CN113642154A - BDS-based satellite passive positioning system selection method - Google Patents

BDS-based satellite passive positioning system selection method Download PDF

Info

Publication number
CN113642154A
CN113642154A CN202110802251.1A CN202110802251A CN113642154A CN 113642154 A CN113642154 A CN 113642154A CN 202110802251 A CN202110802251 A CN 202110802251A CN 113642154 A CN113642154 A CN 113642154A
Authority
CN
China
Prior art keywords
satellite
receiving
gdop
bds
transmitting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110802251.1A
Other languages
Chinese (zh)
Inventor
朱辉杰
王李军
宋朱刚
肖泽龙
胡泰洋
邵晓浪
张晋宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing University of Science and Technology
CETC 36 Research Institute
Original Assignee
Nanjing University of Science and Technology
CETC 36 Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing University of Science and Technology, CETC 36 Research Institute filed Critical Nanjing University of Science and Technology
Priority to CN202110802251.1A priority Critical patent/CN113642154A/en
Publication of CN113642154A publication Critical patent/CN113642154A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/02—Reliability analysis or reliability optimisation; Failure analysis, e.g. worst case scenario performance, failure mode and effects analysis [FMEA]

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Pure & Applied Mathematics (AREA)
  • Mathematical Optimization (AREA)
  • Mathematical Analysis (AREA)
  • Computational Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Data Mining & Analysis (AREA)
  • Software Systems (AREA)
  • Databases & Information Systems (AREA)
  • Algebra (AREA)
  • Computing Systems (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
  • Geometry (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a BDS-based passive positioning system selection method, which comprises the steps of calculating cost function values of different positioning systems by establishing a constraint optimization model taking the optimal GDOP (global positioning operational optimization) of a receiver adjacent area as a cost function, comparing the cost function values after processing, and selecting a corresponding optimal positioning system under different satellite numbers; and parameters required by positioning can be obtained in real time, so that the passive positioning system can be dynamically selected. According to the invention, by comparing the sizes of the GDOP mean values of different positioning systems, the optimal positioning mode can be selected autonomously according to the strength of satellite signals.

