CN113281701B - Direct positioning method for beyond-vision-distance target by cooperating short wave multi-station angle and three-star time difference - Google Patents
Direct positioning method for beyond-vision-distance target by cooperating short wave multi-station angle and three-star time difference Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/04—Position of source determined by a plurality of spaced direction-finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The invention belongs to the technical field of radiation source positioning, and particularly relates to a method for directly positioning an beyond-view-range target by cooperating with a short-wave multi-station angle and a three-star time difference, which is based on the steps of collecting short-wave signals emitted by a radiation source to be positioned by a plurality of short-wave observation stations, establishing an azimuth angle observation equation, and obtaining array receiving signals of a plurality of sampling moments of the plurality of short-wave observation stations to form a new short-wave receiving signal vector; transmitting satellite signals transmitted by a radiation source to be positioned by utilizing a preset number of satellites, collecting by different satellite ground stations, establishing a satellite propagation delay equation according to each satellite geographic coordinate and the satellite ground station geographic coordinates, and acquiring satellite receiving signal vectors received by the satellite ground stations at a plurality of sampling moments; the ground central station receives array signal data acquired by the short wave observation station and the satellite ground station, and builds a direct positioning optimization model by utilizing a maximum likelihood estimation criterion; and the longitude and latitude estimated value of the radiation source is obtained by solving the model, so that the positioning accuracy is improved.
Description
Technical Field
The invention belongs to the technical field of radiation source positioning, and particularly relates to a method for directly positioning an over-the-horizon target by coordinating short wave multi-station angle information and three-star time difference information.
Background
As is well known, radio signal localization technology has a very important meaning for object discovery and situation awareness thereof, and has been developed for decades, the technology has been greatly developed in both theoretical and engineering applications. The radio positioning is classified into a satellite-based radio positioning and a land-based radio positioning according to the positioning means. The satellite-based radio positioning system, namely the satellite navigation positioning system, has the capabilities of positioning and measuring speed with large range and high precision and providing timing service, and is widely applied to various fields of national defense and national economy. In land-based radio positioning systems, the manner in which radio communication is performed using electromagnetic waves in the short-wave band is called short-wave communication, and this communication manner has been used permanently and widely both in the civil field and in the military field, so that short-wave positioning systems are an important component of land-based radio positioning systems. The positioning of the radiation source in the short-wave frequency range is mostly realized by multi-array ground direction finding intersection positioning, three-star positioning is a common satellite-based radio positioning mode, generally satellite signals transmitted by the radiation source to be positioned are forwarded to a ground observation station through 3 communication satellites, and the positioning is realized by utilizing the time delay or the time delay difference of a signal propagation path. The positioning accuracy of the former is very sensitive to the distance between the target and the observation station, and particularly the positioning accuracy of the remote target is limited; the latter is more robust than the short-wave system, but the time difference estimation accuracy is obviously affected by the bandwidth. In addition, from the point of view of the earth reference ellipsoid, the geometric precision factor (Geometric Dilution Precision, GDOP) of short-wave positioning and the GDOP of satellite positioning are also different from each other. Therefore, if the two positioning systems can be effectively utilized cooperatively, the effects of compensating the positioning short plate and keeping the positioning advantage can be achieved.
Disclosure of Invention
Therefore, the invention provides a direct positioning method of an beyond-view target for cooperating short-wave multi-station angle information and three-star time difference information aiming at a radiation source to be positioned capable of transmitting short-wave signals and satellite signals at the same time, and the positioning precision of the beyond-view (remote) radiation source on the earth surface is remarkably improved.
According to the design scheme provided by the invention, the method for directly positioning the beyond-vision-distance target by the cooperative short-wave multi-station angle information and the three-star time difference information comprises the following contents:
based on a plurality of short-wave observation stations, collecting short-wave signals emitted by a radiation source to be positioned, establishing an azimuth angle observation equation according to the geographic coordinates of the radiation source to be positioned, the emitted short-wave signals and the geographic coordinates of the short-wave observation stations, and acquiring array receiving signals of a plurality of short-wave observation stations at a plurality of sampling moments according to the azimuth angle observation equation to form a new short-wave receiving signal vector;
transmitting satellite signals transmitted by a radiation source to be positioned by utilizing a preset number of satellites, collecting the satellite signals by different satellite ground stations, establishing a propagation delay equation for transmitting the satellite signals to the satellite ground stations through each satellite according to each satellite geographic coordinate and each satellite ground station geographic coordinate, and acquiring satellite receiving signal vectors received by the satellite ground stations at a plurality of sampling moments according to the propagation delay equation;
the ground central station receives array signal data acquired by the short wave observation station and the satellite ground station, and builds a direct positioning optimization model by utilizing a maximum likelihood estimation criterion; and obtaining the estimated value of the longitude and latitude of the radiation source serving as a final positioning result by solving the model.
