CN115598670B - Method for monitoring and positioning interference source by combining triangular network and ant colony algorithm - Google Patents
Method for monitoring and positioning interference source by combining triangular network and ant colony algorithm Download PDFInfo
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Abstract
The invention belongs to an interference signal positioning method, and provides a method for monitoring and positioning an interference source by combining a triangular network and an ant colony algorithm, which aims at solving the problems that a large amount of measurement resources are consumed when the interference source is monitored and positioned by means of a frequency scanner and a frequency spectrograph at present, the interference position source needs to be repeatedly searched, and the monitoring efficiency is low. Firstly dividing an area to be monitored into a plurality of triangular areas, carrying out hypothesis deployment on a fixed monitoring station and a mobile monitoring station according to a triangular monitoring network layout algorithm, after completing deployment of the fixed station and definitely needing a point to be monitored by the mobile station, applying an ant algorithm to the point to be monitored by the mobile station to obtain an optimal path, distributing the mobile station on different road sections for monitoring, and mutually supplementing the fixed station and the mobile station, thereby realizing omnibearing interference source monitoring and positioning searching. The ant algorithm is combined with the triangular monitoring network, the triangular monitoring network is used as a basis, the ant algorithm is applied to find an optimal path, the monitoring task can be completed relatively quickly while the whole area monitoring can be ensured, and the interference monitoring efficiency is effectively improved.
Description
Technical Field
The invention belongs to an interference signal positioning method, and particularly relates to a method for monitoring and positioning an interference source by combining a triangular network and an ant colony algorithm.
Background
In satellite navigation positioning, in addition to receiving signals transmitted by satellites, a receiver may also receive other signals having frequencies similar to or similar to those of the satellite signals, and these signals are collectively referred to as interference signals, where the presence of the interference signals may cause the receiver to deviate from accurate positioning results. In order to improve the positioning accuracy of the receiver, the positions of the interference signals need to be monitored and found, and the interference sources are processed, so that the influence of the interference signals on the receiver is eliminated.
At present, when an interference source is monitored and positioned, the monitoring is generally carried out by means of a frequency scanner and a frequency spectrograph, parameters such as frequency bands and step sizes of the frequency scanner are set, the frequency scanner scans wireless signals in the set frequency bands, interference signal waveforms of a field wireless environment are displayed, the frequency spectrograph is externally connected with eight antennas for testing, and then the interference position is positioned by testing the intensity of signals. However, this method consumes a lot of test resources, and when performing interference test, the interference position needs to be found repeatedly, so that the monitoring efficiency is low, and the positioning accuracy of the interference source is poor.
Disclosure of Invention
The invention provides a method for monitoring and positioning an interference source by combining a triangular network and an ant colony algorithm, which aims to solve the technical problems that a large amount of measuring resources are consumed when the interference source is monitored and positioned by means of a frequency scanner and a frequency spectrograph at present, the interference position needs to be searched repeatedly, the monitoring efficiency is low and the positioning accuracy of the interference source is poor.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
the method for monitoring and positioning the interference source by combining the triangular network and the ant colony algorithm is characterized by comprising the following steps of:
s1, determining a point set A1 of which the convex hull can cover the whole area to be monitored;
s2, performing Delaunay triangulation on the point set A1 to obtain a Delaunay triangulation network;
s3, forming an area Q by all triangle areas containing areas to be monitored in the Delaunay triangle network, and selecting a point forming point set B falling into the area Q in the point set A1;
s4, determining the positions of the fixed monitoring stations according to the positions of the minimum circumscribed rectangle centers of the areas to be monitored in the area Q, and marking all triangle areas which can be monitored by each fixed monitoring station;
s5, removing all triangular areas which can be monitored by each fixed monitoring station from the area Q to obtain a residual area M; determining vertexes which sequentially pass through vertexes of each triangular area of the residual area M according to the point set B, and completing whether the residual area M has the vertex for monitoring interference signals or not to serve as initial movement monitoring points, and forming a point set C by all the initial movement monitoring points according to the triangular area where each initial movement monitoring point is located;
s6, determining an optimal path for the point set C through an ant algorithm, dividing the optimal path into a plurality of sub-paths, taking points on each sub-path as final mobile monitoring points of each mobile monitoring station, and determining the monitoring sequence of each mobile monitoring station as the sequence of each point on each sub-path;
s7, monitoring interference signals through the fixed monitoring stations and the mobile monitoring stations, and calculating the positions of the interference signals by using a direction-finding cross positioning method according to monitoring results of the fixed monitoring stations and the mobile monitoring stations.
Further, the step S1 specifically includes:
s1.1, determining a minimum circumscribed rectangle of a region to be monitored;
s1.2, taking a geometric center point of the minimum circumscribed rectangle as a coordinate origin, respectively taking a straight line parallel to the wide side of the minimum circumscribed rectangle as an X axis and a straight line parallel to the long side of the minimum circumscribed rectangle as a Y axis, and establishing a plane rectangular coordinate system;
s1.3, selecting two points which are symmetrical about a coordinate origin on an X axis of the plane rectangular coordinate system, wherein the distance between the two points is equal to the monitoring radius of a monitoring station, and recording a point set consisting of the two points as a point set A; the monitoring stations comprise fixed monitoring stations and mobile monitoring stations;
s1.4, selecting a point D on a Y axis of a plane rectangular coordinate system, enabling the distance from the point D to two points in a point set A to be equal to the monitoring radius of a monitoring station, and adding the point D into the point set A;
s1.5, selecting points on a plane where a plane rectangular coordinate system is located, and adding the selected points into the point set A if the distance from at least two points in the point set A to the selected points is equal to the monitoring radius of the monitoring station; otherwise, selecting points on the plane of the plane rectangular coordinate system again; and (3) until the convex hull of the point set A can contain the region to be monitored, obtaining a final point set A, and recording the final point set A as a point set A1.