Description

BDS-based satellite passive positioning system selection method
Technical Field
The invention relates to a selection method based on a BDS passive positioning system, in particular to a method for determining a corresponding optimal system to position a target according to different satellite numbers under the scene of observing the target under the condition of dynamic change of the satellite numbers.
Background
The BDS passive positioning finger-based receiver does not actively emit electromagnetic waves, but realizes the positioning of a target by utilizing the electromagnetic waves emitted by a target scattering satellite, and extracts parameters for positioning to realize the estimation of target position information by utilizing information such as Doppler frequency shift, time difference of multi-station received signals, arrival angle and the like.
The passive positioning mode is a multiple-input multiple-output type (T)n-Rn) Multi-transmitting single-receiving type (T)n-R), single-transmission multiple-reception type (T-R)n) And a single-transmission single-reception type (T-R), etc. In the same detection area, only one positioning mode is used for different conditions, and higher positioning accuracy cannot be guaranteed. The positioning effect of the multi-transmitting and multi-receiving type is good, the information parameters of the target are relatively less, but three BDS satellites are required to be used as the opportunity radiation sources at the same time, and the positioning can be realized only by using a single BDS satellite as the opportunity radiation sources in the single-transmitting and single-receiving type positioning mode, but a positioning blind area exists, the positioning precision of the target is extremely poor or even the target cannot be positioned in a straight line with the slope of +/-1 and the range near the straight line passing through the point where the receiving station is located.
Disclosure of Invention
The invention aims to provide a selection method of a BDS satellite-based passive positioning system, which is used for screening the BDS satellite-based passive positioning system with the highest observation precision on a target observation position under the conditions of different satellite numbers and receiver distribution.
The technical solution for realizing the purpose of the invention is as follows: a BDS satellite passive positioning system-based selection method comprises the following steps:
determining, by the receiver, the number of usable satellites and the specific coordinates of the BDS satellites are known;
determining all available positioning systems according to the number of available satellites, calculating GDOP values under different systems, and obtaining a GDOP graph;
dividing the obtained GDOP graph at equal intervals to obtain a sufficient number of sampling points, processing the sampled data and solving a GDOP average value;
and comparing the obtained GDOP average values of all systems, screening out the system with the minimum GDOP average value, and outputting the system as the optimal system.
An electronic device comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the selection method based on the BDS satellite passive positioning system.
A computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the BDS-based satellite passive positioning regime selection method described above.
Compared with the prior art, the invention has the beneficial effects that: by adopting the BDS satellite-based passive positioning system selection method, the optimal positioning mode can be autonomously selected according to the strength of satellite signals by comparing the GDOP mean values of different positioning systems.
Drawings
Fig. 1 is a schematic diagram of a multiple-input multiple-output passive positioning model.
Fig. 2 is a flow chart of a passive positioning method selection.
Detailed Description
The different passive positioning systems based on the BDS satellite mainly have the following influence factors on the positioning accuracy of the target: the number of BDS satellites; the distribution location of the BDS satellites; the number of receivers; distributed location of the receivers.
Based on the BDS passive positioning, the number of usable satellites and the coordinates of the satellites are dynamically changed, so that the maximum positioning precision in each positioning cannot be ensured by only using one system for passive positioning. In view of the above, the present invention establishes a constrained optimization model using the optimal GDOP in the vicinity of the receiver as a cost function, calculates cost function values of different positioning systems, compares the cost function values after processing, and selects a corresponding optimal positioning system under different numbers of satellites, for example: single-shot multiple-shot, multiple-shot single-shot, multiple-shot, etc.
The number and the position coordinates of the BDS satellites can be obtained in real time, the number and the position coordinates of the receivers are known, and parameters required by the algorithm can be obtained in real time, so that the optimal passive positioning system can be dynamically selected.
With reference to fig. 2, the method for selecting the passive positioning system based on the BDS satellite includes the following steps:
s1, judging the number of available BDS satellites and the coordinates of the satellites;
s2, calculating GDOP values of various systems under a certain satellite number;
s3, sampling the GDOP images of each system, averaging sampling points, and comparing, wherein the smaller the average value is, the higher the precision is;
and S4, outputting an optimal result, namely a positioning system with the minimum GDOP mean value.
GDOP in the present invention represents a geometric Dilution Precision (geometric Dilution Precision).
