CN111948620A - Target passive cooperative detection method and system based on multi-type external radiation sources - Google Patents
Target passive cooperative detection method and system based on multi-type external radiation sources Download PDFInfo
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Abstract
The invention belongs to the technical field of signal processing of communication technology, and discloses a target passive cooperative detection method and a system based on a multi-type external radiation source, wherein a direct wave signal in a reference channel is separated through a band-pass filter, and the signals in a monitoring channel are subjected to direct wave interference and multi-path interference suppression to obtain a relatively pure echo signal; then according to the space geometric relationship of the positioning system, the time delay and Doppler parameters related to the position and speed of the target are used for expressing the distance from the receiving station and the radial speed of the target, a mutual fuzzy function based on speed-distance transformation is constructed, the direct waves and the echoes of the multi-type external radiation source are respectively processed by the constructed inverse transformation mutual fuzzy function, the estimated values of the distance and the radial speed of the target are obtained, and the position and the speed of the target in a three-dimensional space are obtained according to the estimated result, so that the detection of the target is realized. The method of the invention is effectively feasible when the signal-to-noise ratio is low.
Description
Technical Field
The invention belongs to the technical field of signal processing of communication technology, and particularly relates to a target passive cooperative detection method and system based on multiple types of external radiation sources, a storage medium, computer equipment and application.
Background
Currently, TDOA and DOA are used in conjunction to probe objects. And constructing a mutual ambiguity function, estimating the time delay and Doppler frequency shift of echo signals of different radiation sources by changing the time delay and frequency shift of direct wave signals, and respectively calculating the position and radial velocity of a target by combining the two-dimensional DOA estimation result. And then selecting a proper fusion algorithm for the positioning results of different radiation sources to perform data fusion, namely realizing the positioning of the target. However, this positioning scheme obviously belongs to a two-step positioning method, and it needs to estimate the delay and doppler parameters first, and then estimate the target position according to the estimation results of delay and doppler, each estimation process will be accompanied by a certain loss of precision, resulting in a not very high accuracy of the positioning result.
In order to solve the problem of target positioning based on external radiation sources, scholars at home and abroad have already made preliminary exploration. Zhaoyong Sheng et al proposed a Taylor iteration-based positioning algorithm that estimates the position of a target using time delay difference and frequency shift as observations, and designed simulation experiments to prove that the algorithm has very high estimation accuracy in a multi-transmitting-station single-receiving-station positioning system (Zhaoyong, Zhaoyuan, Zhaoyong, Zhaoyun. Single-station multi-external-radiation-source target positioning algorithm using TDOA and FDOA [ J ]. engineering science and technology, 2016 (S1)). The Chen Shing aims at the problem that system errors in an external radiation source positioning system have large influence on estimation accuracy, and provides a positioning algorithm and a system error correction algorithm based on DOA and TDOA. Firstly, carrying out linearization on DOA and TDOA, then carrying out joint estimation on the position and the error of a target by using an iterative weighted least square method, and optimizing the selection of an initial point on a secondary basis; simulation experiments prove that the proposed algorithm has high estimation precision (Chenxianmang, Leifan, King Wen light. passive positioning algorithm of external radiation radar [ J ] modern radar under error correction, 2019 (3)). Various electromagnetic signals existing in an electromagnetic space, sunli, briefly introduces a model of a single-receiving-station external radiation source positioning system, and analyzes an external radiation source positioning technology based on a GPS satellite on the basis of the model (sunli, dunmin. a passive radar technology and product based on GPS [ J ]. military and civilian technologies, 2016 (8)). Liu Shi faithful external radiation source positioning technology based on Doppler frequency shift difference (FDOA), and the Liu Shi faithful external radiation source positioning technology is applied to a single satellite positioning system, and the feasibility of the algorithm is preliminarily verified through acquired BD/GPS data, so that the algorithm is proved to have high estimation accuracy and has higher convergence speed (Liu faithful; Zhang Yu; Zhang Xueli; Cheng Yan; research and simulation analysis of single satellite positioning algorithm based on low orbit satellites [ C ] China satellite navigation academic annual meeting) compared with the traditional algorithm. Sandeep Gogineni uses a Universal Mobile Telecommunications System (UMTS) Signal as an external radiation source for a multi-base Radar system, corrects delay and Doppler estimation errors therein, and gives a Cram r-Rao lower bound (MCRLB) after error correction (Sandeep Gogineni, MuraidharRangwawamy, Briand D.Rigling, eye Newari.Crmar-Rao bound for UMTS-Based Passive multistative Raar [ J ] IEEE Transactions on Signal Processing, 2014, 62 (1): 95-106). Joshua l.sendall uses FM frequency modulation broadcast as an external radiation source, and proposes a target positioning technology based on time delay and doppler shift. The proposed method has proven to be more accurate than the distance-only and doppler-only techniques (joshual. sendall; Francois d.v.maasdorp. detection state refinement in FM multistative passive Radar [ C ]. IEEE Radar Conference (radconf), 2017: 0717-. A.Amar et al proposed a method for directly locating an object, which is different from the conventional two-step estimation method, that is, characterizing the position and velocity related parameters of the object in the Signal, and establishing a suitable cost function to directly estimate the position and velocity of the object by iterative search (A.Amar.A.J.Weiss.direct position determination (DPD) of multiple and unknown radio-frequency signals [ C ].200412th European Signal Processing Conference 2004: 115-. Most of the algorithms are designed for one external radiation source, and the electromagnetic space is not fully utilized, so that multiple radiation sources exist simultaneously, and the estimation accuracy and the positioning reliability are poor.
