detecting only the reflected signals of external radiation to the targets. Due to the particularity of the received signal and the receiving environment, the received signal often contains clutter such as direct waves, multipath, interference and the like besides weak target echoes, and the accuracy of the received signal modeling influences subsequent signal processing and target parameter extraction. In order to suppress direct waves, multipath and other clutter, a receiving station generally divides into two paths of simultaneous reception of a main channel and a reference channel, wherein the main channel is an array antenna and receives a target echo including the clutter. Because the target echo is very weak, the direct wave of the adjacent station can submerge the target echo, and further the target detection cannot be accurately carried out, certain measures need to be taken to inhibit co-channel interference. The waveform of the external radiation source and the characteristics of its blur function determine the range resolution, range blur interval, range sidelobe levels and doppler resolution. The characteristics of the waveform, the fuzzy function and the like of a geometric station distribution source and an opportunity irradiation source are key factors for designing a radar system based on an external radiation source, the distance resolution, the distance fuzzy interval, the distance side lobe level, the Doppler resolution and other system indexes of the radar are determined by the waveform and the characteristics of the fuzzy function of the radar, as a direct wave signal is higher than the target echo power by 80dB or even more than 100dB, the index requirement of a detected target cannot be met only by utilizing the antenna beam pointing direction and the processing gain obtained by increasing the relevant time, and the time-frequency two-dimensional correlation peak of the target echo and a reference signal is submerged by the side lobe of clutter signals such as strong direct waves, multipath and the like, so that the parameters of the target echo. The target tracking and identification only uses a single external radiation source and a single station to realize the positioning accuracy of the target, the research on the passive positioning technology mainly focuses on the multi-station positioning technology at present, and in the research results of the existing single station positioning technology, the research results aiming at NLOS error suppression are less. In the single-station positioning technology, a maneuvering observation station is often used to obtain enough information required for positioning, and although the maneuvering observation station can bring more information to the system in the maneuvering measurement process, the maneuvering of the observation station makes the NLOS propagation environment more complicated, and increases the difficulty in eliminating NLOS errors. However, NLOS error suppression is a key point for improving positioning accuracy, and based on the above background, overcoming NLOS errors under the condition that the amount of information acquired by a single observation station is limited is more challenging and novel.
Disclosure of Invention
The invention aims to provide a positioning method for known position of a scatterer under a multipath propagation condition, which has quick positioning and reduces positioning error, aiming at the problems of direct wave, multipath interference, same frequency interference separation and the like in a radar system and the problems in the prior art.
In order to achieve the technical purpose, the invention is realized by adopting the following technical scheme. A method for locating a known position of a scatterer under a multipath propagation condition has the following technical characteristics: under the condition that the target position is unknown, according to the intercepted target signal, estimating the time difference between the direct wave and the indirect wave of the target radiation source and the azimuth angle theta of the direct wave of the target measured by the antenna array of the observation station0Azimuth theta of non-direct wave of scatterer reflected wavenCalculating the distance between the scatterer and the observation station and the distance between the target and the observation stationEstimating a target position, utilizing the measured position coordinates of an observation station and scatterer position coordinates, the target direct wave and scatterer reflected wave incoming wave orientations measured by an antenna array of the observation station, the arrival time difference TDOA between the direct wave and the non-direct wave of a target radiation source signal and the distance between the scatterer and the observation station, determining the distance between the target radiation source and the observation station and the closed solution of the target position, then converting the obtained TDOA time delay difference into a reference point in a solving receiving signal, obtaining the value of the TDOA time delay difference, and utilizing a positioning algorithm to estimate the position coordinates of a node to be positioned after the TDOA time delay difference is obtained.
Compared with the prior art, the scheme of the invention has the beneficial effects that:
the positioning is rapid. According to the invention, an electromagnetic wave signal emitted by a target radiation source in the environment is transmitted to the observation station through a direct path and a non-direct path reflected by a scatterer, and the observation station antenna array receives a direct wave of the target radiation source signal and a scatterer reflected wave, so that a closed solution of a target position can be determined by using a measured position coordinate of the observation station, a measured position coordinate of the scatterer, a target direct wave and a scatterer reflected wave incoming wave azimuth measured by the observation station antenna array and an arrival time difference TDOA between the direct wave of the target radiation source signal and the non-direct wave under the condition that the target position is unknown, and the effect of improving and increasing the distance measurement precision of an invading target body is remarkable. Thus having the advantage of fast positioning. The conditional probability of line of sight (LOS) and non-line of sight (NLOS) is used as the premise of an interaction mode, so that the non-line of sight error can be well restrained, and the positioning accuracy is improved.