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the selection method based on the BDS satellite passive positioning system.
Further, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor implements the above-mentioned method for selecting a BDS-based satellite passive positioning regime.
The technical solution of the present invention will be described in detail with reference to examples.
Examples
In this embodiment, a scenario is targeted in which a plurality of receivers are present to locate an object based on a plurality of BDS satellite radiations reflected by the object (x, y, z), and the basic manner and principle of the location are shown in fig. 1. In the figure, the position of the upper end of the main shaft,
Figure BDA0003165100640000031
represents the range of the target to BDS satellite m;
Figure BDA0003165100640000032
represents the distance of the target to the receiving station n; rm,nRepresents the distance from the BDS satellite m to the receiving station n, where m is 1,2, 3; n is 1,2, 3.
The above problem can be described as a mathematical model with constraints, variables being target position X (X, y, z), BDS satellite coordinates
Figure BDA0003165100640000033
And receiver coordinates
Figure BDA0003165100640000034
M is 1, …, M; n is 1, …, N, where M is the number of satellites and N is the number of receivers. Detection region omega0: -50km < x < 50km, -50km < y < 50km, and z 10 km; the method comprises the following steps of dividing an x axis of a detection region into P parts at equal intervals, dividing a y axis of the detection region into Q parts at equal intervals, obtaining PQ points in a detection plane, solving GDOP mean values of all detection systems in the region, and comparing to obtain a minimum value, wherein a mathematical model is as follows:
Figure BDA0003165100640000035
the implementation process is shown in fig. 2, and specifically includes:
s1 judges the number of BDS satellites available for positioning and the satellite coordinates: assuming a total of M available satellites, the satellite coordinates are
Figure BDA0003165100640000036
M1, 2, M, three receivers on the ground, with the coordinates of each receiver
Figure BDA0003165100640000037
n＝1,2,3。
S2, calculating GDOP values of various systems under a certain satellite number: to bistatic distance equation
Figure BDA0003165100640000038
Differentiation is carried out on two sides:
Figure BDA0003165100640000039
Figure BDA0003165100640000041
wherein
Figure BDA0003165100640000042
In order to determine the distance of the satellite to the target,
Figure BDA0003165100640000043
for the receiver to target distance, the target position error is the observed error dr of the sum of the distances of (dx, dy, dz) and the bistaticm,nSatellite site error
Figure BDA0003165100640000044
M1, 2, M and receiver station address error
Figure BDA0003165100640000045
And (3) related to n, 1,2 and 3, obtaining an error equation of the target position, and writing the error equation into a proper matrix form:
dV＝CdX+dXs
in the formula, dV ═ dr1,1，dr1,2，...，drM,3]TA column vector representing a differentiated bistatic distance component, dX ═ dX, dy, dz]T，
Figure BDA0003165100640000046
Figure BDA0003165100640000047
C＝[c1,…,cM]T；
The pseudo-inverse method can obtain the error vector of the target position as
dX＝(CTC)-1CT[dV-dXs]
Order (C)TC)-1CTB positioning error covariance is:
PdX＝E[dXdXT]＝B{E[dVdVT]+E[dXsdXs T]}BT
in the formula PdXIs a covariance matrix, E [ ]]The mean value is taken for the pair formula.
The positioning precision is as follows:
Figure BDA0003165100640000048
in the formula tr [ P ]dX]Representation matrix PdXThe sum of the diagonal elements.
When m is 1, the ground has three receivers R1, R2 and R3, the receiver detects one satellite T0, and the two systems can be selected, namely single-transmission single-receiving and single-transmission multi-receiving. And (3) bringing the coordinates of the satellite and the receiver into the satellite to respectively obtain single-transmitting single-receiving: T0-R1, T0-R2, T0-R3; single-transmission and multi-reception: GDOP map of T0-R1-R2-R3.
When m is 2, the ground has three receivers R1, R2 and R3, the receivers detect two satellites T0 and T1, and three systems of single-transmission single-receiving, single-transmission multi-receiving and multi-transmission multi-receiving can be selected. And (3) bringing the coordinates of the satellite and the receiver into the satellite to respectively obtain single-transmitting single-receiving: T0-R1, T0-R2, T0-R3; T1-R1, T1-R2, T1-R3; single-transmission and multi-reception: T0-R1-R2-R3, T1-R1-R2-R3; double-transmitting and multi-receiving: GDOP map of T0-T1-R1-R2-R3.
When m is 3, the ground has three receivers R1, R2 and R3, the receivers detect three satellites T0, T1 and T2, and three systems of single-transmitting single-receiving, single-transmitting multi-receiving, multiple-transmitting single-receiving and multiple-transmitting multi-receiving can be selected. And (3) bringing the coordinates of the satellite and the receiver into the satellite to respectively obtain single-transmitting single-receiving: T0-R1, T0-R2, T0-R3; T1-R1, T1-R2, T1-R3; T2-R1, T2-R2, T2-R3; single-transmission and multi-reception: T0-R1-R2-R3, T1-R1-R2-R3, T2-R1-R2-R3; multiple-sending and single-receiving: T0-T1-T2-R1, T0-T1-T2-R2, T0-T1-T2-R3; multiple sending and multiple receiving: GDOP map of T0-T1-T2-R1-R2-R3.
S3, sampling the GDOP graphs of each system under the corresponding satellite number, averaging sampling points, and comparing, wherein the smaller the average value is, the higher the precision is.
S4 outputs the optimal result, i.e., the positioning regime with the minimum GDOP mean.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A BDS satellite passive positioning system-based selection method is characterized by comprising the following steps:
determining, by the receiver, the number of usable satellites and the specific coordinates of the BDS satellites are known;
