CN113791407B - Double-station direction-finding cross positioning method based on ellipsoid model - Google Patents
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
Abstract
The invention relates to a double-station direction-finding cross positioning method based on an ellipsoid model, which comprises the steps of firstly knowing the position coordinates of two receiving stations in a geodetic coordinate system, converting the position coordinates into geodetic rectangular coordinates, respectively taking a first receiving station and a second receiving station as origins to obtain the positions of targets in the receiving station rectangular coordinate system, and then forming four equations about the positions of the targets by the relation between the two receiving station rectangular coordinates and pitch angles and azimuth angles obtained by actual measurement, and solving the equations to obtain the positions of the targets in the geodetic rectangular coordinate system. The method can be applied to passive direction finding cross positioning; based on an ellipsoid model which is more in line with the actual situation, the method is simpler and more visual; the method is suitable for a multi-station passive direction-finding positioning system after being properly improved.
Description
Technical Field
The invention relates to a double-station direction-finding cross positioning method based on an ellipsoid model, in particular to a method for rapidly obtaining the space positions of passive observation targets of two receiving stations based on the ellipsoid model and a space coordinate conversion theory, and belongs to the technical field of passive detection.
Background
The passive target detection has stronger anti-radiation, anti-interference, anti-low-altitude invasion and anti-stealth four-antibody capacity. In recent years, a multi-base passive target detection technology based on signals such as fm broadcasting, digital television, communication and the like has been greatly developed, and various target positioning algorithms such as a direction-finding cross positioning method, a time-difference positioning method, a direction-finding time-difference hybrid positioning method, a time-difference frequency-difference positioning method and the like are practically applied. However, the above-mentioned target positioning algorithm is generally considered in a cartesian rectangular coordinate system, and the receiving station is generally represented by using a geodetic coordinate system as a background during target detection, which means that the algorithm still needs to involve a series of coordinate conversion problems in practical application, and the existing method cannot be directly applied to practical scenes.
Disclosure of Invention
The invention aims to provide a double-station direction-finding cross positioning method based on an ellipsoid model, which solves the problem that the existing direction-finding cross positioning algorithm cannot be directly applied to an actual scene. The method aims at two receiving station positions represented by geodetic coordinates under an ellipsoidal model, a double-station direction-finding cross positioning formula under the coordinate system is deduced in advance, and the geodetic coordinates can be directly substituted into calculation to obtain corresponding target positions.
The technical scheme of the invention is that the position coordinates of two receiving stations in a geodetic coordinate system are known at first, then the position coordinates are converted into geodetic rectangular coordinates, the positions of the targets in the geodetic rectangular coordinate system are obtained by taking a first receiving station and a second receiving station as original points respectively, then four equations about the positions of the targets can be formed by the relation between the rectangular coordinates of the two receiving stations and the pitch angle and the azimuth angle obtained by actual measurement, and the positions of the targets in the geodetic rectangular coordinate system are obtained by solving the equations. Because the equation is nonlinear, the two azimuth angle equations and one pitch angle equation are firstly utilized to solve, a unitary quadratic equation about the target position is obtained, at the moment, two solutions meeting the conditions are obtained, and finally the rest pitch angle equation is utilized to judge the target position meeting the conditions as a final solution.
The invention relates to a double-station direction-finding cross positioning method based on an ellipsoid model, which comprises the following specific steps:
step 1, defining a geodetic coordinate system, a geodetic rectangular coordinate system and a receiving station rectangular coordinate system;
step 2, determining the positions of two receiving stations in a geodetic coordinate system;
step 3, converting the geodetic coordinates of the receiving station into geodetic rectangular coordinates;
step 4, assuming the target position, respectively taking a first receiving station and a second receiving station as original points, and obtaining the position of the target in a rectangular coordinate system of the receiving stations;
step 5, constructing four positioning equations by utilizing the target azimuth angles and the pitch angles measured by the two receiving stations;
step 6, three equations, namely an azimuth angle equation of the first receiving station, a pitch angle equation and an azimuth angle equation of the second receiving station, are selected, and the target position is solved;
the implementation process of the step 6 is as follows: because the pitch angle equation of the first receiving station is a nonlinear equation, and the equation set contains three unknown parameters of the target coordinates, firstly, the expressions of the two unknown parameters about the rest unknown parameters are obtained based on the two azimuth angle equations, then the expressions are substituted into the pitch angle equation of the first receiving station, an equation containing only one unknown parameter can be obtained, and the unitary quadratic equation is solved to obtain two solutions of the target position.
And 7, eliminating false targets by using the remaining pitch angle equation.
The implementation process of the step 7 is as follows: and (3) setting a discrimination threshold value based on the angle measurement error of the receiving station (given according to half of the angle measurement precision of the receiving station), substituting the two solutions of the target position obtained in the step (6) into a pitch angle calculation formula of the second receiving station to obtain two pitch angle values, respectively calculating absolute values of differences between the two pitch angle values and the measured value, comparing the absolute values with the discrimination threshold value, and reserving a target value meeting the requirements as a final positioning result.
The invention can obtain the following technical effects
1. The invention provides a double-station direction-finding cross positioning method based on an ellipsoid model, which can be applied to passive direction-finding cross positioning.
2. The method is based on an ellipsoid model which is more in line with the actual situation, and is simpler and more visual.
3. The invention is suitable for a multi-station passive direction-finding positioning system after proper improvement.
Drawings
FIG. 1 is a coordinate system established by the present invention.
Fig. 2 is an observation diagram of a receiving station established in the present invention.
FIG. 3 is a diagram of a simulation example target real track and receiving station deployment.
FIG. 4 (a) (b) is an xy coordinate pattern of simulation example positioning results;
FIG. 4 (c) (d) is a simulation example positioning result xz coordinate pattern;
fig. 4 (e) (f) is a yz coordinate pattern of the simulation example positioning result.
Figure 5 shows a flow chart of the method of the invention.
Detailed Description
For a better understanding of the technical solution of the present invention, embodiments of the present invention are further described below with reference to fig. 1 to 5.
The invention relates to a double-station direction-finding cross positioning method based on an ellipsoid model, which is shown in fig. 5 and comprises the following specific steps:
step one, defining a coordinate system
The geodetic coordinate system, geodetic rectangular coordinate system, receiving station rectangular coordinate system and related coordinate conversion formulas are defined as follows:
(a) Geodetic coordinate system
The geodetic coordinates of the spatial point Q are coordinates based on the initial geodetic meridian plane, equatorial plane, ellipsoid, including geodetic longitude L, geodetic latitude B, and geodetic elevation H.
Geodetic longitude: the included angle between the earth meridian plane of the point Q and the initial earth meridian plane is called the earth longitude of the point and is marked as L;
geodetic latitude: the included angle between the normal line of the Q point to the ellipsoid of the earth and the equatorial plane is called the geodetic latitude and is marked as B;
ground elevation: the normal distance from the Q point to the earth's ellipsoid is called the geodetic elevation and is denoted as H.
(b) Geocentric coordinate system
The geocentric coordinate system takes the mass center of the earth as the origin, z 0 The axis points to the origin of the international protocol, x 0 Axis and z 0 The axis is vertical, the earth center points to the longitude zero point of the International time bureau, y 0 The axis is on the equatorial plane, and x 0 、z 0 The right hand system is constructed as shown in fig. 1.
(d) Rectangular coordinate system of receiving station
The rectangular coordinate system of the receiving station is also a station-center coordinate system, which takes the radar center as the origin of coordinates O r ，z r Axis and point O r Is coincided with the plumb line of (x) and points out of the earth r The axis being at the passing point O r In the horizontal plane of (2), point to the earth north, y r And x r 、z r The right hand system is constructed as shown in fig. 1.
(e) Geodetic to geocentric rectangular coordinate system
Inputting parameters: geodetic coordinates of a point in space (L, B, H)
Output parameters: coordinates (x) in the rectangular coordinate system of the earth's center o ,y o ,z o )
The functions are as follows: conversion from geodetic to geodetic rectangular coordinate system
Description of:
here the number of the elements is the number,
reference ellipseThe long radius of the sphere a= 6378245m, the flatness f=1/298.3, the first eccentricity squared e 2 ＝0.0069342162297。
(f) Rectangular coordinate system from earth center to receiving station
Inputting parameters: coordinates (x) of a point in space in the rectangular geocentric coordinate system o ,y o ,z o ) Receiving coordinates (x r0 ,y r0 ,z r0 ) Receiving the coordinates (L, B, H) of a station in the geodetic coordinate system
Output parameters: in the rectangular coordinate system of the receiving station (x r ,y r ,z r )
The functions are as follows: conversion from a geocentric rectangular system to a receiving station rectangular system
Description of:
wherein (xro ,y ro ,z ro ) Is the coordinate of the radar in the rectangular coordinate system of the earth center.
Step two, determining the position of a radar transmitting station and a receiving station
Two receiving stations are arranged in the system, and are arranged in a geodetic coordinate system, wherein the longitude and latitude height of the first receiving station is (L 1 ,B 1 ,H 1 ) The second receiving station has a warp and weft height (L 2 ,B 2 ,H 2 )。
Step three, converting the geodetic coordinates of the receiving station into geodetic rectangular coordinates
Warp and weft heights (L 1 ,B 1 ,H 1 )、(L 2 ,B 2 ,H 2 ) The coordinates are converted into rectangular coordinates of the earth center, and the coordinates of the first receiving station after conversion are (x) 1 ,y 1 ,z 1 ) The second receiving station coordinates are (x 2 ,y 2 ,z 2 ) Obtainable by the formula (1)
Step four, assuming the target position, respectively taking the first receiving station and the second receiving station as the original points to obtain the position of the target in the rectangular coordinate system of the receiving station
Assuming that the position of the target in the rectangular coordinate system of the earth center is (x, y, z), respectively taking the first receiving station and the second receiving station as the original points to obtain the position of the target in the rectangular coordinate system of the receiving station as (x' 1 ,y' 1 ,z' 1 )、(x' 2 ,y' 2 ,z' 2 ) Obtainable by the formula (2)
wherein ,A1 and A2 Is a coordinate transfer matrix.
Step five, constructing four positioning equations by utilizing target azimuth angles and pitch angles measured by two receiving stations
From the above steps, based on the obtained values of azimuth and pitch angles, the following equations can be established. Let the azimuth and pitch angles measured by the first receiving station be (q 1 ,j 1 ) The second receiving station measures an azimuth angle and a pitch angle (q 2 ,j 2 )。
wherein ,A1 (1,:)，A 2 (2: and A) 3 (3: refer to the coordinate transformation matrix A respectively 1 Lines 1, 2, 3 of (A), similarly 2 (1,:)，A 2 (2: and A) 3 (3, respectively refer to coordinate transformation matrix)A 2 Lines 1, 2, 3 of (a).
Step six, three equations (an azimuth angle equation of the first receiving station, a pitch angle equation and an azimuth angle equation of the second receiving station) are selected to solve the target position
The process of solving the set of positioning equations is as follows:
from the two azimuth conditions measured by the receiving station, the y and z expressions denoted by x can be found. First, z is eliminated, that is, the coefficient of z in the two equations is the same as follows:
wherein ,A1 (i, j) refers to matrix A 1 The elements of row i, column j.
Subtracting the two expressions to obtain an expression of y with respect to x,
wherein ,
a＝[tanq 2 A 2 (2,3)-A 2 (1,3)]·[tanq 1 A 1 (2,:)-A 1 (1,:)]-[tanq 1 A 1 (2,3)-A 1 (1,3)]·[tanq 2 A 2 (2,:)-A 2 (1,:)]
and similarly, the expression of z with respect to x can be obtained,
wherein ,
c＝[tanq 2 A 2 (2,2)-A 2 (1,2)]·[tanq 1 A 1 (2,:)-A 1 (1,:)]-[tanq 1 A 1 (2,2)-A 1 (1,2)]·[tanq 2 A 2 (2,:)-A 2 (1,:)]
due toThe pitch angle expression of the first receiving station can be written as
From the previous derivation, x 'can be obtained' 1 ，y' 1 ，z' 1 With respect to the expression of x,
so that a unitary quadratic equation about x can be obtained
px 2 +qx+r＝0 (16)
wherein ,q＝2sin 2 j 1 ·e 1 e 2 +2sin 2 j 1 ·f 1 f 2 +2(sin 2 j 1 -1)g 1 g 2 。
two target position solutions can be obtained, i.e
Step seven, false target elimination is carried out by utilizing the remaining pitch angle equation
Substituting the two target position coordinates obtained in the step six into the following expression to calculate two pitch angle sine values sinj 21 With sin j 22 。
Setting an angle sine value error threshold value as col, and judging which one of the following expressions is established
And the target position corresponding to the established expression is the final solution. It can be assumed that the direction finding error follows a normal distribution of zero mean, standard deviation σ=0.2°, so the threshold value can be chosen around 0.0017, about sin (0.5σ).
The effect of the invention can be illustrated by simulation experiments, and the simulation conditions are set as follows: the longitude, latitude, and altitude of the two receiving stations are shown in table 1.
Table 1 radar location parameter table
| Parameters (parameters) | Longitude (°) | Latitude (°) | Height (m) |
| Receiving station one | 113.276 | 35.197 | 20 |
| Receiving station two | 112.876 | 35.597 | 20 |
The target flies horizontally and directly in a rectangular coordinate system of the receiving station, the initial position geocentric coordinates xyz are (-2074388,4659151,43817454) m respectively, the total speed of the target is 200m/s, the speeds of the geocentric coordinates in the x direction and the y direction are the same, and the position in the z direction is kept unchanged, as shown in fig. 3. The observation data rate of each receiving station is 1Hz, the observation time length is 500s, and the measurement errors of the azimuth angle and the pitching angle are 0.01 degrees. The positioning result of the target by the two receiving stations is obtained through the method, and the positioning result is very consistent with a real track as shown in fig. 4 (a) to 4 (f).
Claims (1)
1. A double-station direction-finding cross positioning method based on an ellipsoid model is characterized by comprising the following steps of: the method comprises the following steps:
step one, defining a coordinate system
The geodetic coordinate system, geodetic rectangular coordinate system, receiving station rectangular coordinate system and related coordinate conversion formulas are defined as follows:
(a) Geodetic coordinate system
The geodetic coordinates of the spatial point Q are coordinates taking the initial geodetic meridian plane, the equatorial plane and the ellipsoidal surface as references, and comprise geodetic longitude L, geodetic latitude B and geodetic elevation H;
geodetic longitude: the included angle between the earth meridian plane of the point Q and the initial earth meridian plane is called the earth longitude of the point and is marked as L;
geodetic latitude: the included angle between the normal line of the Q point to the ellipsoid of the earth and the equatorial plane is called the geodetic latitude and is marked as B;
ground elevation: the normal distance from the Q point to the ellipsoidal surface of the earth is called the geodetic elevation and is marked as H;
(b) Geocentric coordinate system
The geocentric coordinate system takes the mass center of the earth as the origin, z 0 The axis points to the origin of the international protocol, x 0 Axis and z 0 The axis is vertical, the earth center points to the longitude zero point of the International time bureau, y 0 The axis is on the equatorial plane, and x 0 、z 0 Forming a right hand system;
(d) Rectangular coordinate system of receiving station
The rectangular coordinate system of the receiving station takes the radar center as the origin O of coordinates r ，z r Axis and point O r Is coincided with the plumb line of (x) and points out of the earth r The axis being at the passing point O r In the horizontal plane of (2), point to the earth north, y r And x r 、z r Forming a right hand system;
(e) Geodetic to geocentric rectangular coordinate system
Inputting parameters: geodetic coordinates of a point in space (L, B, H)
Output parameters: coordinates (x) in the rectangular coordinate system of the earth's center o ,y o ,z o )
Conversion from geodetic to geodetic rectangular coordinate system
Here the number of the elements is the number,
the long radius of the reference ellipsoid, a= 6378245m, the flatness, f=1/298.3, the first eccentricity squared e 2 ＝0.0069342162297；
(f) Rectangular coordinate system from earth center to receiving station
Inputting parameters: coordinates (x) of a point in space in the rectangular geocentric coordinate system o ,y o ,z o ) Receiving coordinates (x r0 ,y r0 ,z r0 ) Receiving the coordinates (L, B, H) of a station in the geodetic coordinate system
Output parameters: in the rectangular coordinate system of the receiving station (x r ,y r ,z r )
Conversion from a geocentric rectangular system to a receiving station rectangular system
wherein ,(xro ,y ro ,z ro ) The coordinate of the radar in the rectangular coordinate system of the earth center;
step two, determining the position of a radar transmitting station and a receiving station
Two receiving stations are arranged in the geodetic coordinate system, the longitude and latitude height of the first receiving station is (L 1 ,B 1 ,H 1 ) The second receiving station has a warp and weft height (L 2 ,B 2 ,H 2 )；
Step three, converting the geodetic coordinates of the receiving station into geodetic rectangular coordinates
Warp and weft heights (L 1 ,B 1 ,H 1 )、(L 2 ,B 2 ,H 2 ) The coordinates are converted into rectangular coordinates of the earth center, and the coordinates of the first receiving station after conversion are (x) 1 ,y 1 ,z 1 ) The second receiving station coordinates are (x 2 ,y 2 ,z 2 ) Obtained from the formula (1)
Step four, assuming the target position, respectively taking the first receiving station and the second receiving station as the original points to obtain the position of the target in the rectangular coordinate system of the receiving station
Assume a targetThe position in the rectangular coordinate system of the earth center is (x, y, z), and the first receiving station and the second receiving station are respectively taken as the original points, so that the position of the target in the rectangular coordinate system of the receiving station is (x' 1 ,y′ 1 ,z′ 1 )、(x′ 2 ,y′ 2 ,z′ 2 ) Obtained from the formula (2)
wherein ,A1 and A2 Is a coordinate transfer matrix;
step five, constructing four positioning equations by utilizing target azimuth angles and pitch angles measured by two receiving stations
Establishing the following equation set; let the azimuth and pitch angles measured by the first receiving station be (q 1 ,j 1 ) The second receiving station measures an azimuth angle and a pitch angle (q 2 ,j 2 )；
wherein ,A1 (1,:)，A 2 (2: and A) 3 (3: refer to the coordinate transformation matrix A respectively 1 Lines 1, 2, 3 of (A), similarly 2 (1,:)，A 2 (2: and A) 3 (3: refer to the coordinate transformation matrix A respectively 2 Lines 1, 2, 3 of (a);
step six, three equations are selected to solve the target position, namely an azimuth angle equation and a pitch angle equation of the first receiving station and an azimuth angle equation of the second receiving station;
the process of solving the set of positioning equations is as follows:
according to two azimuth angle conditions measured by a receiving station, obtaining y and z expressions expressed by x; first, z is eliminated, that is, the coefficient of z in the two equations is the same as follows:
wherein ,A1 (i, j) refers to matrix A 1 Elements of the ith row, jth column;
subtracting the two expressions to obtain an expression of y with respect to x,
wherein ,
a＝[tanq 2 A 2 (2,3)-A 2 (1,3)]·[tanq 1 A 1 (2,:)-A 1 (1,:)]-[tanq 1 A 1 (2,3)-A 1 (1,3)]·[tanq 2 A 2 (2,:)-A 2 (1,:)]
and similarly, the expression of z with respect to x is obtained,
wherein ,
c＝[tanq 2 A 2 (2,2)-A 2 (1,2)]·[tanq 1 A 1 (2,:)-A 1 (1,:)]-[tanq 1 A 1 (2,2)-A 1 (1,2)]·[tanq 2 A 2 (2,:)-A 2 (1,:)]
due toThe pitch angle expression of the first receiving station is written as
From the previous derivation, x' 1 ，y′ 1 ，z′ 1 With respect to the expression of x,
thus, a unitary quadratic equation about x is obtained
px 2 +qx+r＝0 (16)
wherein ,
q＝2sin 2 j 1 ·e 1 e 2 +2sin 2 j 1 ·f 1 f 2 +2(sin 2 j 1 -1)g 1 g 2 ；
obtaining two target position solutions, i.e.
Step seven, false target elimination is carried out by utilizing the remaining pitch angle equation
Substituting the two target position coordinates obtained in the step six into the following expression to calculate two pitch angle sine values sinj 21 With sin j 22 ；
Setting an angle sine value error threshold value as col, and judging which one of the following expressions is established
And the target position corresponding to the established expression is the final solution.
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