As the method for directly positioning the beyond-view-range target by cooperating with the short-wave multi-station angle information and the three-star time difference information, the short-wave observation station receives and collects the short-wave signals emitted by the radiation source by installing the observation array, and the observation array can at least receive two-dimensional angle information.
As the direct positioning method of the beyond-view target for the cooperative short-wave multi-station angle information and the three-star time difference information, further, the short-wave signal is assumed to reach the kth 1 Azimuth and elevation angles of the short wave observation stations are respectively theta k1 Sum phi k1 Then the kth 1 The received signal model of each short wave observation station is expressed as: x is x k1 (t)＝a k1 (θ k1 ,ψ k1 )s k1 (t)+n k1 (t), k1=1, 2, K, wherein K is the number of short wave observation stations, x k1 (t) represents the array received signal envelope of the kth 1 short wave observation station; s is(s) k1 (t) represents the signal envelope reaching the kth 1 short wave observation station; n is n k1 (t) represents array additive Gaussian white noise, a k1 (θ k1 ,ψ k1 ) Representing an array manifold vector as a function of the two-dimensional direction of arrival of the signal.
As the direct positioning method of the beyond-the-horizon target of the cooperative short wave multi-station angle information and the three-star time difference information, further, the kth is assumed 1 The longitude and latitude of each short wave observation station are zeta k1 And χ (x) k1 The longitude and latitude of the radiation source to be positioned are alpha and gamma respectively, and then the azimuth observation equation is expressed as:wherein t is k1x And t k1y All represent coordinate system conversion vectors; z (α, γ) represents a position vector of the radiation source to be positioned in a geocentric fixed coordinate system; z (ζ) k1 ,χ k1 ) Represents the kth 1 Short wave observation station under geocentric earth fixed coordinate systemA position vector.
As the direct positioning method of the beyond-view target for the cooperative short-wave multi-station angle information and the three-star time difference information, the novel short-wave receiving signal vector obtained according to the azimuth observation equation is further expressed as follows: x is x k1 ＝[x k1 (t 1 ),x k1 (t 2 ),...,x k1 (t N )] T ＝B k1 (α,γ,ψ k1 )s k1 +n k1 Wherein t is n Indicating the nth sampling time, N being the number of sampling points; s is(s) k1 ＝[s k1 (t 1 ),s k1 (t 2 ),...,s k1 (t N )] T Indicating arrival at k 1 Vectors formed by complex envelopes of short wave signals of N sampling moments of the short wave observation stations;is a noise vector composed of array additive noise of N sampling moments; />I N Representing an N-dimensional identity matrix; />Representing the Kronecker product of the matrix, b k1 (α,γ,ψ k1 ) An array manifold vector is represented as a function of geographic coordinates and pitch angle of the radiation source to be positioned.
As the method for directly positioning the beyond-the-horizon target by cooperating short wave multi-station angle information and three-star time difference information, further, the satellite signal is assumed to pass through the kth 2 The propagation delay of the satellite to the satellite ground station is tau k2 Then by the kth 2 The ground station received signal model forwarded by the satellites is expressed as:
y k2 (t)＝β k2 s′(t-t 0 -τ k2 )+ε k2 (t)
wherein y is k2 (t) represents the product represented by the kth 2 The ground station forwarded by the satellite receives the signal envelope; s' (t-t) 0 -τ k2 ) Indicated at t 0 Transmitted at the moment and sent by the kth 2 The time delay of the satellite to reach the satellite ground station is tau k2 Is a complex envelope of signals; epsilon k2 (t) represents the product represented by the kth 2 Additive Gaussian white noise in a ground station receiving channel forwarded by a satellite; beta k2 Representing satellite signals emitted by the radiation source to be positioned via the kth 2 The satellite forwards the channel propagation coefficients between the arrival satellites at the ground station.
As the direct positioning method of the beyond-the-horizon target of the cooperative short wave multi-station angle information and the three-star time difference information, further, the kth is assumed 2 The longitude and latitude and the altitude of the satellite are zeta respectively k ′ 2 、χ k ′ 2 And delta k2 The longitude and latitude of the satellite ground station are zeta respectively k ″ 2 And χ (x) k ″ 2 The propagation delay equation is expressed as
Wherein I 2 A Euclidean norm representing the vector; c represents the signal propagation velocity; z' (ζ) k ′ 2 ,χ k ′ 2 ,δ k2 ) Represents the kth 2 Position vector, z (ζ) k ″ 2 ,χ k ″ 2 ) Represents the kth 2 The position vector of each satellite ground station in the geocentric and geodetic fixed coordinate system.