determining all available positioning systems according to the number of available satellites, calculating GDOP values under different systems, and obtaining a GDOP graph;
dividing the obtained GDOP graph at equal intervals to obtain a sufficient number of sampling points, processing the sampled data and solving a GDOP average value;
and comparing the obtained GDOP average values of all systems, screening out the system with the minimum GDOP average value, and outputting the system as the optimal system.
2. A BDS satellite-based passive positioning system selection method as claimed in claim 1, wherein the number of usable satellites is determined by the receiver, assuming that there are m usable satellites, the satellite coordinates are respectively
Figure FDA0003165100630000011
Three receivers are arranged on the ground, and the coordinates are respectively
Figure FDA0003165100630000012
3. The selection method of the BDS satellite-based passive positioning system as claimed in claim 2, wherein the GDOP values under different systems are calculated, specifically:
to bistatic distance equation
Figure FDA0003165100630000013
Differentiation is carried out on two sides:
Figure FDA0003165100630000014
Figure FDA0003165100630000015
wherein,
Figure FDA0003165100630000016
in order to determine the distance of the satellite to the target,
Figure FDA0003165100630000017
for the receiver to target distance, the target position error is the observed error dr of the sum of the distances of (dx, dy, dz) and the bistaticm,nSatellite site error
Figure FDA0003165100630000018
And receiver station address error
Figure FDA0003165100630000019
(ii) related;
obtaining an error equation of the target position, and writing the error equation into a proper matrix form:
dV＝CdX+dXs
in the formula, dV ═ dr1,1，dr1,2，...，drM,3]TA column vector representing a differentiated bistatic distance component, dX ═ dX, dy, dz]T，
Figure FDA00031651006300000110
Figure FDA0003165100630000021
C＝[c1,...,cM]T；
The pseudo-inverse method can obtain the error vector of the target position as
dX＝(CTC)-1CT[dV-dXs]
Order (C)TC)-1CTB, the positioning error covariance is:
PdX＝E[dXdXT]＝B{E[dVdVT]+E[dXsdXs T]}BT
in the formula PdXIs a covariance matrix, E [ ]]Taking an average value for the pair formula;
the positioning precision is as follows:
Figure FDA0003165100630000022
in the formula tr [ P ]dX]Representation matrix PdXThe sum of the diagonal elements.
4. A BDS satellite passive positioning system selection method as claimed in claim 3, wherein when m is 1, the ground has three receivers R1, R2, R3, the receiver detects one satellite T0, and there are two systems that can be selected, single-shot single-receiving, single-shot multiple-receiving; and (3) bringing the coordinates of the satellite and the receiver into the satellite to respectively obtain single-transmitting single-receiving: T0-R1, T0-R2, T0-R3; single-transmission and multi-reception: GDOP map of T0-R1-R2-R3.
5. A BDS satellite passive positioning system selection method as claimed in claim 4, wherein when m is 2, the ground has three receivers R1, R2 and R3, the receivers detect two satellites T0 and T1, and three systems of single-transmitting single-receiving, single-transmitting multi-receiving and multi-transmitting multi-receiving are selectable; and (3) bringing the coordinates of the satellite and the receiver into the satellite to respectively obtain single-transmitting single-receiving: T0-R1, T0-R2, T0-R3; T1-R1, T1-R2, T1-R3; single-transmission and multi-reception: T0-R1-R2-R3, T1-R1-R2-R3; double-transmitting and multi-receiving: GDOP map of T0-T1-R1-R2-R3.
6. A BDS satellite passive positioning system selection method as claimed in claim 5, wherein when m is 3, the ground has three receivers R1, R2 and R3, the receivers detect three satellites T0, T1 and T2, and three systems of single-transmitting single-receiving, single-transmitting multiple-receiving, multiple-transmitting single-receiving and multiple-transmitting multiple-receiving are selectable; and (3) bringing the coordinates of the satellite and the receiver into the satellite to respectively obtain single-transmitting single-receiving: T0-R1, T0-R2, T0-R3; T1-R1, T1-R2, T1-R3; T2-R1, T2-R2, T2-R3; single-transmission and multi-reception: T0-R1-R2-R3, T1-R1-R2-R3, T2-R1-R2-R3; multiple-sending and single-receiving: T0-T1-T2-R1, T0-T1-T2-R2, T0-T1-T2-R3; multiple sending and multiple receiving: GDOP map of T0-T1-T2-R1-R2-R3.
7. The selection method of the BDS satellite-based passive positioning system as claimed in claim 3, wherein the obtained GDOP map is divided at equal intervals to obtain a sufficient number of sampling points, specifically: PQ points can be obtained in a detection plane by dividing the x axis of the detection area into P parts at equal intervals and dividing the y axis of the detection area into Q parts at equal intervals.
8. A BDS satellite passive positioning system selection method as claimed in claim 7, wherein, the GDOP mean value of each detection system in the region is calculated and compared to obtain the minimum value, the mathematical model is:
Figure FDA0003165100630000031
in the formula, omega0Indicating the detection zone.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method for selection based on the BDS satellite passive positioning regime of any one of claims 1-8.
10. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements a method for selection based on a BDS satellite passive positioning regime as claimed in any one of claims 1 to 8.
CN202110802251.1A 2021-07-15 2021-07-15 BDS-based satellite passive positioning system selection method Pending CN113642154A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110802251.1A CN113642154A (en) 2021-07-15 2021-07-15 BDS-based satellite passive positioning system selection method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110802251.1A CN113642154A (en) 2021-07-15 2021-07-15 BDS-based satellite passive positioning system selection method