The positioning error is small. The invention uses the antenna array of the observation station to measure the direction DOA of the incoming wave of the target direct wave and the scatterer reflected wave, then measures the arrival time difference between the direct wave and the indirect wave of the target radiation source, uses the azimuth angle of the target direct wave, the azimuth angle of the scatterer reflected wave and the arrival time difference between the direct wave of the target radiation source signal and the scatterer reflected wave measured by the antenna array of the observation station, and positioning the target, and finally positioning the target, wherein the position of the target can be determined by using the position coordinate of the observation station, the position coordinate of the scatterer, the incoming wave direction DOA of the target direct wave and the scatterer reflected wave measured by the antenna array of the observation station and the arrival time difference TDOA between the target radiation source direct wave and the non-direct wave measured by the antenna array of the observation station under the condition that the position of the target is unknown by only using the observation station with the antenna array and more than 1 scatterer. The estimation accuracy of the position and the scattering distance of the scatterer is improved, the multipath of the background environment can be effectively eliminated, and the positioning error is reduced.
The method can accurately obtain the value of the TDOA time delay difference, improve the resolution of time delay estimation, and estimate the position coordinate of the node to be positioned by using a positioning algorithm after obtaining the TDOA time delay difference. Under the condition of weak multipath environment, the positioning error is about 0.14 m; under the condition of strong multipath environment, the positioning error is about 1.6 m.
Drawings
FIG. 1 is a flow chart of the positioning of a known position of a scatterer under multipath propagation conditions in accordance with the present invention.
The present invention will be described in further detail with reference to examples.
Detailed Description
The whole implementation process is shown in figure 1. According to the invention, in the environment of direct path and indirect path reflected by a scatterer, an observation station antenna array receives a target radiation source signal direct wave and a scatterer reflected wave, transmits an electromagnetic wave signal emitted by a target radiation source to an observation station, measures an observation position coordinate and a scatterer position coordinate, determines the distance between the scatterer and the observation station, measures the incoming wave direction DOA of the target direct wave and the scatterer reflected wave by using the observation station antenna array, and measures the arrival time difference tau between the target radiation source direct wave and the indirect waven(ii) a Constructing a rectangular coordinate system by taking the fixed and immobile position of an observation station of the antenna array as a coordinate origin, and measuring the position coordinate of the observation station, the position coordinate of the scatterer, the incoming wave direction DOA of a target direct wave and a scatterer reflected wave measured by the antenna array of the observation station and the arrival time difference tau between the target radiation source direct wave and the non-direct wavenWriting into a memory; under the condition that the target position is unknown, according to the intercepted target signal,estimating the time difference tau between the direct wave and the indirect wave of the target radiation sourcenMeasuring azimuth angle theta of target direct wave by antenna array of observation station0Azimuth theta of non-direct wave of scatterer reflected wavenCalculating the distance between a scatterer and an observation station and the distance between a target and the observation station, estimating the position of the target, determining the closed solution of the distance between a target radiation source and the observation station and the position of the target by using the position coordinate of the observation station and the position coordinate of the scatterer, the arrival time difference TDOA between the target direct wave and the scatterer reflected wave, the arrival time difference between the target radiation source signal direct wave and the target non-direct wave measured by an antenna array of the observation station and the distance between the scatterer and the observation station, converting the obtained TDOA time delay difference into a reference point in a solution receiving signal, obtaining the value of the TDOA time delay difference, and estimating the position coordinate of the node to be positioned by using a positioning algorithm after obtaining the TDOA time delay difference.
The distance between the scatterer and the observation station is determined by the measured observation position coordinate and the scatterer position coordinate; the distance between the target radiation source and the observation station is determined by the incoming wave direction DOA of the target direct wave and the scattering body reflected wave measured by the antenna array of the observation station, the arrival time difference between the target radiation source direct wave and the non-direct wave, and the distance between the scattering body and the observation station. And the distance between the observation station and the observation station is rn＝||sn-q | |, where s is a scatterer and N ═ 1,2s，NsThe number of scatterers is shown, and q is an observation position coordinate.
The position of the target radiation source is measured by the arrival time difference tau between the direct wave and the indirect wave of the target radiation sourcenAnd determining the distance between the target radiation source and the observation station.
Writing host memory data includes: measured station position coordinates q ═ x0,y0) Scatterer position coordinates
Azimuth angle theta of target direct wave measured by antenna array of observation station0Azimuth theta of non-direct wave of scatterer reflected wavenAnd a target radiation sourceArrival time difference tau between direct and indirect wavesn. Wherein x and y represent horizontal and vertical coordinates, s represents a scatterer, and N is 1,2s，NsThe number of scatterers is shown.
