CN114063012A - Target positioning method and system applied to airport scene monitoring multipoint positioning system - Google Patents

Target positioning method and system applied to airport scene monitoring multipoint positioning system Download PDF

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CN114063012A
CN114063012A CN202111339346.0A CN202111339346A CN114063012A CN 114063012 A CN114063012 A CN 114063012A CN 202111339346 A CN202111339346 A CN 202111339346A CN 114063012 A CN114063012 A CN 114063012A
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target
determining
test statistic
dimensional coordinate
coordinate information
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CN114063012B (en
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彭卫
邹芳
李茂娟
龙梅
曾小强
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Sichuan Agricultural University
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Sichuan Agricultural University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • 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
    • 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
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention discloses a target positioning method and a system applied to an airport scene monitoring multipoint positioning system, relating to the technical field of target positioning, wherein the method comprises the steps of respectively adopting a three-dimensional positioning algorithm and a two-dimensional positioning algorithm with fixed height to determine three-dimensional coordinate information and two-dimensional coordinate information of a target based on target related information; determining target height test statistic according to the two-dimensional coordinate information and an x coordinate value and a y coordinate value in the three-dimensional coordinate information; judging whether the target height test statistic is less than or equal to a threshold value; if so, determining the actual position information of the target according to the two-dimensional coordinate information; and if not, determining the actual position information of the target according to the three-dimensional coordinate information. The invention can achieve the purpose of improving the target positioning precision and robustness.

Description

Target positioning method and system applied to airport scene monitoring multipoint positioning system
Technical Field
The invention relates to the technical field of target positioning, in particular to a target positioning method and a target positioning system applied to an airport scene monitoring multipoint positioning system.
Background
The airport scene monitoring multipoint positioning system belongs to a passive positioning system based on Time Difference Of Arrival (TDOA), and the principle is to firstly acquire the Time Difference Of Arrival (TDOA) Of targets received by receiving stations distributed at different positions and then calculate target coordinates through a positioning algorithm.
The two-dimensional positioning algorithm with fixed height is that the position to be solved of a target is limited on a horizontal plane of x and y coordinate axes, and a mathematical model between the target position and the measured TDOA is established by directly adopting the scene height on the target height (z coordinate axis). When the airport scene monitoring is applied, because the heights of the receiving stations distributed around the airport are not greatly different, and the height of the target in the scene is usually fixed and known, compared with a common three-dimensional positioning algorithm, the two-dimensional positioning algorithm with the fixed height has higher positioning precision, stronger robustness and less calculation amount and is adopted by the airport scene monitoring multipoint positioning system.
However, when the actual height of the target is not consistent with the height of the ground (for example, in an airplane in the stage of taking off and landing, the actual z value of the target is not consistent with the fixed height of the ground), the positioning result of the fixed-height two-dimensional positioning algorithm may deviate from the actual position of the target, and generally speaking, the positioning deviation becomes larger as the difference between the actual height of the target and the fixed height of the ground increases.
Disclosure of Invention
The invention aims to provide a target positioning method and a target positioning system applied to an airport scene monitoring multipoint positioning system, so as to achieve the purpose of improving the target positioning precision and robustness.
In order to achieve the purpose, the invention provides the following scheme:
an object positioning method applied to an airport scene monitoring multipoint positioning system comprises the following steps:
acquiring target related information; the target related information comprises three-dimensional coordinate information of a plurality of receiving stations and time difference corresponding to each receiving station; the time difference comprises a theoretical time difference and a noise difference; the theoretical time difference is a difference value between a time when the receiving station receives a target transmitting signal and a time when the reference station receives the target transmitting signal, and the noise difference is a difference value between self thermal noise of the receiving station and self thermal noise of the reference station;
determining three-dimensional coordinate information of the target by adopting a three-dimensional positioning algorithm according to the target related information;
determining two-dimensional coordinate information of the target by adopting a two-dimensional positioning algorithm with fixed height according to the relevant information of the target;
determining a target height test statistic; the target height test statistic is determined according to the two-dimensional coordinate information of the target and the x coordinate value and the y coordinate value in the three-dimensional coordinate information of the target;
judging whether the target height test statistic is less than or equal to a threshold value;
if yes, determining actual position information of the target according to the two-dimensional coordinate information;
and if not, determining the actual position information of the target according to the three-dimensional coordinate information.