Publications (1)

Publication Number Publication Date
CN113642154A true CN113642154A (en) 2021-11-12

Family

ID=78417510

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110802251.1A Pending CN113642154A (en) 2021-07-15 2021-07-15 BDS-based satellite passive positioning system selection method

Country Status (1)

Country Link
CN (1) CN113642154A (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130342393A1 (en) * 2012-06-20 2013-12-26 Topcon Positioning Systems, Inc. Selection of a Subset of Global Navigation Satellite System Measurements Based on Relation between Shifts in Target Parameters and Sum of Residuals
CN103954982A (en) * 2014-04-18 2014-07-30 中国人民解放军国防科学技术大学 Rapid visible satellite selection method based on multimode GNSS receiver
US20160033649A1 (en) * 2006-04-28 2016-02-04 Telecommunication Systems, Inc. Geolocation and frequency synchronization of earth-based satellite uplinks
CN107402395A (en) * 2017-05-17 2017-11-28 西安交通大学 A kind of satellite selection method to be navigated for single system and multisystem combinations of satellites
CN109883313A (en) * 2019-01-31 2019-06-14 中国矿业大学 A method of high-speed rail bridge dynamic deflection is monitored based on single-frequency GNSS location technology
CN110988851A (en) * 2019-12-19 2020-04-10 南京邮电大学 Different-orbit single-satellite time-sharing frequency measurement positioning method based on star position optimization

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160033649A1 (en) * 2006-04-28 2016-02-04 Telecommunication Systems, Inc. Geolocation and frequency synchronization of earth-based satellite uplinks
US20130342393A1 (en) * 2012-06-20 2013-12-26 Topcon Positioning Systems, Inc. Selection of a Subset of Global Navigation Satellite System Measurements Based on Relation between Shifts in Target Parameters and Sum of Residuals
CN103954982A (en) * 2014-04-18 2014-07-30 中国人民解放军国防科学技术大学 Rapid visible satellite selection method based on multimode GNSS receiver
CN107402395A (en) * 2017-05-17 2017-11-28 西安交通大学 A kind of satellite selection method to be navigated for single system and multisystem combinations of satellites
CN109883313A (en) * 2019-01-31 2019-06-14 中国矿业大学 A method of high-speed rail bridge dynamic deflection is monitored based on single-frequency GNSS location technology
CN110988851A (en) * 2019-12-19 2020-04-10 南京邮电大学 Different-orbit single-satellite time-sharing frequency measurement positioning method based on star position optimization

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
付小辉: "基于载波相位的RFID定位关键技术研究", 中国优秀硕士学位论文全文数据库 信息科技辑, pages 138 - 1378 *
苏思元: "双基地雷达超长基线无源定位技术研究", 中国优秀硕士学位论文全文数据库 信息科技辑, pages 136 - 1262 *

Similar Documents

Publication Publication Date Title
CN110531357B (en) Method for estimating speed of moving target in horizontal plane and radar detection system
US9739878B2 (en) Methods and apparatus for determining angle of arrival (AOA) in a radar warning receiver
US10006991B2 (en) Velocity and attitude estimation using an interferometric radar altimeter
US6522288B1 (en) Method and apparatus for determining location of objects based on range readings from multiple sensors
CA2808155C (en) Adaptive method for estimating the electron content of the ionosphere
EP2144038A2 (en) Inertial measurement using an imaging sensor and a digitized map
JP2009244272A (en) System and method for detecting and tracking target object
EP3146356B1 (en) Direct geolocation from tdoa, fdoa, and agl
WO2012098294A1 (en) Methods and arrangements for detecting weak signals
CN110531315B (en) Satellite interference source direct positioning method and positioning device based on signal intensity change rate
US10585184B2 (en) Tracking processor and method of tracking processing
RU2593149C1 (en) Adaptive method for passive radar location
US7020046B1 (en) System and method for target motion analysis with intelligent parameter evaluation plot
CN108549079B (en) Three-antenna interference delay Doppler radar altimeter terrain specific display point positioning method
EP2813864A2 (en) Receivers and methods for multi-mode navigation
CN113376625B (en) Method and device for obtaining deviation angle of target object, electronic equipment and storage medium
CN115840192B (en) Indoor positioning method based on space estimation spectrum confidence estimation
CN113642154A (en) BDS-based satellite passive positioning system selection method
KR102572546B1 (en) Device and method of detecting multiple signal differences in single frequency receiver
US20230184926A1 (en) Radar anti-spoofing system for identifying ghost objects created by reciprocity-based sensor spoofing
Kelner et al. Influence of the frequency stability on the emitter position in SDF method
JP2019132713A (en) Velocity computation device, velocity computation method, and program
CN111123235A (en) Method and device for determining stationary target of navigation radar
RU2516000C2 (en) Method of identifying and determining parameters of image of object on radar images
JP2019132717A (en) Velocity computation device, velocity computation method, and program

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination