CN114384468B - Target direct positioning method and system under inconsistent impulse noise environment - Google Patents

Target direct positioning method and system under inconsistent impulse noise environment Download PDF

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CN114384468B
CN114384468B CN202210292337.9A CN202210292337A CN114384468B CN 114384468 B CN114384468 B CN 114384468B CN 202210292337 A CN202210292337 A CN 202210292337A CN 114384468 B CN114384468 B CN 114384468B
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inconsistent
impulse noise
signal
receiving stations
cost function
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CN114384468A (en
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毛毅
段永胜
张峻宁
王军
黄中瑞
安永旺
陈晶
秦立龙
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National University of Defense Technology
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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
    • G01S5/0246—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves involving frequency difference of arrival or Doppler measurements

Abstract

The invention provides a method and a system for directly positioning a target in an inconsistent impulse noise environment, and belongs to the technical field of signal processing. The method comprises the following steps: step S1, useLA receiving station, byKIntercepting the secondary signal to obtain the secondary signal from the secondary signal acquisition unitpObserving signals of a single static radiation source, and sampling the observing signals; step S2 based onLInconsistent impulse noise structure for a receiving stationLEach receiving station intercepts the cost function in the time slot; step S3 based onLWeighted coefficient sum of receiving stationsLThe global cost function is constructed by the cost function in each time slot for each of the receiving stations. Aiming at the problem of inconsistent pulse noise dispersion coefficients, the invention uses the noise dispersion coefficients to weight signals with different signal-to-noise ratios by constructing a cost function for directly positioning a target, thereby solving the problem of reduced positioning performance of a direct positioning algorithm under the condition of inconsistent pulse noise.

Description

Target direct positioning method and system under inconsistent impulse noise environment
Technical Field
The invention belongs to the technical field of signal processing, and particularly relates to a method and a system for directly positioning a target in an inconsistent impulse noise environment.
Background
Passive location techniques for targets determine target location by intercepting signals transmitted or reflected by the target with a receiving station without transmitting electromagnetic signals themselves. The passive positioning has the advantages of low cost, strong anti-interference capability and the like, and has important application value in the fields of surface naval vessel positioning, sea area monitoring, illegal ground intrusion and the like.
The target direct localization algorithm is one of the important developments of passive localization. A Direct Positioning (DPD) method was first proposed in "WEISS A J. Direct Position Determination of narrow band radio transmitters [ J ]. IEEE Signal Processing Letters, IEEE, 2004, 11(5): 513-. Compared with a classical two-step passive positioning algorithm, the direct positioning algorithm directly uses an observed signal without completing the estimation of time difference/frequency difference, and generally has better positioning accuracy under the condition of low signal-to-noise ratio.
Most target passive localization algorithms, including DPD, are derived under gaussian noise conditions. However, whether in nature or due to human factors, actual noise, such as noise in power line communication systems, shallow sea acoustic channel noise, etc., often exhibits significant spike characteristics. The profile of such noise has a thicker tail than a gaussian profile. For this type of noise, it can be modeled, typically with an alpha-stationary distribution. Wherein, the dispersion coefficient gamma is one of important parameters for describing alpha-stable distribution and characterizes the dispersion degree of the distribution.
In fact, under the above impulse noise environment, the performance of many conventional parameter estimation algorithms based on gaussian noise conditions is significantly deteriorated. The article "Jinyan, Navy, Ji hong Bing. OFDM time domain parameter estimation based on correlation entropy under impulse noise [ J ] systematic engineering and electronic technology, 2015, 37(12): 2701-. The paper "Cai Rui Yan, Yang. coherent distribution source DOA estimation method based on correlation entropy under impulse noise [ J ]. electronic and informatics, 2020, 42(11): 2600-. The paper \20319j, Alpha steady distributed noise environment research [ D ]. university of big succession, 2010 "discusses the performance deterioration of the time delay estimation of the classical time delay estimation algorithm under the impulse noise condition.
Furthermore, most classical passive positioning algorithms (including DPD algorithms) typically assume that the gaussian noise at each receiving station is independent and consistent, i.e., the noise is identically distributed gaussian noise. In practice, although the noise at each receiving station is independent, the noise may not be consistent, for example, the noise at each receiving station is gaussian noise but the noise power is different; or the noise of each receiving station is pulse noise, but the dispersion parameters of the noise are different; or the noise of part of the receiving stations is gaussian noise and the noise of other receiving stations is impulse noise. It has been shown that the positioning accuracy of classical direct positioning algorithms deteriorates when the noise power of the receivers differs. In order to solve the problem, based on the maximum likelihood estimation criterion, the article "Zhonghua, Raney, Sunsmen, etc.. pulse train radiation source direct positioning algorithm [ J ] under the background of inconsistent noise, university of Western Ann traffic, 2021, 55(08): 157-. In the case that the gaussian noise power of the receiving station is inconsistent and the transmitted signal is a pulse signal, the NWO-ML-DPD has better positioning accuracy than the classical DPD algorithm. Through verification, the positioning accuracy of the algorithm is reduced to some extent under the environment that the dispersion coefficients of the impulse noise are inconsistent.
Disclosure of Invention
In order to solve the technical problem, the application provides a target direct positioning scheme under an inconsistent impulse noise environment.
The invention discloses a target direct positioning method under an inconsistent impulse noise environment in a first aspect. The method comprises the following steps:
step S1, useLA receiving station, byKIntercepting the secondary signal to obtain the secondary signal from the secondary signal acquisition unitpObserving signals of a single static radiation source, and sampling the observing signals;
wherein the observed signal is compared to the bitIn thatpThe emission signal of a single static radiation source contains the influence factors of time delay, Doppler frequency shift and noise;
step S2 based onLConstructing the non-uniform impulse noise of a receiving stationLEach receiving station intercepts the cost function in the time slot;
step S3 based onLWeighting factors for a receiving station and saidLConstructing a global cost function by the cost function of each receiving station in each time slot;
wherein the maximum point of the global cost function characterizes the estimated position of the single stationary radiation source as the true position of the single stationary radiation sourceLThe weighting coefficients of the receiving stations being dependent on saidLThe dispersion factor of the inconsistent impulse noise of the individual receiving stations.
According to the method of the first aspect of the present invention, in the step S1, the stepLEach of the receiving stations is in processKA secondary signal is intercepted, the time of the single interception isTFirst, oflThe receiving station is atkThe position when the signal is intercepted is
Figure 582824DEST_PATH_IMAGE001
At a speed of
Figure 523405DEST_PATH_IMAGE002
The first mentionedkIn the time slot in which the secondary intercept is locatedpThe emission signal of a single stationary radiation source is
Figure 908250DEST_PATH_IMAGE003
Wherein
Figure 753715DEST_PATH_IMAGE004
Is the carrier frequency (c) of the carrier,
Figure 856801DEST_PATH_IMAGE005
is a bandwidth ofWA narrow band signal of
Figure 344283DEST_PATH_IMAGE006
Then it is firstlAt the second receiving stationkThe secondary intercepted observation signals are:
Figure 177109DEST_PATH_IMAGE007
wherein the content of the first and second substances,
Figure 131159DEST_PATH_IMAGE008
is the firstkIn which the transmitted signal propagates from the target to the secondlThe transmission delay of the individual receiving stations,cin order to be the speed of light,
Figure 49436DEST_PATH_IMAGE009
is the number of the Euclidean norm,
Figure 750064DEST_PATH_IMAGE010
is the firstkIn which the transmitted signal propagates from the target to the secondlThe doppler shift produced by each of the receiving stations,
Figure 437397DEST_PATH_IMAGE011
，
Figure 640976DEST_PATH_IMAGE012
is the firstkIn the secondary interception of the secondlAdditive impulse noise of a receiving station, said additive impulse noise being subject to
Figure 702342DEST_PATH_IMAGE013
The distribution is stable.
According to the method of the first aspect of the invention, in said step S1, so as to
Figure 547938DEST_PATH_IMAGE014
Sampling the observation signal for a sampling period, thenlA receiving station at the secondkThe samples of the observation signal received in the time slot in which the secondary truncation is located are:
Figure 11150DEST_PATH_IMAGE015
wherein the content of the first and second substances,
Figure 651209DEST_PATH_IMAGE016
the vector form is:
Figure 199871DEST_PATH_IMAGE017
wherein, the first and the second end of the pipe are connected with each other,
Figure 318000DEST_PATH_IMAGE018
wherein the content of the first and second substances,
Figure 904227DEST_PATH_IMAGE019
is shown in
Figure 246346DEST_PATH_IMAGE020
Is a diagonal matrix of diagonal elements,
Figure 485567DEST_PATH_IMAGE021
to shift down an operator, said
Figure 407386DEST_PATH_IMAGE021
By passing
Figure 923818DEST_PATH_IMAGE022
The acquisition of the rows of the identity matrix is cyclically shifted,
Figure 686107DEST_PATH_IMAGE023
indicating rounding down, use
Figure 350306DEST_PATH_IMAGE024
To realize
Figure 388668DEST_PATH_IMAGE025
Is performed.
According to the method of the first aspect of the present invention, in the step S2, the step S is acquiredLDispersion coefficient of inconsistent impulse noise of receiving station
Figure 559274DEST_PATH_IMAGE026
Then the first mentionedkIn the time slot in which the secondary truncation is locatediThe cost function for each sample point is:
Figure 492463DEST_PATH_IMAGE027
wherein the content of the first and second substances,
Figure 457008DEST_PATH_IMAGE028
in the form of a gaussian kernel function,
Figure 766636DEST_PATH_IMAGE029
in order to take out the conjugate operation,
Figure 664185DEST_PATH_IMAGE030
as a parameter of the length of the nucleus,
Figure 237117DEST_PATH_IMAGE031
representing the difference of the multiple receiver station observation samples at each sampling point in each time slot,
Figure 485696DEST_PATH_IMAGE032
representing a vector
Figure 336365DEST_PATH_IMAGE033
To (1) aiAnd (4) each element.
According to the method of the first aspect of the present invention, in the step S3, the first stepkThe time slot in which the secondary interception is positioned,NAdding the cost functions of the sampling points to obtain the global cost function, as follows:
Figure 213054DEST_PATH_IMAGE034
。
according to the method of the first aspect of the present invention, in step S3, the maximum value point of the global cost function is:
Figure 832254DEST_PATH_IMAGE035
。
the invention discloses a target direct positioning system in an inconsistent impulse noise environment in a second aspect. The system comprises:
a first processing unit configured to utilizeLA receiving station, byKIntercepting the secondary signal to obtain the secondary signal from the secondary signal acquisition unitpObserving signals of a single static radiation source, and sampling the observing signals;
wherein the observed signal is compared to the sitepThe emission signal of a single static radiation source contains the influence factors of time delay, Doppler frequency shift and noise;
a second processing unit configured to, based on theLConstructing the non-uniform impulse noise of a receiving stationLEach receiving station intercepts the cost function in the time slot;
a third processing unit configured to, based on theLWeighting factors for a receiving station and saidLConstructing a global cost function by the cost function of each receiving station in each time slot;
wherein the maximum point of the global cost function characterizes the estimated position of the single stationary radiation source as the true position of the single stationary radiation sourceLThe weighting coefficients of the receiving stations being dependent on saidLThe dispersion factor of the inconsistent impulse noise of the individual receiving stations.
According to the second aspect of the invention, the systemLEach of the receiving stations is in processKA secondary signal is intercepted, the time of the single interception isTOf 1 atlThe receiving station is atkThe position when the signal is intercepted secondarily is
Figure 692763DEST_PATH_IMAGE001
At a speed of
Figure 422822DEST_PATH_IMAGE002
The first mentionedkIn the time slot in which the secondary intercept is locatedpThe emission signal of a single stationary radiation source is
Figure 29383DEST_PATH_IMAGE036
Wherein
Figure 616223DEST_PATH_IMAGE004
Is the carrier frequency (c) of the carrier,
Figure 167290DEST_PATH_IMAGE037
is a bandwidth ofWA narrow band signal of
Figure 223408DEST_PATH_IMAGE006
Then it is firstlAt the second receiving stationkThe secondary intercepted observation signals are:
Figure 543531DEST_PATH_IMAGE007
wherein the content of the first and second substances,
Figure 301272DEST_PATH_IMAGE008
is the firstkIn which the transmitted signal propagates from the target to the secondlThe transmission delay of the individual receiving stations,cin order to be the speed of light,
Figure 808477DEST_PATH_IMAGE009
is the number of the Euclidean norm,
Figure 801709DEST_PATH_IMAGE038
is the firstkIn which the transmitted signal propagates from the target to the secondlThe doppler shift produced by each of the receiving stations,
Figure 38655DEST_PATH_IMAGE039
，
Figure 904980DEST_PATH_IMAGE040
is the firstkIn the secondary interception of the secondlAdditive impulse noise of a receiving station, said additive impulse noise being subject to
Figure 964728DEST_PATH_IMAGE013
The distribution is stable.
According to the system of the second aspect of the present invention, the first processing unit is specifically configured to: to be provided with
Figure 246804DEST_PATH_IMAGE014
Sampling the observation signal for a sampling period, thenlA receiving station at the secondkThe samples of the observation signal received in the time slot where the secondary truncation is located are:
Figure 197312DEST_PATH_IMAGE041
wherein the content of the first and second substances,
Figure 375483DEST_PATH_IMAGE016
the vector form is:
Figure 44231DEST_PATH_IMAGE042
wherein, the first and the second end of the pipe are connected with each other,
Figure 598840DEST_PATH_IMAGE043
wherein the content of the first and second substances,
Figure 403854DEST_PATH_IMAGE019
is shown in
Figure 549665DEST_PATH_IMAGE020
Is a diagonal matrix of diagonal elements,
Figure 911900DEST_PATH_IMAGE044
to shift down an operator, said
Figure 535780DEST_PATH_IMAGE044
By passing
Figure 664142DEST_PATH_IMAGE022
The acquisition of the rows of the identity matrix is cyclically shifted,
Figure 715274DEST_PATH_IMAGE023
indicating rounding down, use
Figure 93035DEST_PATH_IMAGE024
To realize
Figure 989447DEST_PATH_IMAGE025
Is performed.
According to the system of the second aspect of the invention, the second processing unit is specifically configured to: obtaining theLDispersion coefficient of inconsistent impulse noise of receiving station
Figure 769053DEST_PATH_IMAGE026
Then said firstkIn the time slot in which the secondary truncation is locatediThe cost function for each sample point is:
Figure 384229DEST_PATH_IMAGE027
wherein, the first and the second end of the pipe are connected with each other,
Figure 593494DEST_PATH_IMAGE045
in the form of a gaussian kernel function,
Figure 683810DEST_PATH_IMAGE029
in order to take out the conjugate operation,
Figure 396551DEST_PATH_IMAGE030
as a parameter of the length of the nucleus,
Figure 445278DEST_PATH_IMAGE046
representing multiple connections at each sample point in each slotThe receiving station observes the difference in the samples,
Figure 548363DEST_PATH_IMAGE047
representing a vector
Figure 567004DEST_PATH_IMAGE048
To (1) aiAnd (4) each element.
According to the system of the second aspect of the present invention, the third processing unit is specifically configured to: will be the firstkThe time slot in which the secondary interception is positioned,NAdding cost functions of the sampling points to obtain the global cost function, wherein the global cost function is as follows:
Figure 9618DEST_PATH_IMAGE049
。
according to the system of the second aspect of the present invention, the third processing unit is specifically configured to: the maximum value points of the global cost function are as follows:
Figure 368528DEST_PATH_IMAGE035
。
a third aspect of the invention discloses an electronic device. The electronic device comprises a memory storing a computer program and a processor implementing the steps of a method for direct target localization in an environment of inconsistent impulse noise according to any one of the first aspect of the present disclosure when the computer program is executed by the processor.
A fourth aspect of the invention discloses a computer-readable storage medium. The computer readable storage medium has stored thereon a computer program which, when being executed by a processor, implements the steps of a method for direct localization of an object in an environment of inconsistent impulse noise according to any one of the first aspect of the present disclosure.
In conclusion, the technical scheme provided by the invention constructs a cost function for directly positioning the target, and weights the signals with different signal-to-noise ratios by using the noise dispersion coefficients aiming at the problem of inconsistent pulse noise dispersion coefficients, thereby solving the problem of reduced positioning performance of a direct positioning algorithm under the condition of inconsistent pulse noise.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method for directly locating a target in an environment with inconsistent impulse noise according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating a direct target location algorithm according to a first embodiment of the present invention;
FIG. 3 is a diagram of the location accuracy RMSE of the ML-DPD algorithm, the NWO-ML-DPD algorithm and the NU-MCC-DPD algorithm varying with the generalized signal-to-noise ratio GSNR under the condition of inconsistent noise according to the second embodiment of the present invention;
FIG. 4 is a block diagram of a direct target location system in an environment of inconsistent impulse noise in accordance with an embodiment of the present invention;
fig. 5 is a block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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.
The invention discloses a target direct positioning method under an inconsistent impulse noise environment in a first aspect. FIG. 1 is a flow chart of a method for directly locating a target in an environment with inconsistent impulse noise according to an embodiment of the present invention; as shown in fig. 1, the method includes:
step S1, useLA receiving station, byKIntercepting the secondary signal to obtain the secondary signal from the secondary signal acquisition unitpObserving signals of a single static radiation source, and sampling the observing signals;
wherein the observed signal is compared to the sitepThe emission signal of a single static radiation source contains the influence factors of time delay, Doppler frequency shift and noise;
step S2 based onLConstructing the non-uniform impulse noise of a receiving stationLEach of the receiving stations intercepts the cost function in the time slot at each interception;
step S3 based onLWeighting factors for a receiving station and saidLConstructing a global cost function by the cost function of each receiving station in each time slot;
wherein the maximum point of the global cost function characterizes the estimated position of the single stationary radiation source as the true position of the single stationary radiation sourceLThe weighting coefficients of the receiving stations being dependent on saidLThe dispersion factor of the inconsistent impulse noise of the individual receiving stations.
In some embodiments, in the step S1, the stepLEach of the receiving stations is in processKA secondary signal is intercepted, the time of the single interception isTOf 1 atlThe receiving station is atkThe position when the signal is intercepted secondarily is
Figure 958910DEST_PATH_IMAGE001
At a speed of
Figure 718924DEST_PATH_IMAGE002
The first mentionedkIn the time slot in which the secondary intercept is locatedpThe emission signal of a single stationary radiation source is
Figure 78361DEST_PATH_IMAGE036
In which
Figure 327946DEST_PATH_IMAGE004
Is the carrier frequency (c) of the carrier,
Figure 608886DEST_PATH_IMAGE037
is a bandwidth ofWA narrow band signal of
Figure 234908DEST_PATH_IMAGE006
Then it is firstlAt the second receiving stationkThe secondary intercepted observation signals are:
Figure 576415DEST_PATH_IMAGE007
wherein the content of the first and second substances,
Figure 747634DEST_PATH_IMAGE050
is the firstkIn which the transmitted signal propagates from the target to the secondlThe transmission delay of the individual receiving stations,cin order to be the speed of light,
Figure 296295DEST_PATH_IMAGE051
is the number of the Euclidean norm,
Figure 414424DEST_PATH_IMAGE038
is the firstkIn which the transmitted signal propagates from the target to the secondlThe doppler shift produced by each of the receiving stations,
Figure 997721DEST_PATH_IMAGE052
，
Figure 808682DEST_PATH_IMAGE040
is the firstkThe second in the secondary interceptlAdditive impulse noise of a receiving station, said additive impulse noise being subject to
Figure 844640DEST_PATH_IMAGE013
The distribution is stable.
In some embodiments, in the step S1, to
Figure 500881DEST_PATH_IMAGE053
Sampling the observation signal for a sampling period, thenlA receiving station at the secondkThe samples of the observation signal received in the time slot in which the secondary truncation is located are:
Figure 207193DEST_PATH_IMAGE054
wherein the content of the first and second substances,
Figure 923476DEST_PATH_IMAGE055
the vector form is:
Figure 446730DEST_PATH_IMAGE017
wherein the content of the first and second substances,
Figure 172241DEST_PATH_IMAGE056
wherein the content of the first and second substances,
Figure 543179DEST_PATH_IMAGE019
is shown in
Figure 476369DEST_PATH_IMAGE020
Is a diagonal matrix of diagonal elements,
Figure 440914DEST_PATH_IMAGE021
to shift down an operator, the
Figure 219383DEST_PATH_IMAGE021
By passing
Figure 116932DEST_PATH_IMAGE057
The acquisition of the rows of the identity matrix is cyclically shifted,
Figure 427215DEST_PATH_IMAGE023
indicating rounding down, use
Figure 675794DEST_PATH_IMAGE024
To realize
Figure 523533DEST_PATH_IMAGE025
Is performed.
In some embodiments, in the step S2, the step S2 is obtainedLDispersion coefficient of inconsistent impulse noise of receiving station
Figure 744430DEST_PATH_IMAGE026
Then said firstkIn the time slot in which the secondary truncation is locatediThe cost function for each sample point is:
Figure 285002DEST_PATH_IMAGE027
wherein, the first and the second end of the pipe are connected with each other,
Figure 224139DEST_PATH_IMAGE058
in the form of a gaussian kernel function,
Figure 609990DEST_PATH_IMAGE029
in order to take out the conjugate operation,
Figure 685393DEST_PATH_IMAGE030
as a parameter of the length of the nucleus,
Figure 653656DEST_PATH_IMAGE046
representing the difference of the multiple receiver station observation samples at each sampling point in each time slot,
Figure 548931DEST_PATH_IMAGE047
representing a vector
Figure 4052DEST_PATH_IMAGE033
To (1) aiAnd (4) each element.
In some embodiments, in the step S3, the second stepkThe time slot where the secondary interception is located,NAdding the cost functions of the sampling points to obtain the global cost function, as follows:
Figure 199541DEST_PATH_IMAGE059
。
in some embodiments, in the step S3, the maximum value point of the global cost function is:
Figure 816336DEST_PATH_IMAGE035
。
first embodiment
FIG. 2 is a flow chart illustrating a direct target location algorithm according to a first embodiment of the present invention; as shown in fig. 2, the process includes:
step 1: consider the utilization ofLA receiving station pair is locatedpA single stationary radiation source target at. Assuming that each receiving station performsKA secondary signal is intercepted, the time of the single interception isT. First, thelA receiving station is atkThe position and velocity of the secondary intercepted signal are respectively
Figure 261224DEST_PATH_IMAGE001
And
Figure 723298DEST_PATH_IMAGE002
，
Figure 304452DEST_PATH_IMAGE060
，
Figure 563920DEST_PATH_IMAGE061
. Is arranged at the firstkThe transmission signal of the radiation source in a time slot is
Figure 230524DEST_PATH_IMAGE003
Wherein, in the step (A),
Figure 496289DEST_PATH_IMAGE004
is the carrier frequency (c) of the carrier,
Figure 197529DEST_PATH_IMAGE005
is a bandwidth ofWA narrow-band signal of (2) satisfying
Figure 624968DEST_PATH_IMAGE006
. Taking into account the effects of time delay, Doppler shift and noiselA receiving stationkThe secondary intercepted observation signals are:
Figure 44448DEST_PATH_IMAGE007
wherein the content of the first and second substances,
Figure 458112DEST_PATH_IMAGE062
is as followskThe sub-intercepted transmitted signal propagates from the target to the secondlThe transmission delay of the individual receiving stations,cin order to be the speed of light,
Figure 138492DEST_PATH_IMAGE051
is the Euclidean norm;
Figure 536500DEST_PATH_IMAGE038
is as followskThe sub-intercepted transmitted signal propagates from the target to the secondlA doppler shift produced by each receiving station, wherein,
Figure 380959DEST_PATH_IMAGE052
；
Figure 519686DEST_PATH_IMAGE040
is a firstkAt the time of secondary interceptionlAdditive impulse noise at a receiving station, compliance
Figure 398780DEST_PATH_IMAGE013
The distribution is stable.
Step 2: to be provided with
Figure 964759DEST_PATH_IMAGE014
Sampling the received signal for a sampling period, thenlA receiving stationkSamples of a received signal of a time slotComprises the following steps:
Figure 93252DEST_PATH_IMAGE063
wherein, the first and the second end of the pipe are connected with each other,
Figure 238932DEST_PATH_IMAGE016
. Writing the above equation into the form of a vector
Figure 769270DEST_PATH_IMAGE017
Wherein the content of the first and second substances,
Figure 509081DEST_PATH_IMAGE064
wherein the content of the first and second substances,
Figure 62553DEST_PATH_IMAGE019
is shown in
Figure 543082DEST_PATH_IMAGE020
Is a diagonal matrix of diagonal elements.
Figure 396768DEST_PATH_IMAGE021
To shift operators downward, by
Figure 304550DEST_PATH_IMAGE022
The result is obtained by circularly shifting the rows of the identity matrix,
Figure 407635DEST_PATH_IMAGE023
indicating rounding down, use
Figure 895117DEST_PATH_IMAGE024
To realize
Figure 134469DEST_PATH_IMAGE025
Is performed.
And step 3: taking into account the fact that the noise of the receiving stations is not uniform, eachThe impulse noise dispersion parameters of the receiving station are respectively
Figure 696642DEST_PATH_IMAGE026
Using the sample value instead of expectation to obtain the secondkIn a time slotiThe cost function for each sample point is:
Figure 21444DEST_PATH_IMAGE027
wherein the content of the first and second substances,
Figure 719142DEST_PATH_IMAGE058
is a function of a gaussian kernel, and is,
Figure 406475DEST_PATH_IMAGE029
in order to take out the conjugate operation,
Figure 656060DEST_PATH_IMAGE030
is a kernel length parameter.
Figure 858371DEST_PATH_IMAGE046
Representing the difference of the multiple receiver station observation samples at each sampling point in each time slot,
Figure 297442DEST_PATH_IMAGE047
representing a vector
Figure 638950DEST_PATH_IMAGE033
To (1) aiAnd (4) each element.
And 4, step 4: adding the cost functions of different interception moments and different sampling points to obtain a global cost function:
Figure 810168DEST_PATH_IMAGE065
step 6: solving a global cost function
Figure 30934DEST_PATH_IMAGE066
Obtaining the estimated position of the target
Figure 663909DEST_PATH_IMAGE067
：
Figure 997939DEST_PATH_IMAGE035
Second embodiment
Simulation conditions are as follows:
taking a static target position as
Figure 667954DEST_PATH_IMAGE068
Taking into account the number of receiving stations
Figure 313699DEST_PATH_IMAGE070
Intercepting time slots
Figure 625732DEST_PATH_IMAGE071
The movement speeds are all
Figure 941831DEST_PATH_IMAGE072
The initial positions of the receiving stations are respectively
Figure 704120DEST_PATH_IMAGE073
、
Figure 712527DEST_PATH_IMAGE074
. The carrier frequency of the transmitted signal is 2GHz, the signal bandwidth is 200kHz, and the interception time is 3.9ms each time.
Since impulse noise does not have finite variance, a generalized signal-to-noise ratio (GSNR) is defined:
Figure 687305DEST_PATH_IMAGE075
wherein the content of the first and second substances,
Figure 730348DEST_PATH_IMAGE076
is the variance of the signal and is,
Figure 132379DEST_PATH_IMAGE077
to comply with
Figure 893662DEST_PATH_IMAGE079
Dispersion parameters of stably distributed noise. The simulation experiment adopts Root Mean Square Error (RMSE) to measure the positioning performance of the algorithm, which is defined as follows:
Figure 143902DEST_PATH_IMAGE080
wherein the content of the first and second substances,Qfor the number of Monte Carlo experiments, in the experiments described herein
Figure 307030DEST_PATH_IMAGE081
；
Figure 879963DEST_PATH_IMAGE082
Is as followsqEstimated location of the target in the submonol experiment.
Setting parameters:
given impulse noise characteristic parameters
Figure 862962DEST_PATH_IMAGE083
Kernel length parameter of MCC criterion
Figure 710701DEST_PATH_IMAGE085
. The generalized signal-to-noise ratios of the signals received by the first receiving station and the third receiving station are respectively fixed to-5 dB and-2 dB, and the generalized signal-to-noise ratios of the signals received by the second receiving station, the fourth receiving station and the fifth receiving station are changed to-15, -10, -5, 0, 5, 10 and 15 dB.
FIG. 3 is a diagram of the location accuracy RMSE of the ML-DPD algorithm, the NWO-ML-DPD algorithm and the NU-MCC-DPD algorithm varying with the generalized signal-to-noise ratio GSNR under the condition of inconsistent noise according to the second embodiment of the present invention; as shown in fig. 3, the algorithm of the present invention is better than the positioning algorithm based on the maximum likelihood criterion. Compared with the NWO-ML-DPD algorithm without considering impulse noise, the NU-MCC-DPD algorithm which utilizes the noise dispersion coefficient to weight signals with different signal-to-noise ratios obviously improves the positioning precision of the target.
The invention discloses a target direct positioning system in an inconsistent impulse noise environment in a second aspect. FIG. 4 is a block diagram of a direct target location system in an environment of inconsistent impulse noise in accordance with an embodiment of the present invention; as shown in fig. 4, the system 400 includes:
a first processing unit 401 configured to utilizeLA receiving station, byKIntercepting the secondary signal to obtain the secondary signal from the secondary signalpObserving signals of a single static radiation source, and sampling the observing signals;
wherein the observed signal is compared to the sitepThe emission signal of a single static radiation source contains the influence factors of time delay, Doppler frequency shift and noise;
a second processing unit 402 configured to, based on theLConstructing the non-uniform impulse noise of a receiving stationLEach of the receiving stations intercepts the cost function in the time slot at each interception;
a third processing unit 403 configured to, based on the aboveLWeighting factors for a receiving station and saidLConstructing a global cost function by the cost function of each receiving station in each time slot;
wherein the maximum point of the global cost function characterizes the estimated position of the single stationary radiation source as the true position of the single stationary radiation sourceLThe weighting coefficients of the receiving stations being dependent on saidLThe dispersion factor of the inconsistent impulse noise of the individual receiving stations.
According to the second aspect of the invention, the systemLEach of the receiving stations is in processKSecondary signal interception for a single interception time ofTOf 1 atlThe receiving station is atkThe position when the signal is intercepted secondarily is
Figure 197177DEST_PATH_IMAGE001
At a speed of
Figure 472170DEST_PATH_IMAGE002
The first mentionedkIn the time slot in which the secondary intercept is locatedpThe emission signal of a single stationary radiation source is
Figure 145728DEST_PATH_IMAGE036
Wherein
Figure 53948DEST_PATH_IMAGE004
Is the carrier frequency (c) of the carrier,
Figure 926089DEST_PATH_IMAGE037
is a bandwidth ofWA narrow band signal of
Figure 575245DEST_PATH_IMAGE006
Then it is firstlAt the second receiving stationkThe secondary intercepted observation signals are:
Figure 532837DEST_PATH_IMAGE007
wherein the content of the first and second substances,
Figure 987958DEST_PATH_IMAGE008
is the firstkIn which the transmitted signal propagates from the target to the secondlThe transmission delay of the individual receiving stations,cin order to be the speed of light,
Figure 183447DEST_PATH_IMAGE009
is the number of the Euclidean norm,
Figure 800242DEST_PATH_IMAGE010
is the firstkIn which the transmitted signal propagates from the target to the secondlThe doppler shift produced by each of the receiving stations,
Figure 372693DEST_PATH_IMAGE011
，
Figure 116658DEST_PATH_IMAGE012
is the firstkSecondary cuttingGet the center oflAdditive impulse noise of a receiving station, said additive impulse noise being subject to
Figure 415921DEST_PATH_IMAGE013
The distribution is stable.
According to the system of the second aspect of the present invention, the first processing unit 401 is specifically configured to: to be provided with
Figure 219929DEST_PATH_IMAGE014
Sampling the observation signal for a sampling period, thenlA receiving station at the secondkThe samples of the observation signal received in the time slot where the secondary truncation is located are:
Figure 604643DEST_PATH_IMAGE015
wherein, the first and the second end of the pipe are connected with each other,
Figure 152299DEST_PATH_IMAGE016
the vector form is:
Figure 915856DEST_PATH_IMAGE017
wherein the content of the first and second substances,
Figure 15399DEST_PATH_IMAGE018
wherein, the first and the second end of the pipe are connected with each other,
Figure 687076DEST_PATH_IMAGE019
is shown in
Figure 976106DEST_PATH_IMAGE020
Is a diagonal matrix of diagonal elements,
Figure 781120DEST_PATH_IMAGE021
to shift down an operator, the
Figure 395772DEST_PATH_IMAGE021
By passing
Figure 286237DEST_PATH_IMAGE022
The acquisition of the rows of the identity matrix is cyclically shifted,
Figure 175695DEST_PATH_IMAGE023
indicating rounding down, use
Figure 304057DEST_PATH_IMAGE024
To realize
Figure 620769DEST_PATH_IMAGE025
Is performed.
According to the system of the second aspect of the present invention, the second processing unit 402 is specifically configured to: obtaining theLDispersion coefficient of inconsistent impulse noise of receiving station
Figure 204722DEST_PATH_IMAGE086
Then said firstkIn the time slot in which the secondary truncation is locatediThe cost function for each sample point is:
Figure 632292DEST_PATH_IMAGE027
wherein the content of the first and second substances,
Figure 880739DEST_PATH_IMAGE028
in the form of a gaussian kernel function,
Figure 102773DEST_PATH_IMAGE029
in order to take out the conjugate operation,
Figure 436672DEST_PATH_IMAGE030
as a parameter of the length of the nucleus,
Figure 667933DEST_PATH_IMAGE031
representing the difference of the multiple receiver station observation samples at each sampling point in each time slot,
Figure 302045DEST_PATH_IMAGE032
representing a vector
Figure 163822DEST_PATH_IMAGE033
To (1) aiAnd (4) each element.
According to the system of the second aspect of the present invention, the third processing unit 403 is specifically configured to: will be the firstkThe time slot where the secondary interception is located,NAdding the cost functions of the sampling points to obtain the global cost function, as follows:
Figure 530823DEST_PATH_IMAGE087
。
according to the system of the second aspect of the present invention, the third processing unit 403 is specifically configured to: the maximum value points of the global cost function are as follows:
Figure 300196DEST_PATH_IMAGE035
。
a third aspect of the invention discloses an electronic device. The electronic device comprises a memory storing a computer program and a processor implementing the steps of a method for direct target localization in an environment of inconsistent impulse noise according to any one of the first aspect of the present disclosure when the computer program is executed by the processor.
Fig. 5 is a block diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 5, the electronic device includes a processor, a memory, a communication interface, a display screen, and an input device, which are connected by a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the electronic device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, Near Field Communication (NFC) or other technologies. The display screen of the electronic equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the electronic equipment, an external keyboard, a touch pad or a mouse and the like.
It will be understood by those skilled in the art that the structure shown in fig. 5 is only a partial block diagram related to the technical solution of the present disclosure, and does not constitute a limitation to the electronic device to which the solution of the present disclosure is applied, and a specific electronic device may include more or less components than those shown in the drawings, or combine some components, or have different arrangements of components.
A fourth aspect of the invention discloses a computer-readable storage medium. The computer readable storage medium has stored thereon a computer program which, when being executed by a processor, implements the steps of a method for direct localization of an object in an environment of inconsistent impulse noise according to any one of the first aspect of the present disclosure.
In summary, the technical scheme provided by the invention has the following advantages: (1) the method provided by the invention realizes the direct positioning of the moving platform to the target by utilizing the time delay and Doppler frequency shift information in the received signal; (2) the method is based on parametric modeling of the impulse noise, constructs a corresponding cost function, and can improve the positioning accuracy of the direct positioning algorithm in the impulse noise environment; (3) the method provided by the invention aims at the condition that the dispersion coefficients of the impulse noise are inconsistent, weights different signal-to-noise ratios by using the dispersion coefficients of the impulse noise, increases the positioning contribution of the signal with the high signal-to-noise ratio, and effectively improves the target positioning precision under the condition that the impulse noise is inconsistent.