As the method for directly positioning the beyond-view target by the cooperative short-wave multi-station angle information and the three-star time difference information, the satellite receiving signal vector obtained according to the propagation delay equation is further expressed as:
y k2 ＝[y k2 (t 1 ),y k2 (t 2 ),...,y k2 (t N′ )] T ＝β k2 F H D k2 Fs′ 0 +ε k2 wherein t is n Representing the nth sampling time, N' is the number of sampling points, and F is a DFT conversion factor; s' 0 ＝[s′(t 1 -t 0 ),s′(t 2 -t 0 ),...,s′(t N′ -t 0 )] T At t for the radiation source to be positioned 0 Vector composed of satellite signal complex envelope of N' sampling moments transmitted at moment; epsilon k2 ＝[ε k2 (t 1 ),ε k2 (t 2 ),...,ε k2 (t N′ )] T A noise vector consisting of channel additive noise is received by a satellite ground station at N' sampling moments; d (D) k2 Is equal to the time delay tau k2 A related phase shift matrix.
As the direct positioning method of the beyond-view target of the collaborative shortwave multi-station angle information and the three-star time difference information, the direct positioning optimization model is further expressed as
Wherein J represents an objective function to be optimized, k 1 The number of short-wave observation stations is marked, K is the number of short-wave observation stations, and the number is +>Represents the kth 1 The short-wave observation station receives signals +.>Represents the noise power, k, of the received signal 2 For the forwarding satellite label, P is the preset number of forwarding satellites, < >>Represents the kth 2 Ground station received signal forwarded by satellite +.>Representing the ground station received signal noise power.
As the method for directly positioning the beyond-view range target by cooperating with the short-wave multi-station angle information and the three-star time difference information, in the model solving process, firstly, the optimal solution of the short-wave received signal vector and the satellite received signal vector is sequentially obtained to perform longitude and latitude processing on a direct optimization model, and a dimension reduction optimization model only about the longitude and latitude of a radiation source is obtained; and then, carrying out iterative solution on the dimension reduction optimization model by using a Gaussian Newton iteration method to obtain the longitude and latitude estimated value of the radiation source to be positioned.
The invention has the beneficial effects that:
the invention aims at the radiation source to be positioned which can simultaneously emit short wave signals and satellite signals, and cooperates with the short wave multi-station angle information and the three-star time difference information, compared with the existing short wave multi-station intersection positioning and three-star time difference positioning, the positioning precision of the earth surface beyond-view distance (long distance) radiation source can be obviously improved, and the invention has better application prospect.
Description of the drawings:
FIG. 1 is a schematic flow chart of direct positioning of an over-the-horizon object in an embodiment;
FIG. 2 is a schematic illustration of the principle of direct localization of beyond-the-horizon targets in an embodiment;
FIG. 3 is a schematic diagram of a short wave signal receiving geometry in an embodiment;
FIG. 4 is a schematic diagram of short wave and satellite signal data transmission in an embodiment;
FIG. 5 is a schematic illustration of the distribution of positioning results compared to a prior positioning scheme in an embodiment;
fig. 6 is a graph showing the variation of the rms error of the positioning with the snr in comparison with the conventional positioning scheme in the embodiment.
The specific embodiment is as follows:
the present invention will be described in further detail with reference to the drawings and the technical scheme, in order to make the objects, technical schemes and advantages of the present invention more apparent.
The embodiment of the invention provides a method for directly positioning an beyond-the-horizon target by coordinating short wave multi-station angle information and three-star time difference information, which comprises the following steps: based on a plurality of short-wave observation stations, collecting short-wave signals emitted by a radiation source to be positioned, establishing an azimuth angle observation equation according to the geographic coordinates of the radiation source to be positioned, the emitted short-wave signals and the geographic coordinates of the short-wave observation stations, and acquiring array receiving signals of a plurality of short-wave observation stations at a plurality of sampling moments according to the azimuth angle observation equation to form a new short-wave receiving signal vector; transmitting satellite signals transmitted by a radiation source to be positioned by utilizing a preset number of satellites, collecting the satellite signals by different satellite ground stations, establishing a propagation delay equation for transmitting the satellite signals to the satellite ground stations through each satellite according to each satellite geographic coordinate and each satellite ground station geographic coordinate, and acquiring satellite receiving signal vectors received by the satellite ground stations at a plurality of sampling moments according to the propagation delay equation; the ground central station receives array signal data acquired by the short wave observation station and the satellite ground station, and builds a direct positioning optimization model by utilizing a maximum likelihood estimation criterion; and obtaining the estimated value of the longitude and latitude of the radiation source serving as a final positioning result by solving the model.