Through the above analysis, the problems and defects of the prior art are as follows: at present, target detection methods based on external radiation sources are all traditional two-step positioning methods, namely, relevant parameters such as time delay, Doppler shift and the like are estimated firstly, and when a plurality of receiving stations or a plurality of external radiation sources exist, the estimated time delay and Doppler parameters are often not uniform, so that the estimation results of the time delay and Doppler shift need to be transformed and mapped to a distance, and dimension uniformity is realized in a speed dimension; after that, the results of positioning different receiving stations (or external radiation sources) are subjected to data fusion again, obviously, the scheme has relatively large precision loss.
The difficulty in solving the above problems and defects is: in order to estimate the position and speed information of the target in the multi-external radiation source environment, the estimated dimensions must be unified in the stage of the mutual fuzzy function.
The significance of solving the problems and the defects is as follows: the method provided by the invention substitutes the position and speed information of the target into the mutual fuzzy function based on linear regular transformation, and can directly iterate the distance and speed of the target to position the target. In a multi-external radiation source scene, the estimation results of different radiation sources are uniform in distance, so that fusion can be directly performed, and compared with the traditional two-step estimation, the target detection task in the multi-external radiation source scene can be realized only by one step.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a target passive cooperative detection method and system based on multi-type external radiation sources.
The invention is realized in this way, a target passive cooperative detection method based on multi-type external radiation sources, the target passive detection method firstly separates the direct wave signal in the reference channel through the band-pass filter, and inhibits the direct wave interference and the multipath interference to the signal in the monitoring channel, and obtains a purer echo signal; then according to the space geometric relation of the positioning system, the time delay and Doppler parameters related to the position and the speed of the target are used for expressing the distance from a receiving station and the radial speed of the target, and a mutual fuzzy function based on speed-distance transformation is constructed; and finally, processing the direct waves and the echoes of the radiation sources outside each platform by using the constructed inverse transform mutual fuzzy function respectively, obtaining the estimated values of the distance and the radial speed of the target, and obtaining the position and the speed of the target in a three-dimensional space according to the estimated results to realize the detection of the target.
Further, the target passive cooperative detection method based on the multi-type external radiation source comprises the following steps:
designing a band-pass filter to separate direct waves of a reference channel and inhibit direct wave interference and multipath interference on signals in a monitoring channel;
deducing a mapping relation between time delay and the distance from the target to the receiving station, the Doppler frequency shift and the radial speed of the target, and constructing a speed-distance inverse transformation mutual fuzzy function based on the mapping relation;
thirdly, processing by using different direct wave signals and echo signals through inverse transformation and then mutual fuzzy functions, overlapping the mutual fuzzy functions of a plurality of radiation sources, and searching and estimating the distance from a target to a receiving station and the radial velocity of the target through a spectrum peak;
and step four, converting the distance from the target to the receiving station into the coordinate of the target in a three-dimensional space, and synthesizing the speed of the target by using different radial speeds to realize the passive detection of the target.
Further, the signal x (t) received by the reference channel under the scenario is represented as:
wherein M represents the number of heterogeneous radiation sources, si(t) is the ith direct wave signal, biIs the amplitude of the direct wave signal, n (t) represents an additive zero mean gaussian signal;
monitoring echo signals x in a channelt(t) is expressed as:
wherein M represents the number of heterogeneous external radiation sources, si(t-τi) For echo signals of different radiation source signals, τiIs the ith radiation sourceTime delay of echo signal relative to direct wave signal, fdiDoppler shift of the direct wave corresponding to the echo signal, aiRepresenting the amplitude of the ith radiation source echo signal; si(t) are different direct wave signals, diThe amplitudes of different direct wave signals in a reference channel;
representing multipath signal components in the echo signal, H being the number of paths of the multipath channel in the monitored channel, mijAmplitude, τ, of the j-th path signal of the direct wave signal of the i-th radiation sourceijThe time delay of the jth path signal of the direct wave signal of the ith satellite relative to the direct wave, and v (t) represents zero-mean Gaussian noise;
after the direct wave of the reference channel is separated by using a band-pass filter, the direct wave signal x of the ith radiation source signal in the reference channeli(t) is expressed as:
xi(t)＝bisi(t)+n(t)；
wherein s isi(t) represents the direct wave of the ith radiation source signal, and n (t) is a zero-mean Gaussian signal representing other noise signals in space;
the direct wave and the multipath signals in the monitoring channel need to be suppressed by adopting a self-adaptive beam forming method, and the specific steps are as follows: and (3) constraining the direction of the direct wave emitted by the external radiation source by adopting a linear constrained minimum variance LCMV algorithm:
where ω denotes a weighting coefficient, RxxCovariance matrix representing echo channel received signal, C ═ α (θ)0)α(θ1)…α(θM)],f＝[1 0…0]Wherein α (θ)0) Steering the vector for the desired signal direction, α (θ)1)…α(θM) Is the orientation steering vector of M external radiation sources, (.)HRepresenting the conjugate transpose, solving to obtain:
for multipath interference, a wide null method is adopted to generate null suppression in a multipath interference direction area, and the beam synthesis problem of the wide null is represented as follows:
wherein, ω is0Denotes the conventional beam coefficients, [ xi ] denotes the null width, Q is an M dimensional Hermitian matrix, Q is expressed as:
wherein, thetakFor the direction of disturbance, Δ θkIs the direction of disturbance thetakAnd (3) forming a null width, wherein K is 1,2, …, and K represents the number of nulls, and solving to obtain a wide null weighting vector:
ω＝(I-DDH)ω0；
wherein the content of the first and second substances,
Eirepresenting a characteristic value λiThe corresponding feature vector.