Optionally, the determining the target height test statistic specifically includes:
according to the three-dimensional coordinate information
Figure BDA0003351279410000021
And the two-dimensional coordinate information
Figure BDA0003351279410000022
Determining a position difference
Figure BDA0003351279410000023
Calculating a covariance matrix of the position differences;
according to
Figure BDA0003351279410000024
Determining a target height test statistic;
wherein ,ξ32Representing a target height test statistic; sigma32Indicates the position difference Δ32Covariance moment ofArray, sigma3-1 in-21 represents inversion.
Optionally, the determining whether the target height test statistic is less than or equal to a threshold specifically includes:
determining a threshold value; the threshold value is
Figure BDA0003351279410000025
Alpha is the level of significance of the compound,
Figure BDA0003351279410000026
the degree of freedom is 2;
and judging whether the target height test statistic is less than or equal to the threshold lambda or not.
Optionally, the determining the target height test statistic specifically includes:
based on t over a period of time1,t2,…twThree-dimensional coordinate information of
Figure BDA0003351279410000031
And two-dimensional coordinate information
Figure BDA0003351279410000032
Calculating a position difference vector
Figure BDA0003351279410000033
wherein ,
Figure BDA0003351279410000034
here w can be adjusted according to the precision and real-time requirements.
Calculating a covariance matrix of the position difference vector
Figure BDA0003351279410000035
According to the formula
Figure BDA0003351279410000036
Determining a target height test statistic;
wherein ,
Figure BDA0003351279410000037
representing a target height test statistic;
Figure BDA0003351279410000038
a covariance matrix representing the position difference vector,
Figure BDA0003351279410000039
and-1 in (1) represents inversion.
Optionally, the determining whether the target height test statistic is less than or equal to a threshold specifically includes:
determining a threshold value; the threshold value is
Figure BDA00033512794100000310
αwIn order to be of a level of significance,
Figure BDA00033512794100000311
the degree of freedom is 2 w;
determining whether the target height test statistic is less than or equal to the threshold λw。
An object locating system for use in an airport scene surveillance multipoint locating system, comprising:
the data acquisition module is used for acquiring target related information; the target related information comprises three-dimensional coordinate information of a plurality of receiving stations and time difference corresponding to each receiving station; the time difference comprises a theoretical time difference and a noise difference; the theoretical time difference is a difference value between a time when the receiving station receives a target transmitting signal and a time when the reference station receives the target transmitting signal, and the noise difference is a difference value between self thermal noise of the receiving station and self thermal noise of the reference station;
the three-dimensional coordinate information determining module is used for determining the three-dimensional coordinate information of the target by adopting a three-dimensional positioning algorithm according to the relevant information of the target;
the two-dimensional coordinate information determining module is used for determining two-dimensional coordinate information of the target by adopting a two-dimensional positioning algorithm with fixed height according to the relevant information of the target;
the target height test statistic determination module is used for determining target height test statistic; the target height test statistic is determined according to the two-dimensional coordinate information of the target and the x coordinate value and the y coordinate value in the three-dimensional coordinate information of the target;
the judging module is used for judging whether the target height test statistic is smaller than or equal to a threshold value;
an actual location information determination module to:
when the target height test statistic is smaller than or equal to a threshold value, determining the actual position information of the target according to the two-dimensional coordinate information;
and when the target height test statistic is larger than a threshold value, determining the actual position information of the target according to the three-dimensional coordinate information.
Optionally, the target height test statistic determining module specifically includes:
a position difference calculating unit for calculating a position difference based on the three-dimensional coordinate information
Figure BDA0003351279410000041
And the two-dimensional coordinate information
Figure BDA0003351279410000042
Determining a position difference
Figure BDA0003351279410000043
A covariance matrix calculation unit for calculating a covariance matrix of the position difference;
a target height test statistic determination unit for determining a target height of the object based on
Figure BDA0003351279410000044
Determining a target height test statistic;
wherein ,ξ32Representing a target height test statistic; sigma32Indicates the position difference Δ32The covariance matrix of (a) is determined,
Figure BDA0003351279410000045
and-1 in (1) represents inversion.