From the point of view of the earth reference ellipsoids, the geometric precision factor (Geometric Dilution Precision, GDOP) of short-wave positioning and the GDOP of satellite positioning are also different from each other. Therefore, if the two positioning systems can be effectively utilized cooperatively, the effects of compensating the positioning short plate and keeping the positioning advantage can be achieved. To achieve co-location by two means, it is necessary that the radiation source to be located is capable of transmitting signals in different frequency bands simultaneously, which is possible in a practical scenario, for example, a ship may transmit short wave signals and satellite signals simultaneously. The conventional passive positioning technology mostly adopts a two-step estimation mode, namely, firstly, relevant parameters (mainly including space domain, time domain, frequency domain, energy domain and other parameters) for positioning are extracted from a received signal, and then, the intermediate parameters are used for determining a target position parameter or a speed parameter. While this two-step positioning mode is widely used in modern passive positioning systems, the israeli a.j.weiss and a.amar point out many of the drawbacks that exist therein and propose the idea of direct positioning, the basic idea of which is to directly estimate the position parameters of the target from the data domain of the signal acquisition, without the need to estimate other intermediate positioning parameters. Obviously, the direct positioning system is also applicable to the co-positioning of short wave multi-station and three-star systems. Therefore, in the embodiment of the present disclosure, for a radiation source to be positioned, which can transmit a short wave signal and a satellite signal at the same time, by coordinating short wave multi-station angle information and three-star time difference information, the positioning accuracy of the earth surface beyond-view (remote) radiation source can be significantly improved.
Establishing a relation between a state vector and an observed waveform by constructing a target motion model of two adjacent stages; finally, a likelihood function of the track vector is constructed based on the state transition probability waveform and the observation probability model, and a maximum likelihood estimated value of the track vector is obtained through solving, so that higher track estimation can be obtained under the conditions of obvious target motion rule, low signal-to-noise ratio and less acquisition snapshot number.
Further, referring to fig. 1 and fig. 2, in this embodiment, first, an array (capable of receiving two-dimensional angle information) installed by a plurality of short-wave observation stations may be used to receive and collect short-wave signals emitted by a radiation source to be located; then, using the geographic coordinates (namely longitude and latitude) of each short-wave observation station, sequentially establishing algebraic relational expression between the geographic coordinates (namely longitude and latitude) of the radiation source and azimuth angles of the short-wave signals transmitted by the radiation source reaching different short-wave observation stations; then sequentially combining array received signals of a plurality of sampling moments of each short wave observation station into a new short wave received signal vector, and further expressing the new short wave received signal vector as an expression related to the geographic coordinates of the radiation source to be positioned; then, satellite signals emitted by the radiation source to be positioned are forwarded by using 3 satellites, and received and collected by different satellite ground stations; then, using the geographic coordinates (namely longitude and latitude and ground height) of each satellite and the geographic coordinates of a satellite ground station (namely longitude and latitude), sequentially establishing algebraic relation between the geographic coordinates of the radiation source and the propagation delay of satellite signals transmitted by the radiation source to the satellite ground station through each satellite; then sequentially forming received signals of a plurality of sampling moments of each satellite ground station into satellite received signal vectors, and further representing each satellite received signal vector as an expression related to the geographic coordinates of the radiation source to be positioned; and finally, transmitting the acquired signal data to a ground central station (which can be set as a certain satellite ground station or a short wave observation station) for processing by each short wave observation station and the satellite ground station, acquiring an optimization model for estimating the longitude and latitude of the radiation source by the ground central station based on the short wave signal data and the satellite signal data, and carrying out numerical optimization on the optimization model by using a two-step Gaussian-Newton iteration method for acquiring an estimated value of the longitude and latitude of the radiation source, namely a final positioning result.
For a short wave signal emitted by a radiation source to be positioned, an array (capable of receiving two-dimensional angle information) arranged by K (K & gt 1) short wave observation stations is utilized to receive and collect the signal, and the azimuth angle (clockwise included angle with the north direction) and the elevation angle of the short wave signal reaching the kth short wave observation station are respectively theta k Sum phi k The array receiving signal model of the kth short wave observation station is as follows:
x k (t)＝a k (θ k ,ψ k )s k (t)+n k (t)(k＝1,2,...,K)
in which x is k (t) represents the array receive signal envelope of the kth short wave observation station; s is(s) k (t) represents the complex envelope of the signal arriving at the kth short-wave observation station; n is n k (t) represents an array additive Gaussian white noise with a mean of zero and a covariance matrix of(/>Representing noise power; />Represents M k A dimension identity matrix; m is M k Representing the number of array elements); a, a k (θ k ,ψ k ) Representing an array manifold vector as a function of the two-dimensional direction of arrival of the signal.
