CN113411882B - Pulse signal TOA estimation method, terminal positioning method, device and terminal - Google Patents

Pulse signal TOA estimation method, terminal positioning method, device and terminal Download PDF

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CN113411882B
CN113411882B CN202110660295.5A CN202110660295A CN113411882B CN 113411882 B CN113411882 B CN 113411882B CN 202110660295 A CN202110660295 A CN 202110660295A CN 113411882 B CN113411882 B CN 113411882B
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赵峙岳
李洪鑫
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Sichuan Jiuzhou Electric Group Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • 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
    • G01S5/0278—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 involving statistical or probabilistic considerations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

The invention discloses a method for estimating a pulse signal TOA, a method for positioning a terminal, a device and a terminal, wherein the method for estimating the pulse signal TOA comprises the following steps: step one, single pulse TOA measurement of matched filtering: locally generating a group of reference signals according to the specific waveform format of the aviation signals, and performing matched filtering with the received signals; step two, calculating a single-pulse self-adaptive weight: calculating the weight of a single pulse by adopting a comprehensive judgment method of pulse width and pulse amplitude and a two-dimensional Gaussian distribution probability density function; step three, multi-pulse TOA weighting calculation: and based on the relative determination of the pulse positions of the aviation signals and the existence of the characteristics of determining continuous pulse groups, respectively carrying out weighting processing on the measured TOAs of the multiple pulses by adopting the weight values of the single pulse calculated in the step two to calculate the TOAs of the pulse signals. The invention improves the measurement precision of the pulse signal TOA.

Description

Pulse signal TOA estimation method, terminal positioning method, device and terminal
Technical Field
The invention relates to the technical field of aviation monitoring multipoint positioning, in particular to a method for estimating a pulse signal TOA, a method and a device for positioning a terminal and the terminal.
Background
With the increasing number of aircrafts and the wide use of ground radio equipment, multiple systems such as secondary surveillance radar, ADS-B, multipoint positioning, air collision avoidance, distance measurement and navigation share frequency points, so that various signals are abnormally dense and are interfered with each other more and more frequently, and in addition, effects such as reflection, multipath and the like and dense electromagnetic environments, the interference is unavoidable, and aliasing easily occurs among the signals and between the signals and the interference. Aliasing of the signal affects not only the signal detection but also the measurement of TOA, and if an interfering pulse signal is introduced into the TOA measurement, it affects the measurement accuracy of TOA, further affecting the accuracy of localization.
Disclosure of Invention
The invention aims to provide a method for estimating the TOA of a pulse signal, a method for positioning a terminal, a device and a terminal, so as to improve the measurement accuracy of the TOA.
The invention is realized by the following technical scheme:
a method for estimating the TOA of a pulse signal comprises the following steps:
step one, monopulse TOA measurement of matched filtering: locally generating a group of reference signals by taking the aviation signals as a specific waveform format, and performing matched filtering with the received signals;
step two, calculating a single-pulse self-adaptive weight: calculating the weight of a single pulse by adopting a comprehensive judgment method of pulse width and pulse amplitude and a two-dimensional Gaussian distribution probability density function;
step three, multi-pulse TOA weighting calculation: and based on the relative determination of the pulse positions of the aviation signals and the existence of the characteristics of determining continuous pulse groups, respectively carrying out weighting processing on the measured TOAs of the multiple pulses by adopting the weight values of the single pulse calculated in the step two to calculate the TOAs of the pulse signals.
The output of the matched filtering reaches the maximum when the received signal is overlapped with the local reference signal filter, so that the pulse TOA estimation is converted from the traditional pulse signal rising edge detection into the peak value detection, and the estimation precision of the single pulse TOA is improved.
The invention measures the pulse width and the pulse amplitude, comprehensively judges the influence degree of the pulse on the electromagnetic environment, the channel attenuation and the like, has small influence on increasing the weight of the pulse in the TOA calculation, has large influence on reducing the weight of the pulse in the TOA calculation to be even 0, and realizes the quick convergence of the TOA estimated value by weighting different pulses of the TOA.