By omegaoptInstead of omega0Obtaining:
by varying the steering vector a (theta) in C0) Controlling the beam direction, and realizing the direction finding of the target while inhibiting direct waves and multipath interference; when the direct wave and the multipath in the echo have been suppressed, the signal model received by the echo channel is expressed as:
further, parameters related to the position and velocity of the target are estimated, and the cross-ambiguity function is expressed as:
wherein, tau and f are respectively time delay and frequency shift of direct wave signals, simplifying:
firstly, derivation is carried out only for one radiation source, and the derivation is simplified as follows:
when τ is τiAnd f ═ fdThe method comprises the following steps of firstly, taking the maximum value of x (tau, f), constructing a mutual fuzzy function, estimating the time delay and Doppler frequency shift of echo signals of different radiation sources by changing the time delay and frequency shift of direct wave signals, and respectively calculating the position and radial velocity of a target by combining the two-dimensional DOA estimation result; selecting a proper fusion algorithm for the positioning results of different radiation sources to perform data fusion, thereby realizing the positioning of the target;
in the application scenario, the geometrical relationship between the target, the radiation source and the receiving station is as follows:
where c is the speed of light, θRIs the angle between the radiation source and the target line and between the receiving antenna and the target line, L is the distance between the receiving station and the radiation source, R is the distance between the receiving station and the radiation sourcetIs the distance between the target and the radiation source, RrIs targeted to a receiving stationThe distance between them. By transformation, it results:
and the radial velocity v is related to the doppler shift f by:
wherein λ represents the wavelength of the radiation source signal;
and substituting the mapping functions of time delay and distance, Doppler frequency shift and radial velocity into a cross-fuzzy function formula to obtain:
due to V, Rrλ is known, and θRHas been obtained by two-dimensional DOA estimation, and directly measures the distance R from the target to the receiving stationtA search is made with the radial velocity of the target.
Further, different mutually fuzzy functions are superimposed:
wherein, χ(i)(R, v) represents the inverse transform mutual fuzzy function of the ith radiation source and the echo signal, the distance estimation value is obtained by using the mixed fuzzy function, the distance estimation value is substituted into the respective inverse transform mutual fuzzy functions to obtain the velocity section, and the peak value is searched as the estimation value of the radial velocity.
Further, the distance R from the target to the receiving station is obtained through searching the spectrum peakrAnd a target radial velocity viAfter estimating the value, solving the position of the target in the three-dimensional space:
wherein, (x, y, z), (x)1,y1,z1)，(xi,yi,zi) Respectively representing the coordinates of the object, the receiving station and the ith receiving station in three-dimensional space, wherein the position parameters of the receiving station and the radiation source are known, RtThe value of L is known, RtIs estimated value of
It has also been found that an estimate of the position of an object in three-dimensional space is obtained by solving a system of equations
Determining the azimuth angle of the ith radiation source relative to the target from the coordinates of the target and the radiation source
And a pitch angle thetai，
Representing the azimuth angle, theta, of the radiation source 1 relative to the target1Representing the pitch angle of the radiation source 1 relative to the target, and the velocity component of the target velocity in the direction of the line connecting the target and the ith outer radiation source is the estimated radial velocity vi＝vdiRelative velocity v of the radiation source 1 and the target1Can be decomposed into v in a Cartesian three-dimensional space coordinate systemx1，vy1，vz1The solution equation is expressed as:
vz1＝v1sinθ1；
determining the relative speed v between the radiation source i and the targetiVelocity component v ofxi，vyi，vziWhen the number i of the external radiation sources is more than or equal to 3 and the connecting lines from different radiation sources to the target are not on the same plane, the radial speeds v corresponding to different radiation sourcesiThe velocity v of the synthetic target.
It is a further object of the invention to provide a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of: firstly, separating direct wave signals in a reference channel through a band-pass filter, and inhibiting direct wave interference and multipath interference on signals in a monitoring channel to obtain relatively pure echo signals; then according to the space geometric relation of the positioning system, the time delay and Doppler parameters related to the position and the speed of the target are used for expressing the distance from a receiving station and the radial speed of the target, and a mutual fuzzy function based on speed-distance transformation is constructed; and finally, processing the direct waves and the echoes of the radiation sources outside each platform by using the constructed inverse transform mutual fuzzy function respectively, obtaining the estimated values of the distance and the radial speed of the target, and obtaining the position and the speed of the target in a three-dimensional space according to the estimated results to realize the detection of the target.
It is another object of the present invention to provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of: firstly, separating direct wave signals in a reference channel through a band-pass filter, and inhibiting direct wave interference and multipath interference on signals in a monitoring channel to obtain relatively pure echo signals; then according to the space geometric relation of the positioning system, the time delay and Doppler parameters related to the position and the speed of the target are used for expressing the distance from a receiving station and the radial speed of the target, and a mutual fuzzy function based on speed-distance transformation is constructed; and finally, processing the direct waves and the echoes of the radiation sources outside each platform by using the constructed inverse transform mutual fuzzy function respectively, obtaining the estimated values of the distance and the radial speed of the target, and obtaining the position and the speed of the target in a three-dimensional space according to the estimated results to realize the detection of the target.
Another object of the present invention is to provide an object passive cooperative detection system for implementing the multi-type external radiation source-based object passive cooperative detection method, the object passive cooperative detection system comprising:
the echo signal processing module is used for separating direct wave signals in the reference channel through the band-pass filter, and inhibiting direct wave interference and multipath interference on signals in the monitoring channel to obtain relatively pure echo signals;
the mutual fuzzy function building module is used for expressing the time delay and Doppler parameters related to the position and the speed of the target to the distance of the receiving station and the radial speed of the target according to the space geometric relationship of the positioning system and building a mutual fuzzy function based on speed-distance transformation;
and the target detection module is used for processing the direct waves and the echoes of the radiation sources outside each platform by using the constructed inverse transform mutual fuzzy function respectively, obtaining the estimated values of the distance and the radial speed of the target, and obtaining the position and the speed of the target in a three-dimensional space according to the estimated results to realize the detection of the target.