Optionally, the determining module specifically includes:
a threshold determination unit for determining a threshold; the threshold value is
Figure BDA0003351279410000046
Alpha is the level of significance of the compound,
Figure BDA0003351279410000051
the degree of freedom is 2;
and the judging unit is used for judging whether the target height test statistic is less than or equal to the threshold lambda.
Optionally, the target height test statistic determining module specifically includes:
a position difference vector calculation unit for calculating a position difference vector based on t within a period of time1,t2,…twThree-dimensional coordinate information of
Figure BDA0003351279410000052
And two-dimensional coordinate information
Figure BDA0003351279410000053
Calculating a position difference vector
Figure BDA0003351279410000054
wherein ,
Figure BDA0003351279410000055
a covariance matrix calculation unit for calculating a covariance matrix of the position difference vector
Figure BDA0003351279410000056
A target height test statistic determination unit for determining a target height test statistic according to a formula
Figure BDA0003351279410000057
Determining a target height test statistic;
wherein ,
Figure BDA0003351279410000058
representing a target height test statistic;
Figure BDA0003351279410000059
a covariance matrix representing the position difference vector,
Figure BDA00033512794100000510
and-1 in (1) represents inversion.
Optionally, the determining module specifically includes:
a threshold determination unit for determining a threshold; the threshold value is
Figure BDA00033512794100000511
αwIn order to be of a level of significance,
Figure BDA00033512794100000512
the degree of freedom is 2 w;
a judging unit for judging whether the target height test statistic is less than or equal to the threshold lambdaw。
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the method, a two-dimensional positioning algorithm and a three-dimensional positioning algorithm with fixed heights are simultaneously operated according to the time difference and the noise difference received by the same target, the positioning result of the two-dimensional positioning algorithm with fixed heights and the positioning result of the three-dimensional positioning algorithm are combined to construct target height test statistic, when the constructed target height test statistic is smaller than a threshold value, the height of the target is judged to be consistent with the height of a scene, and the positioning result of the two-dimensional positioning algorithm with fixed heights is adopted as the position of the target; when the constructed target height test statistic is larger than the threshold value, the height of the target is judged to be inconsistent with the height of the scene, and at the moment, a three-dimensional positioning algorithm is adopted as the position of the target, so that the aims of improving the target positioning precision and the robustness are fulfilled.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a target positioning method applied to a multipoint positioning system for airport surface surveillance according to the present invention;
FIG. 2 is a diagram of a single sample target height test statistic implementation step of the present invention;
FIG. 3 is a diagram of the multi-sample target height test statistic implementation steps of the present invention;
fig. 4 is a schematic structural diagram of an object locating system applied to a multipoint locating system for airport surface surveillance according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For a time difference multipoint positioning system applied to airport scene monitoring, a two-dimensional positioning algorithm with fixed height has the advantages of high positioning precision, strong robustness, small calculated amount and the like, but when the actual height of a target is inconsistent with the fixed height (the scene height), the positioning result is inconsistent with the actual position. The invention provides a method and a system for detecting whether the actual height of a target is consistent with the fixed height (scene height) by combining a fixed height two-dimensional positioning algorithm and a three-dimensional positioning algorithm, so that the positioning algorithm is automatically switched in the actual engineering: when the target height is consistent with the height of the airport surface, a two-dimensional positioning algorithm with fixed height is adopted; and when the target height is inconsistent with the height of the airport scene, switching to a three-dimensional positioning algorithm. The invention has strong practical engineering significance because the actual height of the airport scene target is consistent with the scene height in most of time.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The embodiment provides a target positioning method applied to an airport scene monitoring multipoint positioning system, which automatically detects whether the actual height of a target is consistent with the height of a scene or not, and adopts the positioning result of a two-dimensional positioning algorithm with fixed height when the target height is consistent with the height of the scene; and when the target height is inconsistent with the height of the scene, adopting a positioning result of a three-dimensional positioning algorithm.
FIG. 1 is a schematic flow chart of a target positioning method applied to a multi-point positioning system for airport surface surveillance according to the present invention; wherein the airport scene surveillance multipoint positioning system comprises 1 reference site and a plurality of receiving sites.
Referring to fig. 1, the method provided by the present embodiment includes the following steps.
Step 101: acquiring target related information; the target related information comprises three-dimensional coordinate information of a plurality of receiving stations and time difference corresponding to each receiving station; the time difference comprises a theoretical time difference and a noise difference; the theoretical time difference is a difference value between a time when the receiving station receives the target transmitting signal and a time when the reference station receives the target transmitting signal, and the noise difference is a difference value between self-thermal noise of the receiving station and self-thermal noise of the reference station.
One example is: the airport scene monitoring multi-point positioning system is provided with M receiving stations, and the coordinates of the receiving stations are (x)i,yi,zi) And i is 1 to M. Setting the noise of each receiving station as normal scorecloth-N (0, sigma)2). Let (x, y, z) be the position information of the target to be found, and c be the electromagnetic wave velocity. With the first receiving station as the reference station, ti1,ηi1The (i ═ 2 to M) are expressed as a theoretical time difference and a noise difference for the ith receiving station, respectively.
Step 102: determining three-dimensional coordinate information of the target by adopting a three-dimensional positioning algorithm according to the target related information, which specifically comprises the following steps:
according to the formula
Figure BDA0003351279410000081
Three-dimensional coordinate information of the target is determined.
Step 103: and determining two-dimensional coordinate information of the target by adopting a two-dimensional positioning algorithm with fixed height according to the target related information.
The two-dimensional positioning algorithm of the fixed height considers that the target height is known (namely the scene height z)0) Considering the position (x, y) of the target on the horizontal plane as the variable to be solved, i.e. according to the formula
Figure BDA0003351279410000082
Two-dimensional coordinate information of the target is determined.
T received for the same targeti1+ηi1And i is 2 to M, and the position is calculated by using a three-dimensional positioning algorithm and a two-dimensional positioning algorithm with a fixed height. The target positioning result solved by the three-dimensional positioning algorithm is
Figure BDA0003351279410000083
The target positioning result solved by the fixed-height two-dimensional positioning algorithm is
Figure BDA0003351279410000084
Preferably, step 102 and step 103 described in this embodiment may be processed simultaneously.
Step 104: determining a target height test statistic; the target height test statistic is determined according to the two-dimensional coordinate information of the target and the x-coordinate value and the y-coordinate value in the three-dimensional coordinate information of the target.
Step 105: judging whether the target height test statistic is less than or equal to a threshold value, if so, executing step 106; otherwise, go to step 107.
Step 106: and determining the actual position information of the target according to the two-dimensional coordinate information.
Step 107: and determining the actual position information of the target according to the three-dimensional coordinate information.
Two methods may be used in steps 104 through 107 to construct the target height test statistic and thereby determine the target position. The two methods described herein are single sample determined target height test statistics and multi-sample determined target height test statistics.
As shown in fig. 2, the process of determining the target height test statistic and thus the target position from a single sample is:
positioning the target calculated by the three-dimensional positioning algorithm
Figure BDA0003351279410000091
In (1)
Figure BDA0003351279410000092
Taking out, and subtracting a target positioning result calculated by a two-dimensional positioning algorithm with fixed height
Figure BDA0003351279410000093
I.e. the difference in position
Figure BDA0003351279410000094
From the above, a covariance matrix of the position difference, i.e., E { Δ }320, where E {. denotes the computational mathematical expectation,
Figure BDA0003351279410000095
Σ32＝cov{Δ32denotes Δ32Assistant ofThe difference matrix, cov {. cndot } represents the computational covariance matrix.
The target height test statistic constructed at this time is
Figure BDA0003351279410000096
wherein ,
Figure BDA0003351279410000097
and-1 in (1) represents inversion.
Xi when the target height is consistent with the scene height32Is a chi-square distribution with a degree of freedom of 2.
Figure BDA0003351279410000098
Σ in32The expression of (a) is:
Figure BDA0003351279410000099
wherein ：
Figure BDA0003351279410000101
Figure BDA0003351279410000102
Figure BDA0003351279410000103
Figure BDA0003351279410000104
is provided with
Figure BDA0003351279410000105
Q＝E{NNT}，
Figure BDA0003351279410000106
X and y in the above formula are unknown quantities, and the target positioning result can be solved by a two-dimensional positioning algorithm in practice
Figure BDA0003351279410000107
And carrying out calculation.