The arrival direction DOA of the target direct wave and the scatterer reflected wave measured by the antenna array of the observation station, and the arrival time difference tau between the target radiation source direct wave and the indirect wavenAnd the distance between the scatterer and the observation station determines the distance between the target radiation source and the observation station:
in the formula, c represents an electromagnetic wave transmission speed.
Arrival time difference tau between direct and indirect waves of target radiation sourcenAnd determining the position of the target radiation source by the distance between the target radiation source and the observation station as follows:
example 1
In an alternative embodiment, the observation station position coordinates are (0, 0), the target radiation source position coordinates are (543.112, 51.903), and the scatterer position coordinates are (942.394, -24.053), (708.224,523.854), both in meters. The incoming wave orientation of the target relative to the observation station antenna array is 5.4589 degrees, the incoming wave orientations of the two scatterers relative to the observation station antenna array are-14.8035 degrees and 36.4893 degrees respectively, the distances from the observation station are 974.7481 meters and 880.9110 meters respectively, and the arrival time difference TDOA between the direct wave and the non-direct wave of the target radiation source signal is 3.097 microseconds and 2.784 microseconds respectively.
In the embodiment, the position of the target is determined by the measured position coordinates of the observation station, the measured position coordinates of the scatterer, the incoming wave directions DOA of the target direct wave and the scatterer reflected wave measured by the antenna array of the observation station, and the measured arrival time difference TDOA between the target radiation source direct wave and the non-direct wave.
In order to examine the capability of the positioning method for inhibiting the measurement error, the errors of the target direct wave measured by the antenna array of the observation station and the incoming wave direction DOA of the scatterer reflected wave obey Gaussian distribution with the average value of 0 degree and the standard deviation of 3 degrees, and the error of the measured arrival time difference TDOA between the target radiation source direct wave and the non-direct wave obeys Gaussian distribution with the average value of 0 nanosecond and the standard deviation of 100 nanoseconds.
Example 2
Step 1: the measured observation station position coordinates (0, 0) meter, scatterer position coordinates (942.394, -24.053) meter and (708.224,523.854) meter, azimuth angles of a target direct wave measured by an observation station antenna array and a scatterer reflected wave are 5.4589 degrees, minus 14.8035 degrees and 36.4893 degrees respectively, and arrival time differences TDOA3.097 microseconds and 2.784 microseconds between the measured target radiation source direct wave and the measured non-direct wave are written into a host memory;
step 2: determining the distance between the scatterer and the observation station according to the measured observation position coordinates and the measured scatterer position coordinates, wherein the distance is 974.7481 meters and 880.9110 meters;
and step 3: the distance between the target radiation source and the observation station is determined by the arrival direction DOA of the target direct wave and the scattering body reflected wave measured by the antenna array of the observation station, the arrival time difference TDOA between the measured target radiation source direct wave and the non-direct wave, and the distance between the scattering body and the observation station, and is 473.2102 meters;
and 4, step 4: the position of the target radiation source is determined to be (479.0012, 139.1055) meters by the measured arrival time difference TDOA between the direct wave and the indirect wave of the target radiation source and the distance between the target radiation source and the observation station.
It can be seen that, under the condition that the errors of the target direct wave and the incoming wave azimuth of the scatterer reflected wave measured by the antenna array of the observation station are 31.2663 degrees, 97.5789 degrees and 8.4172 degrees respectively, and the errors of the measured arrival time difference TDOA between the direct wave and the indirect wave of the target radiation source signal are-3.0970 seconds and-2.7840 seconds respectively, the error of the distance between the target position and the position of the observation station determined by the method is 76.5326 meters.
The foregoing is directed to the preferred embodiment of the present invention and it is noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. A method for locating a known position of a scatterer under a multipath propagation condition has the following technical characteristics: under the condition that the target position is unknown, according to the intercepted target signal, estimating the time difference between the direct wave and the indirect wave of the target radiation source and the azimuth angle theta of the direct wave of the target measured by the antenna array of the observation station0Azimuth theta of non-direct wave of scatterer reflected wavenCalculating the distance between a scatterer and an observation station and the distance between a target and the observation station, estimating the position of the target, determining the closed solution of the distance between a target radiation source and the observation station and the position of the target by using the position coordinate of the observation station and the position coordinate of the scatterer, the arrival time difference TDOA between the target direct wave and the scatterer reflected wave, the arrival time difference between the target radiation source signal direct wave and the target non-direct wave measured by an antenna array of the observation station and the distance between the scatterer and the observation station, converting the obtained TDOA time delay difference into a reference point in a solution receiving signal, obtaining the value of the TDOA time delay difference, and estimating the position coordinate of the node to be positioned by using a positioning algorithm after obtaining the TDOA time delay difference.