Another object of the present invention is to provide a communication signal processing system, which is equipped with the target passive detection system.
By combining all the technical schemes, the invention has the advantages and positive effects that: the invention uses the mixed fuzzy function to calculate the distance estimation value
Then the distance estimated value is substituted into the respective inverse transformation mutual fuzzy function to obtain the velocity section of the radial velocity, and then the peak value of the velocity section is searched as the estimated value of the radial velocity
Since the velocity profile is truncated based on the distance estimate, the radial velocity estimate will also achieve better performance if the distance estimate has better estimation accuracy. The speed direction of the target can be calculated according to the speed component of the target in the three-dimensional space, compared with a scheme that a single radiation source carries out speed measurement through a front position point and a rear position point, the time cost is saved, and the speed and the direction of the target can be estimated timely and quickly.
The invention substitutes the position and speed information of the target into the mutual fuzzy function based on linear regular transformation, and can directly iterate the distance and speed of the target to position the target. Under the multi-external radiation source scene, the estimation results of different radiation sources are uniform in distance, so that fusion can be directly carried out, and compared with the traditional two-step estimation, the target detection task under the multi-type external radiation source scene can be realized only by one step.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
Fig. 1 is a flowchart of a target passive detection method according to an embodiment of the present invention.
FIG. 2 is a schematic structural diagram of a target passive detection system according to an embodiment of the present invention;
in fig. 2: 1. an echo signal processing module; 2. a mutual fuzzy function building module; 3. and an object detection module.
Fig. 3 is a schematic geometric structure diagram of a receiving system according to an embodiment of the present invention.
Fig. 4 is an exploded view of a target velocity in three-dimensional space provided by an embodiment of the invention.
Fig. 5 is a schematic diagram illustrating a distance estimation performance of a target in a multi-external radiation source scene according to an embodiment of the present invention, as a function of a signal-to-noise ratio.
Fig. 6 is a schematic diagram illustrating a speed estimation performance of a target in a multi-external radiation source scenario as a function of a signal-to-noise ratio according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a target passive cooperative detection method and system based on multi-type external radiation sources, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the method for passively and cooperatively detecting an object based on multiple types of external radiation sources provided by the present invention includes the following steps:
s101: designing a band-pass filter to separate direct waves of a reference channel and inhibit direct wave interference and multipath interference on signals in a monitoring channel;
s102: deducing a mapping relation between time delay and a distance from a target to a receiving station, Doppler frequency shift and a radial velocity of the target, and constructing a mutual fuzzy function based on inverse transformation by using the obtained mapping relation;
s103: processing by using different direct wave signals and echo signals by using a mutual fuzzy function after inverse transformation, overlapping the mutual fuzzy functions of a plurality of radiation sources, and searching and estimating the distance from a target to a receiving station and the radial speed of the target by a spectrum peak;
s104: and converting the estimated values of the distance from the target to the receiving station and the radial velocity into the coordinates and the velocity of the target in a three-dimensional space to finish the passive detection of the target.
The passive target detection method provided by the present invention can be implemented by other steps, and the passive target cooperative detection method based on multiple types of external radiation sources provided by the present invention of fig. 1 is only one specific example.
As shown in fig. 2, the passive cooperative target detection system based on multiple types of external radiation sources provided by the present invention includes:
the echo signal processing module 1 is configured to separate a direct wave signal in a reference channel through a band-pass filter, and perform suppression of direct wave interference and multipath interference on a signal in a monitoring channel to obtain a relatively pure echo signal.
And the mutual fuzzy function construction module 2 is used for expressing the time delay and Doppler parameters related to the position and the speed of the target to the distance of the receiving station and the radial speed of the target according to the space geometric relationship of the positioning system, and constructing a mutual fuzzy function based on speed-distance transformation.
And the target detection module 3 is used for processing the direct waves and the echoes of the radiation sources outside each platform by using the constructed inverse transform mutual fuzzy function respectively, obtaining estimated values of the distance and the radial speed of the target, and obtaining the position and the speed of the target in a three-dimensional space according to the estimated results to realize the detection of the target.
The technical solution of the present invention is further described below with reference to the accompanying drawings.
The passive target detection method provided by the invention comprises the following steps:
firstly, designing a band-pass filter to separate direct wave signals from different radiation sources, and inhibiting direct wave interference and multipath interference on signals in a monitoring channel.
It should be noted that, in the first step, the bandpass filter is designed to separate direct wave signals from different radiation sources, and the principle of suppressing direct wave interference and multipath interference on signals in the monitoring channel is as follows:
the signal x (t) of the reference channel in this scenario can be expressed as:
wherein M represents the number of heterogeneous radiation sources, si(t) is the ith direct wave signal, biIs the amplitude of the direct wave signal, and n (t) represents an additive zero mean gaussian signal.
Monitoring echo signals x in a channelt(t) can be expressed as:
wherein M represents the number of heterogeneous external radiation sources, si(t-τi) For echo signals of different radiation source signals, τiIs the time delay of the i-th radiation source echo signal relative to the direct wave signal, fdiDoppler shift of the direct wave corresponding to the echo signal, aiRepresenting the amplitude of the ith radiation source echo signal; si(t) are different direct wave signals, diThe amplitudes of different direct wave signals in a reference channel;
representing multipath signal components in the echo signal, H being the number of paths of the multipath channel in the monitored channel, mijAmplitude, τ, of the j-th path signal of the direct wave signal of the i-th radiation sourceijAnd v (t) represents zero-mean Gaussian noise, wherein the time delay of the jth path signal of the direct wave signal of the ith satellite relative to the direct wave is the jth path signal of the ith satellite.