Based on the above, a target height test statistic may be determined.
By setting the significance level alpha, the threshold lambda can be determined, and xi is used32And (3) judging the hypothesis test:
when in use
Figure BDA0003351279410000108
And when the height of the target is consistent with the height of the scene, the position information of the target can be determined according to the two-dimensional coordinate information.
When in use
Figure BDA0003351279410000109
And if the target height is not consistent with the scene height, determining the position information of the target according to the three-dimensional coordinate information.
wherein ,
Figure BDA00033512794100001010
is a chi-square distribution with a degree of freedom of 2.
As shown in fig. 3, the process of determining the target height test statistic and then determining the target position by multiple samples is:
over a period of time t1,t2,…twThe positioning data estimated by the corresponding three-dimensional positioning algorithm is
Figure BDA0003351279410000111
Figure BDA0003351279410000112
The positioning data estimated by the two-dimensional positioning algorithm of fixed altitude is
Figure BDA0003351279410000113
Figure BDA0003351279410000114
The corresponding time t can be obtainediPosition difference vector on upper x, y axes:
Figure BDA0003351279410000115
Figure BDA0003351279410000116
the w position difference vectors may constitute a sliding window for processing. Here w can be adjusted according to the precision and real-time requirements.
1. Computing a covariance matrix based on a position difference vector
Figure BDA0003351279410000117
2. Forming test statistics
Figure BDA0003351279410000118
The test statistic at this time is a chi-square distribution with a degree of freedom of 2 w.
3. Setting significance level αwThen the threshold λ can be determinedwIs reused
Figure BDA0003351279410000119
And (4) judging:
when in use
Figure BDA00033512794100001110
And when the height of the target is consistent with the height of the scene, the position information of the target can be determined according to the two-dimensional coordinate information.
When in use
Figure BDA0003351279410000121
And if the target height is not consistent with the scene height, determining the position information of the target according to the three-dimensional coordinate information.
Fig. 4 is a schematic structural diagram of an object locating system applied to an airport surface monitoring multipoint locating system of the present invention, as shown in fig. 4, the object locating system provided in this embodiment includes:
a data obtaining module 401, configured to obtain target related information; the target related information comprises three-dimensional coordinate information of a plurality of receiving stations and time difference corresponding to each receiving station; the time difference comprises a theoretical time difference and a noise difference; the theoretical time difference is a difference value between a time when the receiving station receives the target transmitting signal and a time when the reference station receives the target transmitting signal, and the noise difference is a difference value between self-thermal noise of the receiving station and self-thermal noise of the reference station.
A three-dimensional coordinate information determining module 402, configured to determine, according to the target related information, three-dimensional coordinate information of the target by using a three-dimensional positioning algorithm.
A two-dimensional coordinate information determining module 403, configured to determine, according to the target-related information, two-dimensional coordinate information of the target by using a two-dimensional positioning algorithm with a fixed height.
A target height test statistic determination module 404 for determining a target height test statistic; the target height test statistic is determined according to the two-dimensional coordinate information of the target and the x-coordinate value and the y-coordinate value in the three-dimensional coordinate information of the target.
A determining module 405, configured to determine whether the target height test statistic is less than or equal to a threshold.
An actual location information determination module 406 to:
and when the target height test statistic is smaller than or equal to a threshold value, determining the actual position information of the target according to the two-dimensional coordinate information.
And when the target height test statistic is larger than a threshold value, determining the actual position information of the target according to the three-dimensional coordinate information.
In an example, the target height test statistic determining module 404 specifically includes:
a position difference calculating unit for calculating a position difference based on the three-dimensional coordinate information
Figure BDA0003351279410000122
And the two-dimensional coordinate information
Figure BDA0003351279410000131
Determining a position difference
Figure BDA0003351279410000132
And the covariance matrix calculation unit is used for calculating a covariance matrix of the position difference.
A target height test statistic determination unit for determining a target height of the object based on
Figure BDA0003351279410000133
A target height test statistic is determined.
wherein ,ξ32Representing a target height test statistic; sigma32Indicates the position difference Δ32The covariance matrix of (a) is determined,
Figure BDA0003351279410000134
and-1 in (1) represents inversion.
The determining module 405 specifically includes:
a threshold determination unit for determining a threshold; the threshold value is
Figure BDA0003351279410000135
Alpha is the level of significance of the compound,
Figure BDA0003351279410000136
is a chi-square distribution with a degree of freedom of 2.
And the judging unit is used for judging whether the target height test statistic is less than or equal to the threshold lambda.
In another example, the target height test statistic determining module 404 specifically includes:
a position difference vector calculation unit for calculating a position difference vector based on t within a period of time1,t2,…twThree-dimensional coordinate information of
Figure BDA0003351279410000137
And two-dimensional coordinate information
Figure BDA0003351279410000138
Calculating a position difference vector
Figure BDA0003351279410000139
wherein ,
Figure BDA00033512794100001310
a covariance matrix calculation unit for calculating a covariance matrix of the position difference vector
Figure BDA0003351279410000141
A target height test statistic determination unit for determining a target height test statistic according to a formula
Figure BDA0003351279410000142
A target height test statistic is determined.
wherein ,
Figure BDA0003351279410000143
representing a target height test statistic;
Figure BDA0003351279410000144
a covariance matrix representing the position difference vector,
Figure BDA0003351279410000145
and-1 in (1) represents inversion.
The determining module 405 specifically includes:
a threshold determination unit for determining a threshold; the threshold value is
Figure BDA0003351279410000146
αwIn order to be of a level of significance,
Figure BDA0003351279410000147
is a chi-square distribution with a degree of freedom of 2 w.
A judging unit for judging whether the target height test statistic is less than or equal to the threshold lambdaw。
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (10)

1. An object positioning method applied to an airport scene monitoring multipoint positioning system is characterized by comprising the following steps:
acquiring target related information; the target related information comprises three-dimensional coordinate information of a plurality of receiving stations and time difference corresponding to each receiving station; the time difference comprises a theoretical time difference and a noise difference; the theoretical time difference is a difference value between a time when the receiving station receives a target transmitting signal and a time when the reference station receives the target transmitting signal, and the noise difference is a difference value between self thermal noise of the receiving station and self thermal noise of the reference station;
determining three-dimensional coordinate information of the target by adopting a three-dimensional positioning algorithm according to the target related information;
determining two-dimensional coordinate information of the target by adopting a two-dimensional positioning algorithm with fixed height according to the relevant information of the target;
determining a target height test statistic; the target height test statistic is determined according to the two-dimensional coordinate information of the target and the x coordinate value and the y coordinate value in the three-dimensional coordinate information of the target;
judging whether the target height test statistic is less than or equal to a threshold value;
if yes, determining actual position information of the target according to the two-dimensional coordinate information;
and if not, determining the actual position information of the target according to the three-dimensional coordinate information.
2. The method of claim 1, wherein said determining a target altitude test statistic comprises:
according to the three-dimensional coordinate information
Figure FDA0003351279400000011
And the two-dimensional coordinate information
Figure FDA0003351279400000012
Determining a position difference
Figure FDA0003351279400000013
Calculating a covariance matrix of the position differences;
according to
Figure FDA0003351279400000014
Determining a target height test statistic;
wherein ,ξ32Representing a target height test statistic; sigma32Indicates the position difference Δ32The covariance matrix of (a) is determined,
Figure FDA0003351279400000015
and-1 in (1) represents inversion.
3. The method of claim 2, wherein said determining whether the target altitude test statistic is less than or equal to a threshold value comprises:
determining a threshold value; the threshold value is
Figure FDA0003351279400000021
Alpha is the level of significance of the compound,
Figure FDA0003351279400000022
the degree of freedom is 2;
and judging whether the target height test statistic is less than or equal to the threshold lambda or not.
4. The method of claim 1, wherein said determining a target altitude test statistic comprises:
based on t over a period of time1,t2,…twThree-dimensional coordinate information of
Figure FDA0003351279400000023
And two-dimensional coordinate information
Figure FDA0003351279400000024
Calculating a position difference vector
Figure FDA0003351279400000025
wherein ,
Figure FDA0003351279400000026
calculating a covariance matrix of the position difference vector
Figure FDA0003351279400000027
According to the formula
Figure FDA0003351279400000028
Determining a target height test statistic;
wherein ,
Figure FDA0003351279400000029
representing a target height test statistic;
Figure FDA00033512794000000210
a covariance matrix representing the position difference vector,
Figure FDA00033512794000000211
and-1 in (1) represents inversion.
5. The method of claim 4, wherein said determining whether the target altitude test statistic is less than or equal to a threshold value comprises:
determining a threshold value; the threshold value is
Figure FDA0003351279400000031
αwIn order to be of a level of significance,
Figure FDA0003351279400000032
the degree of freedom is 2 w;
determining whether the target height test statistic is less than or equal to the threshold λw。
6. An object locating system for use in an airport scene surveillance multipoint locating system, comprising:
the data acquisition module is used for acquiring target related information; the target related information comprises three-dimensional coordinate information of a plurality of receiving stations and time difference corresponding to each receiving station; the time difference comprises a theoretical time difference and a noise difference; the theoretical time difference is a difference value between a time when the receiving station receives a target transmitting signal and a time when the reference station receives the target transmitting signal, and the noise difference is a difference value between self thermal noise of the receiving station and self thermal noise of the reference station;
the three-dimensional coordinate information determining module is used for determining the three-dimensional coordinate information of the target by adopting a three-dimensional positioning algorithm according to the relevant information of the target;
the two-dimensional coordinate information determining module is used for determining two-dimensional coordinate information of the target by adopting a two-dimensional positioning algorithm with fixed height according to the relevant information of the target;
the target height test statistic determination module is used for determining target height test statistic; the target height test statistic is determined according to the two-dimensional coordinate information of the target and the x coordinate value and the y coordinate value in the three-dimensional coordinate information of the target;
the judging module is used for judging whether the target height test statistic is smaller than or equal to a threshold value;
an actual location information determination module to:
when the target height test statistic is smaller than or equal to a threshold value, determining the actual position information of the target according to the two-dimensional coordinate information;
and when the target height test statistic is larger than a threshold value, determining the actual position information of the target according to the three-dimensional coordinate information.
7. The system of claim 6, wherein the target altitude test statistic determination module comprises:
a position difference calculating unit for calculating a position difference based on the three-dimensional coordinate information
Figure FDA0003351279400000033
And the two-dimensional coordinate information
Figure FDA0003351279400000041
Determining a position difference
Figure FDA0003351279400000042
A covariance matrix calculation unit for calculating a covariance matrix of the position difference;
a target height test statistic determination unit for determining a target height of the object based on
Figure FDA0003351279400000043
Determining a target height test statistic;
wherein ,ξ32Representing a target height test statistic; sigma32Indicates the position difference Δ32The covariance matrix of (a) is determined,
Figure FDA0003351279400000044
and-1 in (1) represents inversion.
8. The system of claim 7, wherein the determining module specifically comprises:
a threshold determination unit for determining a threshold; the threshold value is
Figure FDA0003351279400000045
Alpha is the level of significance of the compound,
Figure FDA0003351279400000046
the degree of freedom is 2;
and the judging unit is used for judging whether the target height test statistic is less than or equal to the threshold lambda.
9. The system of claim 6, wherein the target altitude test statistic determination module comprises:
a position difference vector calculation unit for calculating a position difference vector based on t within a period of time1,t2,…twThree-dimensional coordinate information of
Figure FDA0003351279400000047
And two-dimensional coordinate information
Figure FDA0003351279400000048
Calculating a position difference vector
Figure FDA0003351279400000049
wherein ,
Figure FDA00033512794000000410
a covariance matrix calculation unit for calculating a covariance matrix of the position difference vector
Figure FDA0003351279400000051
A target height test statistic determination unit for determining a target height test statistic according to a formula
Figure FDA0003351279400000052
Determining a target height test statistic;
wherein ,
Figure FDA0003351279400000053
representing a target height test statistic;
Figure FDA0003351279400000054
a covariance matrix representing the position difference vector,
Figure FDA0003351279400000055
and-1 in (1) represents inversion.
10. The system of claim 9, wherein the determining module specifically comprises:
a threshold determination unit for determining a threshold; the threshold value is
Figure FDA0003351279400000056
αwIn order to be of a level of significance,
Figure FDA0003351279400000057
the degree of freedom is 2 w;
a judging unit for judging whether the target height test statistic is less than or equal to the threshold lambdaw。
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