And sequentially establishing algebraic relation between the geographical coordinates (namely longitude and latitude) of the radiation source and azimuth angles of the short wave signals transmitted by the geographical coordinates (namely longitude and latitude) of the K short wave observation stations to the K short wave observation stations by using the geographical coordinates (namely longitude and latitude). Assume that the longitude and latitude of the kth short wave observation station are zeta respectively k And χ (x) k The longitude and latitude of the radiation source to be positioned are alpha and gamma respectively, and according to the geometric relationship of short wave signal propagation and coordinate conversion (shown in figure 3), the geographic coordinates (namely the longitude and latitude) of K short wave observation stations can be utilized to establish the geographic coordinates (namelyLongitude and latitude) and the azimuth angles of the transmitted short wave signals reaching the K short wave observation stations:
t is in kx And t ky All represent coordinate system conversion vectors; z (α, γ) represents a position vector of the radiation source to be positioned in a geocentric fixed coordinate system; z (ζ) k ,χ k ) Representing the position vector of the kth short wave observation station in the geocentric fixed coordinate system, the expression is as follows:
wherein,r a 、r b the long axis and the short axis of the earth reference ellipsoid are respectively.
And sequentially combining array received signals of the K short-wave observation stations at a plurality of sampling moments into K new short-wave received signal vectors, and expressing the new short-wave received signal vectors as expressions related to geographic coordinates of the radiation source to be positioned. The following is shown:
x k ＝[x k (t 1 ),x k (t 2 ),...,x k (t N )] T ＝B k (α,γ,ψ k )s k +n k (k＝1,2,...,K)
wherein t is n Indicating the nth sampling time, N being the number of sampling points; s is(s) k ＝[s k (t 1 ),s k (t 2 ),...,s k (t N )] T Is a vector composed of complex envelopes of short wave signals of N sampling moments reaching the kth short wave observation station；Is a noise vector composed of array additive noise of N sampling moments;(I N representing an N-dimensional identity matrix; />Kronecker product representing a matrix), b) k (α,γ,ψ k ) An array manifold vector as a function of geographic coordinates and pitch angle of a radiation source to be positioned is represented, which satisfies:
b k (α,γ,ψ k )＝a k (θ k ,ψ k )(k＝1,2,...,K)。
for a satellite signal emitted by a radiation source to be positioned, the signal is retransmitted through 3 satellites, the retransmitted signal is received and acquired by utilizing different ground stations, and the propagation delay of the satellite signal, which is retransmitted through a kth satellite and reaches the satellite ground station, is assumed to be tau k Wherein the ground station received signal model forwarded by the kth satellite is:
y k (t)＝β k s′(t-t 0 -τ k )+ε k (t)(k＝1,2,3)
in which y k (t) represents the ground station received signal envelope retransmitted by the kth satellite; s' (t-t) 0 -τ k ) Indicated at t 0 Time delay tau for transmitting and forwarding from kth satellite to satellite ground station k Is a complex envelope of signals; epsilon k (t) represents additive Gaussian white noise in the ground station reception channel retransmitted by the kth satellite, with an average value of zero and a power ofβ k Representing the channel propagation coefficients (including path loss, antenna reception gain, etc.) between the satellite signals transmitted by the radiation source to be positioned and forwarded by the kth satellite to the satellite ground station.
Assume that the longitude and latitude and the altitude of the kth satellite are zeta respectively k ′、χ k ' and delta k The longitude and latitude of the satellite ground station are zeta respectively k "Heχ k "the algebraic relation between the geographical coordinates of the radiation source and the propagation delay of the satellite signals transmitted by the radiation source to the satellite ground station through each satellite can be established as
In the formula of I, I 2 A Euclidean norm representing the vector; c represents the propagation velocity of the signal; z' (ζ) k ′,χ k ′,δ k ) Representing the position vector, z (ζ), of the kth satellite in the geocentric fixed coordinate system k ″,χ k "is used to represent the position vector of the kth satellite ground station in the geocentric and geodetic coordinate system, and their expressions are as follows:
the received signals of the 3 satellite ground stations at a plurality of sampling moments are sequentially formed into 3 satellite received signal vectors, and the satellite received signal vectors are expressed as an expression related to geographic coordinates of a radiation source to be positioned, as follows:
y k ＝[y k (t 1 ),y k (t 2 ),...,y k (t N′ )] T ＝β k F H D k (α,γ)Fs′ 0 +ε k (k＝1,2,3)
wherein t is n Indicating the nth sampling time, N' being the number of sampling points;as DFT transform factor, n= [1,2, ], N'] T ；s′ 0 ＝[s′(t 1 -t 0 ),s′(t 2 -t 0 ),...,s′(t N′ -t 0 )] T Is determined by the radiation source to be positioned at t 0 Vector composed of satellite signal complex envelope of N' sampling moments transmitted at moment; epsilon k ＝[ε k (t 1 ),ε k (t 2 ),...,ε k (t N′ )] T Is a noise vector composed of the satellite ground station receiving channel additive noise of N' sampling moments; d (D) k (alpha, gamma) is the sum delay tau k The phase shift matrix concerned can be expressed as a function matrix of the geographical coordinates of the radiation source to be localized, which satisfies
Wherein T is s Representing a sampling period; exp (·) represents a vector formed by each vector element after taking a natural exponent operation; diag {.cndot }, represents a diagonal matrix of vector elements.
Each short wave observation station and the satellite ground station transmit the acquired signal data to the ground central station for processing, as shown in fig. 4.
The ground central station builds a direct positioning optimization model based on the short wave signal data and the satellite signal data by using a maximum likelihood estimation criterion, and the direct positioning optimization model is shown as follows:
where J represents the objective function to be optimized.
Further, in the solution of the model in the embodiment of the present application, firstly, the direct optimization model is subjected to longitude and latitude processing by sequentially obtaining the optimal solutions of the short wave received signal vector and the satellite received signal vector, and a dimension reduction optimization model only about the longitude and latitude of the radiation source is obtained; and then, carrying out iterative solution on the dimension reduction optimization model by using a Gaussian Newton iteration method to obtain the longitude and latitude estimated value of the radiation source to be positioned.
The ground central station performs dimension reduction processing on the constructed direct positioning optimization model to obtain a dimension reduction optimization model only about the longitude and latitude of the radiation source, and the main steps of the dimension reduction optimization model can be designed as follows:
(1) Sequentially findIs shown as the following formula
(2) Sequentially findIs shown as the following formula
(3) Assume satellite ground station noise powerIs +.>Will->Substituting into the optimization model in the step 8 to obtain s' 0 Is shown as the following formula
Wherein the method comprises the steps of(blkdiag {.cndot } represents a block diagonal matrix composed of a matrix or vector as diagonal elements), a block diagonal matrix composed of a block diagonal matrix or vector as diagonal elements>e max {. The maximum eigenvalue pair of the matrixAnd (5) a corresponding feature vector.
(4) Assume that the consistent estimated values of the array noise additive noise and the satellite ground station additive noise are respectivelyAnd->Will->And->Substituting the obtained product into an optimization model to obtain a dimension-reducing optimization model, wherein the dimension-reducing optimization model is shown in the following formula
In the middle ofRepresenting an objective function to be optimized; eta comprises the parameters alpha, gamma, & lt/L to be estimated>λ max {. The maximum eigenvalue of the matrix; pi (II) ⊥ [B k (α,γ,ψ k )]Is an orthogonal projection matrix, and the expression is as follows
The ground central station performs numerical optimization on the 'dimension reduction' optimization model by using a two-step Gaussian-Newton iteration method, and is used for obtaining an estimated value of the longitude and latitude of the radiation source, namely a final positioning result, and the designed two-step Gaussian-Newton iteration method can be described as follows:
(1) Using short wave multi-station positioning or three-star positioningObtaining an initial estimate of the latitude and longitude of a radiation sourceObtaining initial estimation of pitch angle of each short wave direction finding station by using MUSIC direction finding algorithm>Let->And (3) with
(2) Iterating the 'dimension reduction' optimization model by using a Gaussian-Newton iteration method, wherein a calculation formula is as follows
Wherein i represents the iteration times, 0 < mu.ltoreq.1 represents the iteration step factor,and->Gradient vectors and Hessian matrix respectively representing objective functions, and corresponding calculation formulas are respectively as follows
Wherein the method comprises the steps of
In the method, in the process of the invention,
H 1 ′(α,γ)、H 2 ′(α,γ)、H 3 the expression of the element in the nth row and the mth column of the' (alpha, gamma) is
Wherein Re {.cndot. } represents the real part; v n 、v m A unit vector with the nth element being 1 and the mth element being 1 respectively;
k is a switching matrix, satisfyingλ min ＝λ 1 ≤λ 2 ≤λ 3 ＝λ max And e min (or e) 1 ),e 2 ,e max (or e) 3 ) Respectively indicate->And a corresponding feature vector.
(3) The estimation result obtained by calculation of Gaussian-Newton iteration method is recorded asI.e.By->Update get->And->The expressions are respectively as follows
(4) By means ofAnd->Update noise power->And (3) with
(5) To be used forFor the initial estimation of eta, the resulting noise power +.>And->Substituting the obtained value into a Gaussian-Newton iteration formula, and calculating to obtain a final estimation result of eta by using the Gaussian-Newton iteration formula again.
To verify the validity of this protocol, the following is further explained in connection with experimental data:
assuming that 3 short wave observation stations and 3 communication satellites are provided to position the radiation source on the earth surface, the longitude of the 3 short wave observation stations is 60.2 degrees, 70.5 degrees and 72.2 degrees, the latitude is 34 degrees, 38.8 degrees and 26.5 degrees, the longitude of the 3 satellites is 124.23 degrees, 118.35 degrees and 120.87 degrees, the latitude is 30.57 degrees, 29.19 degrees and 32.65 degrees, the orbit heights are 1000km,1000km and 1200km, the longitude of the radiation source is 120.5 degrees, the latitude is 30.2 degrees, and the short wave signal (frequency is 25.25 MHz) and the satellite signal (frequency is 200 MHz) are simultaneously transmitted. Each short wave observation station consists of a 9-element uniform circular array with a radius of 40 meters. The positioning scheme is compared with the traditional shortwave multi-station intersection positioning method and the three-star time difference positioning method. With the signal to noise ratio set at-5 dB and the number of signal samples set at 100, fig. 5 shows a scatter plot of the positioning results for 3 methods, where a total of 500 monte carlo experiments were performed. As can be seen from the figure, the three-star time difference positioning method has larger positioning error in the latitude direction of the radiation source, the short wave multi-station intersection positioning method has larger positioning error in the longitude direction of the radiation source, and the positioning errors in the latitude direction and the longitude direction of the positioning method disclosed by the patent can be reduced. The rest conditions are unchanged, and a change curve of the positioning root mean square error along with the signal to noise ratio of the 3 methods is shown in fig. 6, so that compared with a short wave multi-station intersection positioning method and a three-satellite time difference positioning method, the scheme has higher positioning precision. Because the scheme effectively cooperates short wave multi-station intersection positioning and three-star time difference positioning, the cooperative gain is generated, the positioning precision is improved, and the method has a good application prospect.
The relative steps, numerical expressions and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
Any particular values in all examples shown and described herein are to be construed as merely illustrative and not a limitation, and thus other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. A direct positioning method of beyond-sight target by cooperating short wave multi-station angle information and three-star time difference information is characterized in that the beyond-sight direct positioning is realized by cooperating short wave signal multi-station angle information of a radiation source to be positioned and satellite signal three-star time difference information, and the implementation process of beyond-sight direct positioning comprises the following steps:
based on a plurality of short-wave observation stations, collecting short-wave signals emitted by a radiation source to be positioned, establishing an azimuth angle observation equation according to the geographic coordinates of the radiation source to be positioned, the emitted short-wave signals and the geographic coordinates of the short-wave observation stations, and acquiring array receiving signals of a plurality of short-wave observation stations at a plurality of sampling moments according to the azimuth angle observation equation to form a new short-wave receiving signal vector; wherein the short wave signal reaches the kth 1 The azimuth angle and the pitch angle of each short wave observation station are respectively represented as theta k1 Sum phi k1 Then the kth 1 The received signal model of each short wave observation station is expressed as: x is x k1 (t)＝a k1 (θ k1 ,ψ k1 )s k1 (t)+n k1 (t)，k 1 =1, 2, K is the number of short wave observatory stations, x k1 (t) represents the kth 1 An array of short wave observation stations receives the signal complex envelope; s is(s) k1 (t) represents reaching the kth 1 Signal envelope of each short wave observation station; n is n k1 (t) represents array additive Gaussian white noise, a k1 (θ k1 ,ψ k1 ) Representing an array manifold vector as a function of a two-dimensional direction of arrival of the signal; the new shortwave received signal vector obtained from the azimuth observation equation is expressed as: x is x k1 ＝[x k1 (t 1 ),x k1 (t 2 ),...,x k1 (t N )] T ＝B k1 (α,γ,ψ k1 )s k1 +n k1 ，t n Indicating the nth sampling time, N being the number of sampling points; s is(s) k1 ＝[s k1 (t 1 ),s k1 (t 2 ),...,s k1 (t N )] T Indicating arrival at k 1 Vectors formed by complex envelopes of short wave signals of N sampling moments of the short wave observation stations;is a noise vector composed of N sampling moments of array additive noiseAn amount of; />I N Representing an N-dimensional identity matrix; />Representing the Kronecker product of the matrix, b k1 (α,γ,ψ k1 ) Representing an array manifold vector as a function of geographic coordinates and pitch angle of the radiation source to be positioned;
transmitting satellite signals transmitted by a radiation source to be positioned by utilizing a preset number of satellites, collecting the satellite signals by different satellite ground stations, establishing a propagation delay equation for transmitting the satellite signals to the satellite ground stations through each satellite according to each satellite geographic coordinate and each satellite ground station geographic coordinate, and acquiring satellite receiving signal vectors received by the satellite ground stations at a plurality of sampling moments according to the propagation delay equation; wherein the satellite signal passes through the kth 2 The propagation delay of the satellite to the satellite ground station is tau k2 Then by the kth 2 The ground station received signal model forwarded by the satellites is expressed as:
y k2 (t)＝β k2 s′(t-t 0 -τ k2 )+ε k2 (t)
y k2 (t) represents the product represented by the kth 2 The ground station forwarded by the satellite receives the signal envelope; s' (t-t) 0 -τ k2 ) Indicated at t 0 Transmitted at the moment and sent by the kth 2 The time delay of the satellite to reach the satellite ground station is tau k2 Is a complex envelope of signals; epsilon k2 (t) represents the product represented by the kth 2 Additive Gaussian white noise in a ground station receiving channel forwarded by a satellite; beta k2 Representing satellite signals emitted by the radiation source to be positioned via the kth 2 The satellite transmits the channel propagation coefficient between the satellite ground stations; kth 2 The longitude and latitude and the height of the satellite are zeta' k2 、χ’ k2 And delta k2 The longitude and latitude of the satellite ground station are zeta% k2 And χ k2 The propagation delay equation is expressed as:
，
||·|| 2 a Euclidean norm representing the vector; c represents the signal propagation velocity; z '(ζ' k2 ,χ’ k2 ,δ k2 ) Represents the kth 2 The position vector, z (ζ', of each satellite in the geocentric earth fixed coordinate system k2 ,χ″ k2 ) Represents the kth 2 Position vectors of the satellite ground stations under a geocentric and geodetic fixed coordinate system; the satellite received signal vector obtained according to the propagation delay equation is expressed as:
y k2 ＝[y k2 (t 1 ),y k2 (t 2 ),...,y k2 (t N′ )] T ＝β k2 F H D k2 Fs′ 0 +ε k2 ，t n representing the nth sampling time, N' is the number of sampling points, and F is a DFT conversion factor; s' 0 ＝[s′(t 1 -t 0 ),s′(t 2 -t 0 ),...,s′(t N′ -t 0 )] T At t for the radiation source to be positioned 0 Vector composed of N' sampling time satellite signal complex envelope transmitted at time; epsilon k2 ＝[ε k2 (t 1 ),ε k2 (t 2 ),...,ε k2 (t N′ )] T A noise vector consisting of N' sampling moment satellite ground station receiving channel additive noise; d (D) k2 Is equal to the time delay tau k2 A related phase shift matrix;
the ground central station receives array signal data acquired by the short wave observation station and the satellite ground station, and builds a direct positioning optimization model by utilizing a maximum likelihood estimation criterion; obtaining a radiation source longitude and latitude estimated value serving as a final positioning result by solving the model; wherein, the direct localization optimization model is expressed as:
j represents an objective function to be optimized, k 1 For marking short-wave observation stations, KFor the number of short wave observation stations, < >>Represents the kth 1 The short-wave observation station receives signals +.>Representing the noise power of the received signal,/">I N Representing an N-dimensional identity matrix; />Representing the Kronecker product of the matrix, b k1 (α,γ,ψ k1 ) Representing array manifold vectors taking geographic coordinates and pitch angles of radiation sources to be positioned as functions, wherein alpha and gamma respectively represent longitude and latitude of the radiation sources to be positioned, and psi k1 Indicating that the short wave signal reaches kth 1 Elevation angle, k of each short wave observation station 2 For the forwarding satellite label, P is the preset number of forwarding satellites, < >>Represents the kth 2 Ground station received signal forwarded by satellite +.>Representing the noise power of the received signal of the ground station beta k2 Representing satellite signals emitted by the radiation source to be positioned via the kth 2 Channel propagation coefficient between satellite forwarding and reaching satellite ground station, F is DFT conversion factor, D k2 Is equal to the time delay tau k2 Related phase shift matrix, s' 0 At t for the radiation source to be positioned 0 And a vector formed by N' sampling time satellite signal complex envelopes transmitted at the time.
2. The method for directly locating beyond-view targets by combining short-wave multi-station angle information and three-star time difference information according to claim 1, wherein the short-wave observation station receives and collects short-wave signals emitted by the radiation source by installing an observation array, and the observation array can at least receive two-dimensional angle information.
3. The method for directly locating beyond-view-range targets by combining short-wave multi-station angle information and three-star time difference information according to claim 1, wherein the kth is assumed to be 1 The longitude and latitude of each short wave observation station are zeta k1 And χ (x) k1 The longitude and latitude of the radiation source to be positioned are alpha and gamma respectively, and then the azimuth observation equation is expressed as:wherein t is k1x And t k1y All represent coordinate system conversion vectors; z (α, γ) represents a position vector of the radiation source to be positioned in a geocentric fixed coordinate system; z (ζ) k1 ,χ k1 ) Represents the kth 1 And (5) a position vector of the short wave observation station under the geocentric earth fixed coordinate system.
4. The method for directly positioning the beyond-view target by synergizing short-wave multi-station angle information and three-star time difference information according to claim 1, wherein in model solving, firstly, a direct optimization model is subjected to longitude and latitude processing by sequentially obtaining an optimal solution of a short-wave received signal vector and a satellite received signal vector, and a dimension reduction optimization model only about the longitude and latitude of a radiation source is obtained; and then, carrying out iterative solution on the dimension reduction optimization model by using a Gaussian Newton iteration method to obtain the longitude and latitude estimated value of the radiation source to be positioned.
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