Because the signal frequency bands emitted by a plurality of heterogeneous external radiation sources are not coincident, different external radiation source signals can be directly separated by using a band-pass filter, and after the direct wave of a reference channel is separated by using the band-pass filter, the direct wave signal x of the ith radiation source signal in the reference channeli(t) is expressed as:
xi(t)＝bisi(t)+n(t)；
wherein s isi(t) represents the direct wave of the ith radiation source signal, and n (t) is the zero mean valueGaussian signal, representing other noise signals in space.
In the radar detection system with the external radiation source, because the radiation source signal is not specially used for detection, the power is much lower than that of the active radar, so the echo signal in the monitoring channel is also very weak, and the power of the echo signal is far lower than that of direct wave interference and multipath interference. In order to extract echo signals in a monitoring channel, direct wave interference and multipath interference must be suppressed, and since the noise suppression capability of the time domain filtering technology is weak and the suppression capability in a low signal-to-noise ratio scene is weak, the spatial domain filtering technology is considered to be adopted for suppression, wherein the self-adaptive beam forming method is a very effective spatial filtering method. The direction of the direct wave emitted by the external radiation source can be constrained by adopting a Linear Constrained Minimum Variance (LCMV) algorithm:
where ω denotes a weighting coefficient, RxxCovariance matrix representing echo channel received signal, C ═ α (θ)0)α(θ1)…α(θM)],f＝[1 0…0]Wherein α (θ)0) Steering the vector for the desired signal direction, α (θ)1)…α(θM) Is the orientation steering vector of M external radiation sources, (.)HRepresenting the conjugate transpose, solving the above equation can result in:
for multipath interference, a wide null method needs to be adopted to generate nulls in a multipath interference direction area for suppression, and the beam forming problem of the wide null can be expressed as:
wherein, ω is0Representing a conventional waveThe beam coefficient, ξ represents the width of the null, Q is an M-dimensional Hermitian matrix, Q is expressed as:
wherein, thetakFor the direction of disturbance, Δ θkIs the direction of disturbance thetakThe width of the formed null, K is 1,2, …, K represents the number of nulls, and Q is decomposed by a characteristic value to obtain:
wherein λ isiDenotes the characteristic value of Q, EiRepresenting a characteristic value λiCorresponding feature vectors, the feature values are arranged from large to small, i.e. lambda is increased along with the increase of iiDecreasing, substituting the constraint with the above equation can result:
let omegaHEi＝0,i＝1,2,…,M0Namely:
ωHD＝0；
wherein the content of the first and second substances,
then:
the radical lithocept-schwarz inequality, the above formula can be divided into:
since the eigenvalues are arranged from large to small, a suitable M is selected0I.e. satisfy the constraint, at omegaHUnder the condition that D is 0, the cost function can be rewritten into the following value according to a Lagrange number riding method:
f(ω)＝(ω-ω0)H(ω-ω0)-ωHDλ；
where λ represents the Lagrangian multiplication factor, for ωHThe derivation can be:
ω＝ω0-Dλ；
simplification of the above equation yields:
(ω0-Dλ)HD＝0；
from the above formula, one can obtain:
λ＝DHω0；
obtaining the value of lambda, so as to obtain the wide null weighting vector:
ω＝(I-DDH)ω0；
for adaptive beamforming under LCMV guidelines to combine with wide nulling algorithms, ω can be usedoptInstead of omega0Thereby obtaining:
by varying the steering vector a (theta) in C0) By controlling the beam direction, the direction finding of the target can be realized while the direct wave and the multipath interference are suppressed.
When the direct wave and the multi-path in the echo have been suppressed, the signal model received by the echo channel can be expressed as:
and secondly, establishing a mapping relation between the target position and speed parameters and the echo signal time delay and Doppler parameters and constructing a mutual fuzzy function based on inverse transformation.
It should be noted that the principle of establishing the mapping relationship between the target position and velocity parameters and the echo signal delay and doppler parameters in the second step is as follows:
because the direct waves from different radiation sources have been separated, one can first discuss the detection model of a single non-cooperative illumination source, since the power of the echo signal is typically weak, the echo signal is still buried in noise even after direct wave and multipath interference suppression. In order to extract the echo signal from the noise and estimate the parameters related to the position and velocity of the target, the cross-ambiguity function can be expressed as:
wherein τ and f are respectively time delay and frequency shift of the direct wave signal, and are simplified as follows:
because the flow of the mutual ambiguity function of each radiation source is the same, the invention can firstly carry out derivation only aiming at one radiation source, and the above formula can be simplified as follows:
it is clear that when τ is τiAnd f ═ fdAnd in the process, the value of x (tau, f) is the maximum value, so that a mutual fuzzy function can be constructed, the time delay and the Doppler frequency shift of echo signals of different radiation sources are estimated by changing the time delay and the frequency shift of direct wave signals, and the position and the radial velocity of a target can be respectively solved by combining the two-dimensional DOA estimation result. Then, a proper fusion algorithm is selected for the positioning results of different radiation sources for data fusion, namely, the positioning of the target is realized, but the positioning scheme obviously belongs to a two-step positioning method, the time delay and Doppler parameters are firstly estimated, the position of the target is estimated according to the estimation results of the time delay and Doppler, and each estimation process is accompanied by one estimation processFor reducing the precision loss of estimation, a mutual fuzzy function based on inverse transformation is proposed.
In the application scenario to which the invention is directed, the geometrical relationships between the target, the radiation source and the receiving station are as follows:
where c is the speed of light, θRIs the angle between the radiation source and the target line and between the receiving antenna and the target line, L is the distance between the receiving station and the radiation source, R is the distance between the receiving station and the radiation sourcetIs the distance between the target and the radiation source, RrThe distance between the target and the receiving station. By means of the transformation it can be derived:
and the radial velocity v is related to the doppler shift f by:
where λ represents the wavelength of the radiation source signal.