In summary, the estimation method of the present invention first converts the pulse TOA estimation from the traditional pulse signal rising edge detection to the peak detection through matched filtering; secondly, a pulse width and pulse amplitude comprehensive judgment method is adopted to carry out self-adaptive weighting on the pulses, the high weight is set for the pulses with smaller noise influence, and the low weight is set for some pulses with severe power fluctuation and even discarded; and estimating the TOA value of the signal by adopting a multi-pulse TOA weighting calculation mode according to the known priori knowledge of the waveform of the received signal.
Compared with the existing TOA estimation method, the method not only improves the pulse TOA estimation precision through weighting and fast convergence under the conditions of weak interference and low signal-to-noise ratio, but also greatly reduces the influence on the TOA estimation by the interference under the condition of strong interference, and effectively improves the measurement precision of multipoint positioning.
Further, in step two, the calculation formula of the single pulse weight f (x) is as follows:
Figure GDA0003725550690000021
wherein X is (X) 1 ,x 2 ) U-u (u1, u2), u1 and u2 are x, respectively 1 、x 2 Mean of variables, x 1 、x 2 Pulse width and pulse amplitude, respectively;
Figure GDA0003725550690000022
wherein delta 11 、δ 22 Characterization of x 1 ，x 2 Variance of the variables, δ 12 、δ 21 Characterization of x 1 ，x 2 Correlation of variables, δ 12 ＝δ 21 ，δ 12 > 0 illustrates x 1 ，x 2 Shows positive correlation, the larger the value is, the larger the positive correlation degree is, delta 12 < 0 indicates x 1 ，x 2 And is negatively correlated, otherwise is not correlated.
By selecting the appropriate delta 11 、δ 22 Ensuring the interval (u) 1 -δ 11 ,u 1 +δ 11 ) And (u) 2 -δ 22 ,u 2 +δ 22 ) Inner probability of 68%, interval (u) 1 -2δ 11 ,u 1 +2δ 11 ) And (u) 2 -2δ 22 ,u 2 +2δ 22 ) The internal probability is 95%, so that weighting processing is realized, and TOA measurement performance under different weighting coefficients is guaranteed.
Further, in step three, assuming that the number of pulses that the detected signal participates in the calculation is M, the TOA estimation of the whole detected signal can be decomposed into TOA measured by each sub-pulse minus the fixed deviation from the first sub-pulse, and then each pulse TOA measurement value is sequentially represented as TOA 01 、TOA 02 、TOA 0M (ii) a Suppose TOA 0i TOA, f measured for the ith pulse i (X) is the weight value of the ith pulse TOA measurement, and the final signal TOA calculation formula is as follows:
Figure GDA0003725550690000023
in the absence of interference, if the noise of M pulses is independently and identically distributed, it is assumed that TOA 0i Has a mean value of zero and a variance of (delta T) 0 ) 2 (ii) a In case of approximately equal weights, i.e. f 1 (X)＝f 2 (X)＝f M (X), weighted TOA M Has a mean value of zero and a root mean square of
Figure GDA0003725550690000024
It can be demonstrated that the result of averaging the measured values of the pulses results in an improved accuracy
Figure GDA0003725550690000025
Doubling; under the condition of interference or low signal-to-noise ratio, the TOA weight of the pulse with larger influence is reduced and the TOA weight of the pulse with smaller influence is increased through weighting processing, so that the TOA measurement precision of the current type signal is improved.
Further, the aviation signals comprise Mark XIIA, ATC, ADS-B, TACAN/DME.
A terminal positioning method comprises the following steps:
determining location information of a plurality of other terminals;
obtaining the TOA time from each other terminal to the current terminal by adopting the estimation method;
and obtaining the current position information of the terminal based on the TOA time and the position information of a plurality of other terminals.