2. A method of locating a known position of a scatterer under multipath propagation conditions as recited in claim 1, wherein: in the environment of a direct path and a non-direct path reflected by a scatterer, an observation station antenna array receives a target radiation source signal direct wave and a scatterer reflected wave, transmits an electromagnetic wave signal emitted by a target radiation source to an observation station, measures an observation position coordinate and a scatterer position coordinate, determines the distance between the scatterer and the observation station, measures the incoming wave direction DOA of the target direct wave and the scatterer reflected wave by using the observation station antenna array, and measures the arrival time difference tau between the target radiation source direct wave and the non-direct waven(ii) a To be provided withConstructing a rectangular coordinate system by taking the fixed and immobile position of an observation station of the antenna array as the origin of coordinates, and measuring the position coordinates of the observation station, the position coordinates of the scatterer, the incoming wave direction DOA of the target direct wave and the scatterer reflected wave measured by the antenna array of the observation station and the arrival time difference tau between the target radiation source direct wave and the non-direct wavenAnd writing into the memory.
3. A method of locating a known position of a scatterer under multipath propagation conditions as recited in claim 1, wherein: the distance between the scatterer and the observation station is determined by the measured observation position coordinate and the scatterer position coordinate; the distance between the target radiation source and the observation station is determined by the incoming wave direction DOA of the target direct wave and the scattering body reflected wave measured by the antenna array of the observation station, the arrival time difference between the target radiation source direct wave and the non-direct wave, and the distance between the scattering body and the observation station; the position of the target radiation source is measured by the arrival time difference tau between the direct wave and the indirect wave of the target radiation sourcenAnd determining the distance between the target radiation source and the observation station.
4. A method of locating a scatterer whose position is known under multipath propagation conditions, according to claim 3, wherein: the distance between observation stations is rn＝||sn-q||，
Where s is a scatterer, n is 1,2, … Ns, Ns is the number of scatterers, and q is the observation position coordinate.
5. A method of locating a known position of a scatterer under multipath propagation conditions as recited in claim 2, wherein: writing host memory data includes: measured station position coordinates q ═ x0,y0) Scatterer position coordinates
Azimuth angle theta of target direct wave measured by antenna array of observation station0Azimuth theta of non-direct wave of scatterer reflected wavenAnd between direct and indirect waves of the target radiation sourceTime difference of arrival τn. Wherein x and y represent horizontal and vertical coordinates, s represents a scatterer, and N is 1,2s’NsThe number of scatterers is shown.
6. The method of claim 4, wherein the position of the scatterer is known under multipath propagation conditions, and wherein: the arrival direction DOA of the target direct wave and the scatterer reflected wave measured by the antenna array of the observation station, and the arrival time difference tau between the target radiation source direct wave and the indirect wavenAnd the distance between the scatterer and the observation station determines the distance between the target radiation source and the observation station:
in the formula, c represents an electromagnetic wave transmission speed.
7. A method for locating a scatterer whose position is known under multipath propagation conditions according to claim 4 or claim 5, characterized in that: arrival time difference tau between direct and indirect waves of target radiation sourcenAnd determining the position of the target radiation source by the distance between the target radiation source and the observation station as follows:
8. a method of locating a known position of a scatterer under multipath propagation conditions as recited in claim 1, wherein: and determining the position of the target through the measured position coordinates of the observation station, the measured position coordinates of the scatterer, the incoming wave directions DOA of the target direct wave and the scatterer reflected wave measured by the antenna array of the observation station, and the measured arrival time difference TDOA between the target radiation source direct wave and the non-direct wave.
9. A method of locating a known position of a scatterer under multipath propagation conditions as recited in claim 1, wherein: errors of the DOA in the incoming wave direction of the target direct wave and the scatterer reflected wave measured by the antenna array of the observation station obey Gaussian distribution with the mean value of 0 degree and the standard deviation of 3 degrees, and errors of the TDOA in the arrival time difference between the measured target radiation source direct wave and the measured non-direct wave obey Gaussian distribution with the mean value of 0 nanosecond and the standard deviation of 100 nanoseconds.
10. A method of locating a known position of a scatterer under multipath propagation conditions as recited in claim 1, wherein: determining the distance between the scatterer and the observation station to be 974.7481 meters and 880.9110 meters according to the measured observation position coordinates and the scatterer position coordinates;
the distance between the target radiation source and the observation station is determined to be 473.2102 meters by the incoming wave direction DOA of the target direct wave and the scattering body reflected wave measured by the antenna array of the observation station, the arrival time difference TDOA between the measured target radiation source direct wave and the non-direct wave, and the distance between the scattering body and the observation station; and determining the position of the target radiation source to be (479.0012, 139.1055) meters by measuring the arrival time difference TDOA between the direct wave and the indirect wave of the target radiation source and the distance between the target radiation source and the observation station.
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| 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 |
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