The mapping functions of time delay and distance, Doppler frequency shift and radial velocity are all substituted into a cross-fuzzy function formula to obtain:
due to V, Rrλ is known, and θRHas been obtained by two-dimensional DOA estimation, therefore the invention can directly carry out the distance R from the target to the receiving station without searching tau and ftSearching with the radial velocity of the target:
it is clear that when R ═ RrAnd v ═ vdThe objective function χ (R, v) takes a maximum value when the theoretical estimates of the different radiation sources in the distance dimension are the same.
And thirdly, realizing the fusion of the mutual fuzzy spectrums of the plurality of external radiation sources and the echo signals and obtaining the estimation of the target distance and the radial speed so as to calculate the position coordinate of the target in the three-dimensional space.
It should be noted that, the third step is to realize the fusion of the mutually blurred spectra of the multiple external radiation sources and the echo signals and obtain the target distance and radial velocity estimation according to the following principles:
different direct waves and echo signals are processed by mutual fuzzy functions based on inverse transformation, and then the different mutual fuzzy functions are superposed:
wherein, χ(i)(R, v) represents the inverse transform cross-ambiguity function of the ith radiation source and the echo signal. It is worth noting that the desired estimate of distance is the same for all radiation sources, but the desired estimate of radial velocity is not the same, so that in the velocity dimension, there may be multiple peaks, and for radiation source cross-ambiguity functions where there are velocity sub-peaks, the correct result may not be obtained. The idea of the method is to use only the mixed fuzzy function to obtain the distance estimation value
Then the distance estimated value is substituted into the respective inverse transformation mutual fuzzy function to obtain the velocity section of the radial velocity, and then the peak value of the velocity section is searched as the estimated value of the radial velocity
Since the velocity profile is cut from the distance estimate, the radial velocity estimate is also better if the distance estimate has better estimation accuracyBetter performance is achieved.
The distance and velocity peak values of the hybrid mutual ambiguity function need to be obtained by using spectral peak search, and the flow of the spectral peak search can be represented as follows:
step 1: storing the data of the two-dimensional section of the fuzzy function into an array W', wherein the ith element of the array is Wi：
Step 2: backward differencing each element in the array W 'and storing the result in the array W', wherein the jth element is marked as W ″j：
w″j＝w′i-w′i+1；
Step 3: setting the elements smaller than zero in the W 'to zero, counting the number of the elements larger than zero in the array W' and recording the number as n, and transforming the n elements as follows:
step 4: the operation of Step3 is repeated until n is 1, and the following table of which the element is greater than zero at this time is output as the result of the spectral peak search.
And fourthly, converting the target distance and the radial velocity estimation value into position coordinates and velocity of the target in a three-dimensional space.
It should be noted that, in the fourth step, the principle of converting the target distance and the radial velocity estimation value into the position coordinate and the velocity of the target in the three-dimensional space is as follows:
the mapping between the target to receiving station distance, target coordinates, and radiation source coordinates can be established according to fig. 3:
wherein, (x, y, z), (x)1,y1,z1)，(xi,yi,zi) Respectively representing the coordinates of the object, the receiving station and the ith receiving station in three-dimensional space, wherein the position parameters of the receiving station and the radiation source are known, RtAnd the value of L is known as such,
the position (x, y, z) of the target in three-dimensional space can thus be obtained by solving the system of equations.
As shown in FIG. 4, since the coordinates of the target in three-dimensional space have been solved, the azimuth angle of the i-th radiation source relative to the target is found from the coordinates of the target and the radiation source
And a pitch angle thetai，
Representing the azimuth angle, theta, of the radiation source 1 relative to the target1Representing the pitch angle of the radiation source 1 relative to the target, and the velocity component of the target velocity in the direction of the line connecting the target and the ith outer radiation source is the estimated radial velocity vi＝vdiRelative velocity v of the radiation source 1 and the target1Can be decomposed into v in a Cartesian three-dimensional space coordinate systemx1，vy1，vz1The solution equation can be expressed as:
vz1＝v1sinθ1；
the relative speed v between the radiation source i and the target can be obtained by the same methodiVelocity component v ofxi，vyi，vziWhen the number i of the external radiation sources is more than or equal to 3 and the connecting lines from different radiation sources to the target are not on the same plane, the radial speeds v corresponding to different radiation sources can be usediVelocity v of the synthetic target:
the speed direction of the target can be calculated according to the speed component of the target in the three-dimensional space, compared with a scheme that a single radiation source carries out speed measurement through a front position point and a rear position point, the time cost is saved, and the speed and the direction of the target can be estimated timely and quickly.
The technical effects of the present invention will be described in detail with reference to simulations.
In order to verify the effectiveness of the method for directly estimating the distance and the speed of the moving target, a corresponding simulation experiment is designed. The invention selects FM signal, DVB-T signal and GSM signal as test signal, the power ratio of three direct wave signals is: 1: 0.08: 0.0025, carrier frequencies are respectively; 97MHz,750MHz and 955MHz echoes are 40db weaker than direct waves, and the number of points of signal coherent accumulation is 107. Noise ringThe environment is additive white Gaussian noise, the target distance is 10km, the component speeds in the directions of three radiation sources are all 200m/s, and 500 Monte-Carlo experiments are carried out under each signal-to-noise ratio. The velocity and distance estimators are evaluated by normalized minimum mean square error (NMSE), in order to study the influence of different echo signal-to-noise ratios on the estimation performance of the distance and velocity in different methods, under the condition that the echo signal-to-noise ratio is-50 dB to 20dB, the simulation is verified by using two estimation methods of cross-ambiguity function (CAF) and inverse transform-based cross-ambiguity function (RECAF), the simulation result is shown in figures 5 and 6, and it can be seen from figures 5 and 6 that when the signal-to-noise ratio reaches-15 dB, the distance normalized minimum mean square error of the RECAF method reaches 10-3When the signal-to-noise ratio reaches-15 db, the velocity normalization minimum mean square error of the RECAF method reaches 10-3，The effectiveness of the method in detecting the target is proved.
