CN113702903B - Array passive positioning tracking method based on target underwater very low frequency vector electromagnetic field - Google Patents
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Classifications
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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
- G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
Abstract
The application discloses an array passive positioning tracking method based on a target underwater extremely-low frequency vector electromagnetic field, which relates to the technical field of underwater target non-acoustic detection and identification.
Description
Technical Field
The application relates to the technical field of underwater target non-acoustic detection and identification, in particular to an array passive positioning and tracking method based on an underwater extremely-low frequency vector electromagnetic field of a target.
Background
The target can be positioned and tracked under water through the characteristics of sound field, electric field, magnetic field, optics and the like of the target in the water. Because shallow sea underwater acoustic environment is complex, the target body silencing technology is developed rapidly, the application effect of the acoustic detection technology is not ideal, and the electromagnetic detection technology can be used as an effective auxiliary and compensating means. The target very low frequency electromagnetic field source signals have diversity and mainly comprise quasi-static electromagnetic signals and alternating electromagnetic signals, wherein the quasi-static electromagnetic signals comprise residual magnetism and magnetism sensing signals caused by a target ferromagnetic structure and corrosion current electromagnetic fields caused by corrosion prevention measures, the alternating electromagnetic signals comprise wake electromagnetic signals generated by body effect internal waves, vortex, turbulence and the like generated by target navigation cutting geomagnetic fields, axial frequency electromagnetic signals generated by the corrosion prevention measures through propeller bearing modulation, and Debye effect electromagnetic signals generated by acceleration of electrolytic ion directional movement.
At present, the underwater electromagnetic detection technology is novel, and a positioning tracking method based on a target very low frequency electromagnetic signal is rare. The application effect of the positioning and tracking method based on the equivalent model of the target electric dipole or magnetic dipole depends on the accuracy of the equivalent model, and the equivalent model is related to the structural characteristics, the motion characteristics, the electromagnetic source strength and the frequency characteristics of the target and the characteristics of the sea water and the submarine environment, which are often unknown or require traversing, so that the rapid real-time positioning and tracking are difficult to meet.
Disclosure of Invention
Aiming at the problems and the technical requirements, the inventor provides an array passive positioning and tracking method based on a target underwater extremely-low frequency vector electromagnetic field, and the technical scheme of the application is as follows:
an array passive positioning tracking method based on a target underwater very low frequency vector electromagnetic field, which comprises the following steps:
each electromagnetic station determines the plane orientation of the target relative to the electromagnetic stations according to the vector electromagnetic field signals corresponding to the detected underwater very low frequency of the target, and the number n of the electromagnetic stations is more than or equal to 2; defining an x-axis direction as a north direction and a y-axis direction as an east direction by taking a plane in which an electromagnetic station and a target are located as an xy plane;
every two electromagnetic stations Re i 、Re j According to the target relative to the electromagnetic station Re i 、Re j Plane orientation theta of (2) i And theta j Determining a target position solution (x sij ,y sij ) Solving to obtain the target plane position (x s ,y s ) Completing one target positioning, wherein i e {1,2,..n }, j e {1,2,., n } and i not equal j;
the electromagnetic station locates the target once every time deltat, and determines the target plane position (x s ,y s ) The tracking of the target is realized.