An apparatus for estimating a TOA of a pulse signal, comprising:
the receiving module is used for receiving signals of other terminals;
the matched filtering module is in communication connection with the receiving module, stores a group of reference signals generated for a specific waveform format based on the aviation signals, and performs matched filtering on the reference signals and the received signals;
the calculation module is used for calculating the weight of a single pulse;
the measurement module is used for measuring TOAs of a plurality of pulses of other terminals reaching the current middle terminal;
and the estimation module is used for weighting the measured TOAs of the multiple pulses respectively by adopting the weight of a single pulse to calculate the pulse signal TOA.
A positioning apparatus of a terminal, comprising:
the first determining module is used for determining the position information of a plurality of other terminals;
estimating means for obtaining an adaptively weighted based pulse signal TOA;
and the second determining module is used for obtaining the current position information of the terminal based on the TOA time and the position information of a plurality of other terminals.
A storage medium having stored thereon computer instructions which, when executed, perform the steps of the estimation method or the positioning method.
A terminal comprising a memory and a processor, the memory having stored thereon computer instructions for execution on the processor, the execution of the computer instructions by the processor being to perform steps in the estimation method or the positioning method.
Compared with the prior art, the invention has the following advantages and beneficial effects:
compared with the existing TOA estimation method, the method not only improves the pulse TOA estimation precision through weighting and fast convergence under the conditions of weak interference and low signal-to-noise ratio, but also greatly reduces the influence on the TOA estimation by the interference under the condition of strong interference, and effectively improves the measurement precision of multipoint positioning.
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The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a block flow diagram of a high-precision TOA estimation technique based on adaptive weighting;
FIG. 2 is a schematic diagram illustrating the effect of interference signals;
FIG. 3 is a schematic diagram of two-dimensional Gaussian distribution adaptive weight calculation;
FIG. 4 is a comparison graph of ADS-B TOA performance simulation;
FIG. 5 is a logic block diagram of an estimation device;
FIG. 6 is a logic block diagram of a positioning device.
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 below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1:
the method is suitable for aviation signals such as Mark XIIA, ATC, ADS-B, TACAN/DME and the like, and the ADS-B signals are taken as an example for explanation:
referring to fig. 1, a method for estimating a TOA of a pulse signal includes the following steps:
step one, single pulse TOA measurement of matched filtering:
in TOA measurement, according to the fact that an ADS-B leading pulse signal is in a PPM waveform format, the rising edge is 0.05:0.1 mu s, the falling edge is 0.05:0.2 mu s, the pulse width is 0.5 +/-0.05 mu s, a PPM pulse reference signal is locally generated and matched filtering is conducted on a received signal, output of matched filtering is maximum when the received signal is overlapped with a local reference signal filter, therefore, pulse TOA estimation is converted from traditional pulse signal rising edge detection into peak detection, and single pulse TOA estimation accuracy is improved. The pulse number of ADS-B detection signal participating in calculation is leading pulse, the pulse number is 4, the TOA estimation of the whole detection signal can be disassembled into the TOA measured by each sub-pulse minus the fixed deviation relative to the first sub-pulse, and then the TOA measured value of each pulse is sequentially represented as TOA 01 、TOA 02 、TOA 0M ；
Step two, calculating a single-pulse self-adaptive weight:
ADS-B leading pulse width x 1 And amplitude x 2 According to a normal distribution, pulse width x 1 0.5 +/-0.05 mus, and in the weight calculation process, converting the pulse width into ns for convenience of integral calculation, so that the average pulse width u1 of the ADS-B leading pulse is 500ns, and delta 11 Variance 25 ns; amplitude of pulse x 2 Assuming ADS-B preamble depending on the magnitude of the received signalThe reference level u2 of the pulse passing pulse power consistency detection output is 512, then delta 22 The variance is about 50. Assuming that the received signal and the interference signal generate aliasing, as shown in fig. 2, it can be known from the graph that the interference affects not only the detection of the pulse width and amplitude of the signal, but also the measurement of TOA, and through the calculation of the mean and variance, the signals outside the error range can be eliminated, and the weight of the signals within the error range is reduced. Using pulse width x 1 And pulse amplitude x 2 The comprehensive decision method uses two-dimensional Gaussian distribution probability density function X ═ X 1 ,x 2 ) The weight f (x) of the pulse is calculated:
Figure GDA0003725550690000051
wherein u ═ (u1, u2) is x 1 ，x 2 The mean of the variables;
sigma is covariance matrix, describing x 1 ，x 2 The degree of correlation between the variables is
Figure GDA0003725550690000052
Wherein delta 11 、δ 22 Characterization of x 1 ，x 2 Variance of the variables, δ 12 、δ 21 Characterization of x 1 ，x 2 Correlation of variables, pulse width x 1 And pulse amplitude x 2 Exhibits weak correlation when pulsing x 2 Pulse width x for larger amplitudes 1 The wider the pulse x 2 The smaller the amplitude is, the pulse width x 1 The narrower, delta 12 ＝δ 21 The value is 5.