It should be noted that the embodiments of the present invention can be realized by hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or specially designed hardware. Those skilled in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such code being provided on a carrier medium such as a disk, CD-or DVD-ROM, programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier, for example. The apparatus and its modules of the present invention may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., or by software executed by various types of processors, or by a combination of hardware circuits and software, e.g., firmware.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A target passive cooperative detection method based on multi-type external radiation sources is characterized in that the target passive cooperative detection method firstly separates direct wave signals in a reference channel through a band-pass filter, and inhibits direct wave interference and multipath interference on signals in a monitoring channel to obtain relatively pure echo signals; then according to the space geometric relation of the positioning system, the time delay and Doppler parameters related to the position and the speed of the target are used for expressing the distance from a receiving station and the radial speed of the target, and a mutual fuzzy function based on speed-distance transformation is constructed; and finally, processing the direct waves and the echoes of the multi-type external radiation sources by using the constructed inverse transform mutual fuzzy function respectively, obtaining the estimated values of the distance and the radial velocity of the target, and obtaining the position and the velocity of the target in a three-dimensional space according to the estimated results to realize the detection of the target.
2. The passive cooperative target detection method based on multiple types of external radiation sources according to claim 1, wherein the passive target detection method comprises:
designing a band-pass filter to separate direct waves of a reference channel and inhibit direct wave interference and multipath interference on signals in a monitoring channel;
deducing a mapping relation between time delay and the distance from the target to the receiving station, the Doppler frequency shift and the radial speed of the target, and constructing a speed-distance inverse transformation mutual fuzzy function based on the mapping relation;
thirdly, processing by using different direct wave signals and echo signals through inverse transformation and then mutual fuzzy functions, overlapping the mutual fuzzy functions of a plurality of radiation sources, and searching and estimating the distance from a target to a receiving station and the radial velocity of the target through a spectrum peak;
and step four, converting the distance from the target to the receiving station into the coordinate of the target in a three-dimensional space, and synthesizing the speed of the target by using different radial speeds to realize the passive detection of the target.
3. The passive cooperative target detection method based on multiple types of external radiation sources according to claim 2, wherein the signal x (t) received by the reference channel under the scene is represented as:
wherein M represents the number of heterogeneous radiation sources, si(t) is the ith direct wave signal, biIs the amplitude of the direct wave signal, n (t) represents an additive zero mean gaussian signal;
monitoring echo signals x in a channelt(t) is expressed as:
wherein M represents the number of heterogeneous external radiation sources, si(t-τi) For echo signals of different radiation source signals, τiIs the time delay of the i-th radiation source echo signal relative to the direct wave signal, fdiDoppler shift of the direct wave corresponding to the echo signal, aiRepresenting the amplitude of the ith radiation source echo signal; si(t) are different direct wave signals, diThe amplitudes of different direct wave signals in a reference channel;
representing multipath signal components in the echo signal, H being the number of paths of the multipath channel in the monitored channel, mijAmplitude, τ, of the j-th path signal of the direct wave signal of the i-th radiation sourceijThe time delay of the jth path signal of the direct wave signal of the ith satellite relative to the direct wave, and v (t) represents zero-mean Gaussian noise;
by means of beltsAfter the direct wave of the reference channel is separated by the pass filter, the direct wave signal x of the ith radiation source signal in the reference channeli(t) is expressed as:
xi(t)＝bisi(t)+n(t)；
wherein s isi(t) represents the direct wave of the ith radiation source signal, and n (t) is a zero-mean Gaussian signal representing other noise signals in space;
the direct wave and the multipath signals in the monitoring channel need to be suppressed by adopting a self-adaptive beam forming method, and the specific steps are as follows: and (3) constraining the direction of the direct wave emitted by the external radiation source by adopting a linear constrained minimum variance LCMV algorithm:
where ω denotes a weighting coefficient, RxxCovariance matrix representing echo channel received signal, C ═ α (θ)0)α(θ1)…α(θM)],f＝[1 0 …0]Wherein α (θ)0) Steering the vector for the desired signal direction, α (θ)1)…α(θM) Is the orientation steering vector of M external radiation sources, (.)HRepresenting the conjugate transpose, solving to obtain:
for multipath interference, a wide null method is adopted to generate null suppression in a multipath interference direction area, and the beam synthesis problem of the wide null is represented as follows:
where ω denotes a weighting coefficient, ω0Denotes the conventional beam coefficients, [ xi ] denotes the null width, Q is an M dimensional Hermitian matrix, Q is expressed as:
where α (θ) represents a steering vector, θkFor the direction of disturbance, Δ θkIs the direction of disturbance thetakAnd (3) forming a null width, wherein K is 1,2, …, and K represents the number of nulls, and solving to obtain a wide null weighting vector:
ω＝(I-DDH)ω0；
wherein the content of the first and second substances,
Eirepresenting a characteristic value λiThe corresponding feature vector.
By omegaoptInstead of omega0Obtaining:
by varying the steering vector a (theta) in C0) Controlling the beam direction, and realizing the direction finding of the target while inhibiting direct waves and multipath interference; when the direct wave and the multipath in the echo have been suppressed, the signal model received by the echo channel is expressed as:
4. the passive cooperative detection method of objects based on multiple types of external radiation sources as claimed in claim 2, wherein the parameters related to the position and speed of the object are estimated, and the cross-ambiguity function is expressed as:
wherein, tau and f are respectively time delay and frequency shift of direct wave signals, simplifying:
firstly, derivation is carried out only for one radiation source, and the derivation is simplified as follows:
when τ is τiAnd f ═ fdThe method comprises the following steps of firstly, taking the maximum value of x (tau, f), constructing a mutual fuzzy function, estimating the time delay and Doppler frequency shift of echo signals of different radiation sources by changing the time delay and frequency shift of direct wave signals, and respectively calculating the position and radial velocity of a target by combining the two-dimensional DOA estimation result; selecting a proper fusion algorithm for the positioning results of different radiation sources to perform data fusion, thereby realizing the positioning of the target;
in the application scenario, the geometrical relationship between the target, the radiation source and the receiving station is as follows:
where c is the speed of light, θRIs the angle between the radiation source and the target line and between the receiving antenna and the target line, L is the distance between the receiving station and the radiation source, R is the distance between the receiving station and the radiation sourcetIs the distance between the target and the radiation source, RrFor the distance between the target and the receiving station, the following is obtained by transformation:
and the radial velocity v is related to the doppler shift f by:
wherein λ represents the wavelength of the radiation source signal;
and substituting the mapping functions of time delay and distance, Doppler frequency shift and radial velocity into a cross-fuzzy function formula to obtain:
due to V, Rrλ is known, and θRHas been obtained by two-dimensional DOA estimation, and directly measures the distance R from the target to the receiving stationtA search is made with the radial velocity of the target.
5. The passive cooperative detection method of objects based on multi-type external radiation sources according to claim 2, characterized in that different mutual ambiguity functions are superimposed:
wherein, χ(i)(R, v) represents the inverse transform mutual fuzzy function of the ith radiation source and the echo signal, the distance estimation value is obtained by using the mixed fuzzy function, the distance estimation value is substituted into the respective inverse transform mutual fuzzy functions to obtain the velocity section, and the peak value is searched as the estimation value of the radial velocity.
6. The passive cooperative detection method for objects based on multiple types of external radiation sources as claimed in claim 2, wherein the distance R from the object to the receiving station is obtained by searching through a spectrum peakrAnd a target radial velocity viAfter estimating the value, solving the position of the target in the three-dimensional space:
wherein, (x, y, z), (x)1,y1,z1)，(xi,yi,zi) Respectively representing the coordinates of the object, the receiving station and the ith receiving station in three-dimensional space, wherein the position parameters of the receiving station and the radiation source are known, RtThe value of L is known, RtIs estimated value of
It has also been found that an estimate of the position of an object in three-dimensional space is obtained by solving a system of equations
Determining the azimuth angle of the ith radiation source relative to the target from the coordinates of the target and the radiation source
And a pitch angle thetai，
Representing the azimuth angle, theta, of the radiation source 1 relative to the target1Representing the pitch angle of the radiation source 1 relative to the target, and the velocity component of the target velocity in the direction of the line connecting the target and the ith outer radiation source is the estimated radial velocity vi＝vdiRelative velocity v of the radiation source 1 and the target1Can be decomposed into v in a Cartesian three-dimensional space coordinate systemx1，vy1，vz1The solution equation is expressed as:
vz1＝v1sinθ1；
determining the relative speed v between the radiation source i and the targetiVelocity component v ofxi，vyi，vziWhen the number i of the external radiation sources is more than or equal to 3 and the connecting lines from different radiation sources to the target are not on the same plane, the radial speeds v corresponding to different radiation sourcesiThe velocity v of the synthetic target.
7. A computer device, characterized in that the computer device comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the steps of: firstly, separating direct wave signals in a reference channel through a band-pass filter, and inhibiting direct wave interference and multipath interference on signals in a monitoring channel to obtain relatively pure echo signals; then according to the space geometric relation of the positioning system, the time delay and Doppler parameters related to the position and the speed of the target are used for expressing the distance from a receiving station and the radial speed of the target, and a mutual fuzzy function based on speed-distance transformation is constructed; and finally, processing the direct waves and the echoes of the radiation sources outside each platform by using the constructed inverse transform mutual fuzzy function respectively, obtaining the estimated values of the distance and the radial speed of the target, and obtaining the position and the speed of the target in a three-dimensional space according to the estimated results to realize the detection of the target.
8. A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of: firstly, separating direct wave signals in a reference channel through a band-pass filter, and inhibiting direct wave interference and multipath interference on signals in a monitoring channel to obtain relatively pure echo signals; then according to the space geometric relation of the positioning system, the time delay and Doppler parameters related to the position and the speed of the target are used for expressing the distance from a receiving station and the radial speed of the target, and a mutual fuzzy function based on speed-distance transformation is constructed; and finally, processing the direct waves and the echoes of the radiation sources outside each platform by using the constructed inverse transform mutual fuzzy function respectively, obtaining the estimated values of the distance and the radial speed of the target, and obtaining the position and the speed of the target in a three-dimensional space according to the estimated results to realize the detection of the target.
9. An object passive detection system for implementing the multi-type external radiation source-based object passive cooperative detection method according to any one of claims 1 to 6, wherein the object passive cooperative detection system comprises:
the echo signal processing module is used for separating direct wave signals in the reference channel through the band-pass filter, and inhibiting direct wave interference and multipath interference on signals in the monitoring channel to obtain relatively pure echo signals;
the mutual fuzzy function building module is used for expressing the time delay and Doppler parameters related to the position and the speed of the target to the distance of the receiving station and the radial speed of the target according to the space geometric relationship of the positioning system and building a mutual fuzzy function based on speed-distance transformation;
and the target detection module is used for processing the direct waves and the echoes of the radiation sources outside each platform by using the constructed inverse transform mutual fuzzy function respectively, obtaining the estimated values of the distance and the radial speed of the target, and obtaining the position and the speed of the target in a three-dimensional space according to the estimated results to realize the detection of the target.
10. A communication signal processing system, characterized in that it carries an object passive detection system according to claim 9.
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