Further, "each electromagnetic station determines a planar orientation of the target relative to the electromagnetic station based on the detected vector electromagnetic field signal corresponding to the very low frequency of the target underwater", including:
according to electromagnetic station Re i Azimuth angle phi 1 of channel i 、φ2 i Electromagnetic field signal component F1 corresponding to the detected very low frequency of the target water i 、F2 i Determining orthogonal components Fx of electromagnetic field signals in x-axis and y-axis directions i And Fy i ；
In xy plane with electromagnetic station Re i Uniformly discretizing azimuth angles of 0-360 DEG into m equal parts by taking the azimuth angle as the center, and uniformly dispersing the azimuth angles of each angle theta a The rotation value is obtained by performing the following rotation calculation:
wherein θ a =0++360° (t-1)/(m-1), a e {1,2,..m } and m is not less than 180;
according to the rotation value G i (θ a ) θ at maximum value a Value determination target relative to electromagnetic station Re i Plane orientation theta of (2) i 。
Further, "obtain target plane position coordinates from all the determined target positions (x s ,y s ) ", comprising:
according to every second electromagnetic station Re i 、Re j A target position solution (x sij ,y sij ) With electromagnetic station Re i 、 Re j The distance between midpoints calculates the target position solution (x sij ,y sij ) Weight coefficient w of (2) ij ；
According to the formulaSolution (x) to all target locations sij ,y sij ) Weighted average is performed to obtain the target plane position coordinates (x s ,y s )。
Further, "every second electromagnetic station Re i 、Re j Determining a target position solution (x sij ,y sij ) ", comprising:
according to two electromagnetic stations Re i 、Re j Distance d between ij Respectively calculating to obtain a target and two electromagnetic stations Re i 、 Re j Distance r between i And r j ；
According to the target and the electromagnetic station Re i Distance r of (2) i And the target relative to the electromagnetic station Re i Plane orientation theta of (2) i Two position solutions (x is1 ,y is1 ) And (x) is2 ,y is2 )；
According to the target and the electromagnetic station Re j Distance r of (2) j And the target relative to the electromagnetic station Re j Plane orientation theta of (2) j Calculating two other position solutions (x js1 ,y js1 ) And (x) js2 ,y js2 )；
Determining the same two of the four position solutions as the target position solution (x sij ,y sij )。
Further, "determining orthogonal components Fx of electromagnetic field signals in x-axis and y-axis directions i And Fy i ", including calculated according to the following formula:
further, spinTurning value G i (θ a ) θ at maximum value a There are two solutions θ for the value a1 And theta a2 And θ is as follows a1 ＝θ a2 +180°，θ a1 And theta a2 One of them is the target relative to the electromagnetic station Re i Plane orientation theta of (2) i The other is the target plane position (x s ,y s ) With respect to electromagnetic station Re i Plane orientation θ at a center-symmetrical position i +180°。
Further, "according to every two electromagnetic stations Re i 、Re j A target position solution (x sij ,y sij ) With electromagnetic station Re i 、Re j The distance between midpoints calculates the target position solution (x sij ,y sij ) Weight coefficient w of (2) ij ", comprising:
according to electromagnetic station Re i Plane position (x) i ,y i ) Electromagnetic station Re j Plane position (x) j ,y j ) And a target position solution (x sij ,y sij ) According to the formulaCalculating to obtain a target position solution (x sij ,y sij ) With electromagnetic station Re i 、Re j Distance D between midpoints ij ；
According to the distance D ij According to the formulaCalculating a target position solution (x sij ,y sij ) Wherein, if D ij The coefficient c=400 if D is not greater than 1km ij There is a value greater than 1km, the coefficient c=1000.
Further, "according to two electromagnetic stations Re i 、Re j Distance d between ij Respectively calculating to obtain a target and two electromagnetic stations Re i 、Re j Distance r between i And r j ", comprising:
according to electromagnetic station Re i Plane position (x) i ,y i ) Andelectromagnetic station Re j Plane position (x) j ,y j ) According to the formulaCalculating to obtain the electromagnetic station Re i 、Re j Distance d between ij ；
According to the target relative to the electromagnetic station Re i 、Re j Azimuth θ of (2) i 、θ j And electromagnetic station Re i 、Re j Distance d between ij According to the formulaAnd->Respectively calculating to obtain the target and the electromagnetic station Re i 、Re j Distance r between i And r j 。
Further, "calculate two position solutions (x is1 ,y is1 ) And (x) is2 ,y is2 ) The sum computes two other position solutions (x js1 ,y js1 ) And (x) js2 ,y js2 ) ", including calculated according to the following formula:
further, two position solutions (x is1 ,y is1 ) And (x) is2 ,y is2 ) With respect to electromagnetic station Re i Centrosymmetric, two other position solutions (x js1 ,y js1 ) And (x) js2 ,y js2 ) With respect to electromagnetic station Re j And the centers are symmetrical.
The beneficial technical effects of the application are as follows:
the application discloses an array passive positioning tracking method based on a target underwater extremely-low frequency vector electromagnetic field, which can estimate the azimuth of a target based on the polarization characteristic of the target electromagnetic field, and can estimate one position every 2 electromagnetic stations based on a double-station passive cross positioning principle when 2 or more electromagnetic arrays detect the target electromagnetic signals, and can realize the tracking of the target by monitoring the target vector electromagnetic field in real time and carrying out target positioning at fixed time through the electromagnetic arrays. Furthermore, the method has simple application conditions and is easy to realize.
Drawings
FIG. 1 is a schematic diagram of a passive positioning and tracking method of an array of a very low frequency vector electromagnetic field under a target water according to an embodiment of the application.
Fig. 2 is a schematic diagram of passive orientation of a target single electromagnetic station in accordance with one embodiment of the application.
Fig. 3 is a schematic diagram of passive positioning of a target dual electromagnetic station in accordance with one embodiment of the application.
Fig. 4 is an inverse distance weighting function based on a gaussian function according to an embodiment of the present application.
Detailed Description
The following describes the embodiments of the present application further with reference to the drawings.
An embodiment of the application discloses an array passive positioning tracking method based on a target underwater extremely low frequency vector electromagnetic field, and referring to fig. 1-3, the method comprises the following steps:
first, determining a positioning tracking coordinate system:
before positioning and tracking, a vector electromagnetic array passive positioning coordinate system based on a target very low frequency electromagnetic field is established, as shown in fig. 1, a first electromagnetic station is taken as an original point, an x axis points to the north direction, a y axis points to the east direction, a right-hand spiral rectangular coordinate system is formed, the azimuth points to the north at 0 degrees, and the azimuth points to the east at 90 degrees; determining electromagnetic station Re i Is (x) i ,y i ) Where i ε {1,2,.., n }, n is the number of electromagnetic stations and n is equal to or greater than 2.
Second, electromagnetic field vector rotation:
according to electromagnetic station Re i Azimuth angle phi 1 of channel i 、φ2 i Electromagnetic field signal component F1 corresponding to the detected very low frequency of the target water i 、F2 i Determining orthogonal components Fx of electromagnetic field signals in x-axis and y-axis directions i And Fy i Specifically according to the formulaCalculating; wherein, the electromagnetic station Re i Azimuth angle phi 1 of channel i 、φ2 i Respectively represent electromagnetic field signal components F1 i 、F2 i Included angle with the x-axis direction.
Third, target passive orientation:
in xy plane with electromagnetic station Re i Uniformly discretizing azimuth angles of 0-360 DEG into m equal parts by taking the azimuth angle as the center, and uniformly dispersing the azimuth angles of each angle theta a The rotation value is obtained by performing the following rotation calculation:
wherein θ a =0++360° (t-1)/(m-1), a e {1,2,..m } and m is not less than 180;
θ a there are two solutions θ for the value a1 And theta a2 So that the rotation value G i (θ a ) Is maximum and θ a1 ＝θ a2 +180°, at this time θ a1 And theta a2 One of them is the target relative to the electromagnetic station Re i Plane orientation theta of (2) i The other is the target plane position (x s ,y s ) With respect to electromagnetic station Re i Plane orientation θ at a center-symmetrical position i +180°, as shown in fig. 2.
Fourth, target passive positioning:
(1) According to two electromagnetic stations Re i 、Re j Distance d between ij Respectively calculating to obtain a target and two electromagnetic stations Re i 、Re j Distance r between i And r j ；
In particular, according to electromagnetic station Re i Plane position of (2)Put (x) i ,y i ) And electromagnetic station Re j Plane position (x) j ,y j ) According to the formulaCalculating to obtain the electromagnetic station Re i 、Re j Distance d between ij ；
According to the target relative to the electromagnetic station Re i 、Re j Azimuth θ of (2) i 、θ j And electromagnetic station Re i 、Re j Distance d between ij According to the formulaAnd->Respectively calculating to obtain the target and the electromagnetic station Re i 、Re j Distance r between i And r j ；
(2) According to the target and the electromagnetic station Re i Distance r of (2) i And the target relative to the electromagnetic station Re i Plane orientation theta of (2) i Two position solutions (x is1 ,y is1 ) And (x) is2 ,y is2 ) According to the target and the electromagnetic station Re j Distance r of (2) j And the target relative to the electromagnetic station Re j Plane orientation theta of (2) j Calculating two other position solutions (x js1 ,y js1 ) And (x) js2 ,y js2 ) The method is specifically calculated according to the following formula:
(3) Determining the same two of the four position solutions as the target position solution (x sij ,y sij )；
Specifically, two position solutions (x is1 ,y is1 ) And (x) is2 ,y is2 ) With respect to electromagnetic station Re i Centrosymmetric, two other position solutions (x js1 ,y js1 ) And (x) js2 ,y js2 ) With respect to electromagnetic station Re j The center is symmetrical; and (x) is1 ,y is1 ) And (x) is2 ,y is2 ) One of which is solved by (x) js1 ,y js1 ) And (x) js2 ,y js2 ) Wherein one of the position solutions is the same, i.e. the determined target position solution (x sij ,y sij ) As shown in fig. 3.
(4) Deriving target plane position coordinates (x s ,y s )；
In particular, according to electromagnetic station Re i Plane position (x) i ,y i ) Electromagnetic station Re j Plane position (x) j ,y j ) And a target position solution (x sij ,y sij ) According to the formulaCalculating to obtain a target position solution (x sij ,y sij ) With electromagnetic station Re i 、Re j The distance between the midpoints;
according to the formulaCalculating a target position solution (x sij ,y sij ) Wherein, if D ij The coefficient c=400 if D is not greater than 1km ij If there is a value greater than 1km, the coefficient c=1000, and the inverse distance weighting function based on gaussian functions in both cases is shown in fig. 4;
according to the formulaSolution (x) to all target locations sij ,y sij ) Weighted average is performed to obtain the target plane position coordinates (x s ,y s )。
Fifth, target passive tracking:
electromagnetic station pairs at intervals of delta tThe target is positioned once, and the target plane position (x s ,y s ) The tracking of the target is realized.
The application discloses an array passive positioning and tracking method based on a target underwater very low frequency vector electromagnetic field, which uses simulation data to explain a specific implementation scheme and application effects, and specifically comprises the following steps:
firstly, setting simulation scenes and data:
establishing a vector electromagnetic array passive positioning coordinate system based on a target very low frequency electromagnetic field, wherein an x-axis points to the north direction, a y-axis points to the east direction to form a right-hand spiral rectangular coordinate system, and the direction points to 0 DEG when the direction points to the north direction and points to 90 DEG when the direction points to the east direction;
setting the target to run at a speed of 8m/s and a heading of 0 DEG from (-2000, 2000) to a (2000 ) position at a constant speed for 500s;
setting 4 electromagnetic stations #1, #2, #3, #4, wherein the electromagnetic station spacing is 500m, the positions are respectively #1 (-750, 0), #2 (-250,0), #3 (250,0), and #4 (-750, 0), the sampling frequencies are fs=10 Hz, and the sampling time period is 500s;
assuming that the electric field frequency of the target radiation is a sine wave with f=1 Hz, so that the electric field received by the approximately 4 electromagnetic stations is an electric dipole field:
wherein m=idl=1000, approximately magnetic moment, i=10a current intensity, dl=100deg.m target length, r real-time distance between the target and the electromagnetic station; according to the real-time azimuth θ (t) of the target and each electromagnetic station, the electric field is decomposed into two components, and different random number sequences are superimposed in each component as background noise:
for 4 electromagnetic station array elements, the time-frequency analysis is respectively carried out by using an electric field component time sequence, the time-frequency analysis window and the Fourier transform duration are both 10s, the stepping interval delta t=2s, 246 time windows can be obtained, and the hamming windowing function is adopted to prevent spectrum leakage.
Second, single station passive orientation:
uniformly discretizing the azimuth angle of 0-360 degrees into 360 equal parts, namely, the azimuth estimation resolution is 1 degree, carrying out single-station passive orientation of each frequency of each time window by using vector electric field signals of 4 stations, and extracting a passive orientation result of a 1Hz signal related to a target in each time window.
Third, double-station passive positioning:
and (3) carrying out double-station passive positioning on every two of 4 electromagnetic stations by using the azimuth estimation result of each time window of each electromagnetic station, wherein each time window can be estimated to obtain 6 position solutions.
Fourth, array passive positioning:
calculating the distance between each position solution and the corresponding intermediate position of the connecting line of the two electromagnetic station array elements, thereby calculating and determining the weighting coefficient of 6 position solutions; and carrying out weighted average on the 6 position solutions to obtain a final target position solution of each time window.
Sixth step: array passive tracking:
and arranging the array passive positioning results of 246 time windows in sequence to form real-time passive tracking of the target.
The above is only a preferred embodiment of the present application, and the present application is not limited to the above examples. It is to be understood that other modifications and variations which may be directly derived or contemplated by those skilled in the art without departing from the spirit and concepts of the present application are deemed to be included within the scope of the present application.
Claims (7)
1. An array passive positioning and tracking method based on a target underwater extremely-low frequency vector electromagnetic field is characterized by comprising the following steps:
each electromagnetic station determines the plane orientation of a target relative to the electromagnetic stations according to the vector electromagnetic field signals corresponding to the detected underwater very low frequency of the target, and the number n of the electromagnetic stations is more than or equal to 2; defining an x-axis direction as a north direction and a y-axis direction as an east direction by taking a plane in which the electromagnetic station and the target are located as an xy plane;
every two electromagnetic stations Re i 、Re j According to the target relative to the electromagnetic station Re i 、Re j Plane orientation theta of (2) i And theta j Determining a target position solution (x sij ，y sij ) Solving to obtain the target plane position (x s ，y s ) Completing one target positioning, wherein i e {1,2,..n }, j e {1,2,., n } and i not equal j;
the electromagnetic station locates the target once every time Δt, and determines the target plane position (x s ，y s ) Tracking the target is realized;
each electromagnetic station determines the plane orientation of the target relative to the electromagnetic station according to the vector electromagnetic field signal corresponding to the detected underwater very low frequency of the target, and the method comprises the following steps:
according to electromagnetic station Re i Azimuth angle phi 1 of channel i 、φ2 i Electromagnetic field signal component F1 corresponding to the detected very low frequency of the target water i 、F2 i Determining orthogonal components Fx of electromagnetic field signals in x-axis and y-axis directions i And Fy i ；
In the xy plane with an electromagnetic station Re i Uniformly discretizing azimuth angles of 0-360 DEG into m equal parts by taking the azimuth angle as the center, and uniformly dispersing the azimuth angles of each angle theta a The rotation value is obtained by performing the following rotation calculation:
wherein θ a =0++360° (t-1)/(m-1), a e {1,2,..m } and m is not less than 180;
according to the rotation value G i (θ a ) θ at maximum value a Value determination target relative to electromagnetic station Re i Plane orientation theta of (2) i ；
The target plane position is obtained according to all the determined target positionsCoordinates (x) s ，y s ) Comprising:
according to every second electromagnetic station Re i 、Re j A target position solution (x sij ，y sij ) And the electromagnetic station Re i 、Re j The distance between midpoints calculates the target position solution (x sij ，y sij ) Weight coefficient w of (2) ij ；
According to the formulaSolution (x) to all target positions sij ，y sij ) Weighted average is performed to obtain the target plane position coordinates (x s ，y s )；
The every two electromagnetic stations Re i 、Re j Determining a target position solution (x sij ，y sij ) Comprising:
according to two electromagnetic stations Re i 、Re j Distance d between ij Respectively calculating to obtain a target and the two electromagnetic stations Re i 、Re i Distance r between i And r j ；
According to the target and the electromagnetic station Re i Distance r of (2) i And the target relative to the electromagnetic station Re i Plane orientation theta of (2) i Two position solutions (x is1 ，y is1 ) And (x) is2 ，y is2 )；
According to the target and the electromagnetic station Re j Distance r of (2) j And the target relative to the electromagnetic station Re j Plane orientation theta of (2) j Calculating two other position solutions (x js1 ，y js1 ) And (x) js2 ，y js2 )；
Determining the same two of the four position solutions as the target position solution (x sij ，y sij )。
2. The method of claim 1, wherein the determining orthogonal components Fx of the electromagnetic field signal in the x-axis and y-axis directions i And Fy i Comprising the following formula:
3. the method according to claim 1, characterized in that the rotation value G j (θ a ) θ at maximum value a There are two solutions θ for the value a1 And theta a2 And θ is as follows a1 ＝θ a2 +180°, said θ a1 And theta a2 One of them is the target relative to the electromagnetic station Re i Plane orientation theta of (2) i The other is the target plane position (x s ，y s ) With respect to electromagnetic station Re i Plane orientation θ at a center-symmetrical position i +180°。
4. The method according to claim 1, wherein the electromagnetic station Re is two per electromagnetic station i 、Re j A target position solution (x sij ，y sij ) And the electromagnetic station Re i 、Re j The distance between midpoints calculates the target position solution (x sij ，y sij ) Weight coefficient W of (2) ij Comprising:
according to electromagnetic station Re i Plane position (x) i ，y i ) Electromagnetic station Re j Plane position (x) j ，y j ) And a target position solution (x sij ，y sij ) According to the formulaCalculating to obtain a target position solution (x sij ，y sij ) With electromagnetic station Re i 、Re j Distance D between midpoints ij ；
According to the distance D ij According to the formulaCalculating the target position solution (x sij ，y sij ) Wherein, if D ij The coefficient c=400 if D is not greater than 1km ij There is a value greater than 1km, the coefficient c=1000.
5. The method according to claim 1, characterized in that said electromagnetic stations Re according to two i 、Re j Distance d between ij Respectively calculating to obtain a target and the two electromagnetic stations Re i 、Re j Distance r between i And r j Comprising:
according to electromagnetic station Re i Plane position (x) i ，y i ) And electromagnetic station Re j Plane position (x) j ，y j ) According to the formulaCalculating to obtain the electromagnetic station Re i 、Re j Distance d between ij ；
According to the target relative to the electromagnetic station Re i 、Re j Azimuth θ of (2) i 、θ j And the electromagnetic station Re i 、Re j Distance d between ij According to the formulaAnd->Respectively calculating to obtain the target and the electromagnetic station Re i 、Re j Distance r between i And r j 。
6. The method according to claim 1, characterized in that the calculation results in two position solutions (x is1 ，y is1 ) And (x) is2 ，y is2 ) And calculating two other position solutions (x js1 ，y js1 ) And (x) js2 ，y js2 ) Comprising the following formula:
7. method according to claim 1, characterized in that the two position solutions (x is1 ，y is1 ) And (x) is2 ，y is2 ) With respect to electromagnetic station Re i Is centrosymmetrically, the other two position solutions (x js1 ，y js1 ) And (x) js2 ，y js2 ) With respect to electromagnetic station Re j And the centers are symmetrical.
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