It should be noted that the technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, however, as long as there is no contradiction between the combinations of the technical features, the scope of the present description should be considered. The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (9)

1. A method for directly locating an object in an environment of inconsistent impulse noise, the method comprising:
s1, acquiring observation signals from a single static radiation source at p position by utilizing L receiving stations through signal interception for K times, and sampling the observation signals;
wherein the observation signal contains time delay, Doppler shift and noise influence factors compared with the emission signal of the single stationary radiation source at p;
step S2, constructing a cost function of each of the L receiving stations in the time slot where each interception is located based on the inconsistent impulse noise of the L receiving stations;
step S3, constructing a global cost function based on the weighting coefficients of the L receiving stations and the cost function of each of the L receiving stations in each of the time slots;
wherein the maximum point of the global cost function characterizes the estimated position of the single stationary radiation source as the real position of the single stationary radiation source, and the weighting coefficients of the L receiving stations depend on the dispersion coefficients of the inconsistent impulse noise of the L receiving stations.
2. The method as claimed in claim 1, wherein in step S1, each of the L receiving stations is performing K signal truncations, and the single truncation time is T,the position of the receiving station at the time of the k-th signal interception is pl，kVelocity vl，kIn the time slot of the k-th interception, the emission signal of the single static radiation source at p is
Figure FDA0003639596890000011
Wherein f iscIs the carrier frequency, sk(t) is a narrow band signal with a bandwidth of W, and W < fcIf the observed signal intercepted by the ith receiving station at the kth time is:
Figure FDA0003639596890000012
0＜t≤T，l＝1，2，...，L；k＝1，2，...，K
wherein the content of the first and second substances,
Figure FDA0003639596890000013
for the transmission delay of the transmission signal from the target to the l receiving station in the k-th interception, c is the speed of light, | | | | is the Euclidean norm, fl，kA doppler shift resulting from propagation of said transmitted signal from the target to the l-th receiving station in said k-th intercept,
Figure FDA0003639596890000021
zl，k(t) additive impulse noise for said l-th receiving station in said k-th intercept, said additive impulse noise obeying an alpha-stationary distribution.
3. The method for directly locating the target in the environment of inconsistent impulse noise of claim 2, wherein in said step S1, T is usedsSampling the observation signal for a sampling period, where samples of the observation signal received by the ith receiving station in the time slot where the kth truncation is performed are as follows:
Figure FDA0003639596890000022
wherein the content of the first and second substances,
Figure FDA0003639596890000023
the vector form is:
rl，k＝Al，kFl，ksk+zl，k，l＝1，2，…，L；k＝1，2，…，K
wherein the content of the first and second substances,
Figure FDA0003639596890000024
Figure FDA0003639596890000025
Figure FDA0003639596890000026
Figure FDA0003639596890000027
wherein, diag { a1，...，aNDenotes by { a }1，…，aNIs a diagonal matrix of diagonal elements, Fl，kTo shift down an operator, said Fl，kBy passing
Figure FDA0003639596890000028
The acquisition of the rows of the identity matrix is cyclically shifted,
Figure FDA00036395968900000210
denotes rounding down using Fl，kskTo realize skIs shifted.
4. The method as claimed in claim 3, wherein in step S2, the dispersion coefficient γ of the inconsistent impulse noise of the L receiving stations is obtained1，γ2，...，γLIf the sampling point in the time slot where the kth truncation is located is:
Figure FDA0003639596890000029
wherein the content of the first and second substances,
Figure FDA0003639596890000031
is a Gaussian kernel function, (. cndot)*To take conjugate operations, σ (σ > 0) is the kernel length parameter, el，k，i(p)＝(rl，k-Al，kFl，ksk)i，l＝1，2，...，L，el，k，i(p) represents the difference of the observed samples of the plurality of receiving stations at each sampling point in each time slot, (a)iRepresenting the ith element of vector a.
5. The method for directly locating the target in the inconsistent impulse noise environment according to claim 4, wherein in the step S3, the cost functions of the time slot where the k-th truncation is located and N sampling points are added to obtain the global cost function, as follows:
Figure FDA0003639596890000032
6. the method for directly locating the target in the inconsistent impulse noise environment according to claim 5, wherein in the step S3, the maximum value points of the global cost function are:
Figure FDA0003639596890000033
7. a system for direct localization of an object in an environment of inconsistent impulse noise, the system comprising:
a first processing unit, configured to acquire observation signals from a single stationary radiation source located at p by K times of signal interception using L receiving stations, and perform sampling processing on the observation signals;
wherein the observation signal contains time delay, Doppler shift and noise influence factors compared with the emission signal of the single stationary radiation source at p;
a second processing unit configured to construct a cost function of each of the L receiving stations in a time slot in which each truncation is located based on the inconsistent impulse noise of the L receiving stations;
a third processing unit configured to construct a global cost function based on the weighting coefficients of the L receiving stations and the cost function of each of the L receiving stations in the respective time slots;
wherein the maximum point of the global cost function characterizes the estimated position of the single stationary radiation source as the true position of the single stationary radiation source, and the weighting coefficients of the L receiving stations depend on the dispersion coefficients of the inconsistent impulse noise of the L receiving stations.
8. An electronic device, characterized in that the electronic device comprises a memory and a processor, the memory stores a computer program, and the processor, when executing the computer program, implements the steps in a method for direct localization of an object in an environment of inconsistent impulse noise according to any of claims 1 to 6.
9. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of a method for direct localization of an object in an environment of inconsistent impulse noise as claimed in any one of claims 1 to 6.
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