The covariance matrix can thus be expressed as:
Figure GDA0003725550690000053
the weighted values f (x) of the pulses are distributed as shown in fig. 3.
Step three, multi-pulse TOA weighting calculation:
based on the prior knowledge of the relative determination of the ADS-B pulse positions and the existence of the characteristics of determining the continuous pulse group, the TOA of a plurality of measured pulses is weighted, and the TOA is assumed 0i TOA, f measured for the ith pulse i (X) is the weight value of the ith pulse TOA measurement, each pulse is weighted and processed through the known conditions of the waveform, and the final signal TOA calculation formula is as follows:
Figure GDA0003725550690000054
the TOA performance of the S-response mode/ADS-B signal leading pulse is shown in figure 4, the precision of the four-pulse measurement is approximately 2 times of the precision of the single pulse, and the four-pulse self-adaptive weighting TOA has higher precision than the four-pulse mean value TOA, particularly under the condition of low signal-to-noise ratio.
Example 2:
a terminal positioning method comprises the following steps:
determining location information of a plurality of other terminals;
obtaining the TOA time from each other terminal to the current terminal by adopting the estimation method of the embodiment 1;
and obtaining the current position information of the terminal based on the TOA time and the position information of a plurality of other terminals.
Example 3:
as shown in fig. 5, an apparatus for estimating a TOA of a pulse signal includes:
the receiving module is used for receiving signals of other terminals;
the matched filtering module is in communication connection with the receiving module, stores a group of reference signals generated for a specific waveform format based on the aviation signals, and performs matched filtering on the reference signals and the received signals;
the calculation module is used for calculating the weight of a single pulse;
the measurement module is used for measuring TOAs of a plurality of pulses reaching the current middle terminal by other terminals;
and the estimation module is used for weighting the measured TOAs of the multiple pulses respectively by adopting the weight of a single pulse to calculate the pulse signal TOA.
Example 4:
as shown in fig. 6, a positioning apparatus of a terminal includes:
the first determining module is used for determining the position information of a plurality of other terminals;
estimation means of the pulse signal TOA for obtaining a pulse signal TOA based on the adaptive weighting;
and the second determining module is used for obtaining the current position information of the terminal based on the TOA time and the position information of a plurality of other terminals.
Example 5:
a storage medium having stored thereon computer instructions which, when executed, perform the steps of the estimation method of embodiment 1 or the positioning method of embodiment 2.
Example 6:
a terminal comprising a memory and a processor, the memory having stored thereon computer instructions for execution on the processor, the execution of the computer instructions by the processor being to perform the steps of the estimation method of embodiment 1 or the positioning method of embodiment 2.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (8)

1. A method for estimating TOA of a pulse signal includes the following steps:
step one, single pulse TOA measurement of matched filtering: locally generating a group of reference signals by taking the aviation signals as a specific waveform format, and performing matched filtering with the received signals;
step two, calculating a single-pulse self-adaptive weight: calculating the weight of a single pulse by adopting a comprehensive judgment method of pulse width and pulse amplitude and a two-dimensional Gaussian distribution probability density function;
step three, multi-pulse TOA weighting calculation: based on the relative determination of the pulse positions of the aviation signals and the existence of the characteristics of determining continuous pulse groups, respectively carrying out weighting processing on the measured TOAs of the multiple pulses by adopting the weight of the single pulse calculated in the step two to calculate the TOAs of the pulse signals;
in the second step, the calculation formula of the single pulse weight f (X) is as follows:
Figure FDA0003732977690000011
wherein X is (X) 1 ,x 2 ) U-u (u1, u2), u1 and u2 are x, respectively 1 、x 2 Mean of variables, x 1 、x 2 Pulse width and pulse amplitude, respectively;
Figure FDA0003732977690000012
wherein delta 11 、δ 22 Characterization of x 1 ，x 2 Variance of variables, δ 12 、δ 21 Characterization of x 1 ，x 2 Correlation of variables, δ 12 ＝δ 21 ，δ 12 > 0 shows x 1 ，x 2 Shows positive correlation, the larger the value is, the larger the positive correlation degree is, delta 12 < 0 indicates x 1 ，x 2 And is negatively correlated, otherwise is not correlated.
2. The method of claim 1 wherein, in step three, assuming that the number of pulses of the detected signal involved in the calculation is M, the TOA estimation of the whole detected signal can be decomposed into TOA measured for each sub-pulse minus the TOA measured with respect to the first sub-pulseThe fixed deviation of the sub-pulses, the TOA measurement of each pulse is then sequentially denoted as TOA 01 、TOA 02 、TOA 0M (ii) a Suppose TOA 0i TOA, f measured for the ith pulse i (X) is the weight of the ith pulse TOA measurement, and the final signal TOA calculation formula is as follows:
Figure FDA0003732977690000013
3. a method for estimating a TOA of a pulse signal according to any one of claims 1 to 2, wherein the aviation signal comprises Mark xii a, ATC, ADS-B, TACAN/DME.
4. A terminal positioning method is characterized by comprising the following steps:
determining location information of a plurality of other terminals;
obtaining the TOA time of each other terminal to the current terminal using the estimation method of any one of claims 1 to 3;
and obtaining the current position information of the terminal based on the TOA time and the position information of a plurality of other terminals.
5. An apparatus for estimating a TOA of a pulse signal, comprising:
the receiving module is used for receiving signals of other terminals;
the matched filtering module is in communication connection with the receiving module, stores a group of reference signals generated for a specific waveform format based on the aviation signals, and performs matched filtering on the reference signals and the received signals;
the calculation module is used for calculating the weight of a single pulse;
the measurement module is used for measuring TOAs of a plurality of pulses of other terminals reaching the current middle terminal;
and the estimation module is used for respectively weighting the measured TOAs of the multiple pulses by adopting the weight of the single pulse to calculate the pulse signal TOA.
6. A positioning apparatus of a terminal, comprising:
the first determining module is used for determining the position information of a plurality of other terminals;
the estimation apparatus of claim 5, configured to obtain an adaptively weight based pulse signal TOA;
and the second determining module is used for obtaining the current position information of the terminal based on the TOA time and the position information of a plurality of other terminals.
7. A storage medium having stored thereon computer instructions, wherein said computer instructions are operable to perform the steps of the estimation method according to any one of claims 1 to 3 or the positioning method according to claim 4.
8. A terminal comprising a memory and a processor, the memory having stored thereon computer instructions for execution on the processor, wherein execution of the computer instructions by the processor is for performing the steps of the estimation method of any one of claims 1-3 or the positioning method of claim 4.
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