Further, the step S2 specifically includes:
s2.1, constructing a rectangular auxiliary window R capable of containing the point set A1;
s2.2, connecting any diagonal line of the rectangular auxiliary window R to obtain two triangles serving as Delaunay triangular grids;
s2.3, inserting any point in the point set A1 into the Delaunay triangular mesh, detecting an empty circumcircle of a triangle adjacent to the triangle where the point is located, and deleting all triangles of which the circumcircle contains the point to obtain a polygonal cavity;
s2.4, connecting the points inserted in the step S2.3 with each vertex of the polygonal cavity, and updating the Delaunay triangular mesh;
s2.5, repeating the step S2.3 and the step S2.4 until all points in the point set A1 are inserted, and taking the current Delaunay triangle mesh as the Delaunay triangle mesh.
Further, in step S4, the determining, according to the position of the minimum circumscribed rectangle center of the area to be monitored in the area Q, the position of the fixed monitoring station is specifically:
three fixed monitoring stations are placed at the three vertices of the area Q containing the triangle area in the smallest bounding rectangle, respectively.
Further, in step S5, the point set C is obtained by:
s5.A, selecting a plurality of points from the point set B to obtain all triangular areas containing the points selected from the point set B in the residual area M, wherein each triangular area in the triangular areas has a vertex as a preliminary movement monitoring point;
s5.B, enabling the mobile monitoring station to monitor at each initial mobile monitoring point in sequence, if the monitoring on whether interference signals exist in the residual area M can be completed, counting the points selected from the corresponding point set B into the point set C, otherwise, discarding the points selected from the corresponding point set B; resulting in a final set of points C.
Further, the step S6 specifically includes:
s6.1, determining an optimal path of the point set C through an ant algorithm to obtain the length L of the optimal path;
s6.2, obtaining the distances between all adjacent two points on the optimal path, and obtaining the maximum value l in the distances;
s6.3 step by stepThe point, which is close to the front end of the optimal path, of two adjacent points corresponding to the maximum value determined in the step S6.2 is taken as a starting point, the optimal path is divided into three sections, and the length of each sectionThe method comprises the following steps:
and S6.4, respectively distributing the three mobile monitoring stations on the three paths, taking each point on the three mobile monitoring stations as a final mobile monitoring point of each mobile monitoring station, and determining the monitoring sequence of each mobile monitoring station as the sequence of each point on each sub path.
Further, step S7 specifically includes:
s7.1, respectively placing a fixed monitoring station and a mobile monitoring station at the determined position of the fixed monitoring station and the final mobile monitoring point of each mobile monitoring station, and simultaneously monitoring interference signals through each fixed monitoring station and each mobile monitoring station;
s7.2, when any one of the fixed monitoring station or the mobile monitoring station monitors that an interference signal exists in any direction, determining a triangular area N corresponding to the direction in which the interference signal is detected by taking the position of the fixed monitoring station or the mobile monitoring station as a vertex E;
s7.3, if the interference signal is detected by the fixed monitoring station, suspending the monitoring of any two mobile monitoring stations, and moving the two mobile monitoring stations to the other two vertexes of the triangular area N except E;
if the interference signals are monitored for the mobile monitoring stations, suspending the monitoring of the remaining two mobile monitoring stations, and moving the two mobile monitoring stations to the other two vertexes of the triangular area N except E;
s7.4, continuously monitoring through the fixed monitoring stations and/or the mobile monitoring stations at the three vertexes of the triangular area N, determining the same monitored interference signals according to the characteristics of the monitored interference signals, and recording any two fixed monitoring stations and/or mobile monitoring stationsCoordinates of the station (x 1 ,y 1 ) And (x) 2 ,y 2 ) And an angle theta between the X-axis and a line connecting the two fixed monitoring stations and/or the mobile monitoring station and the monitored interference signal 1 And theta 2 ；
S7.5, determining the position (x, y) of the interference signal in the plane rectangular coordinate system by the following formula:
s7.6, restoring the mobile monitoring station to the original position;
and S7.7, continuing to monitor, and repeatedly executing the steps S7.2 to S7.6 until the mobile monitoring station completes the monitoring at all final mobile monitoring points, so as to obtain the positions of all interference signals in the plane rectangular coordinate system.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a method for monitoring and positioning an interference source by combining a triangular network and an ant colony algorithm, which divides a region to be detected into a plurality of triangular regions, and performs hypothesis deployment and mutual complementation on a fixed monitoring station and a mobile monitoring station according to a triangular monitoring network layout algorithm, so that the comprehensive interference source monitoring and positioning searching are realized, the testing resources are saved, the determination of the interference position of an interference signal can be accurately realized by a simpler method, and the interference efficiency is effectively improved.
2. According to the monitoring and positioning method, the ant algorithm is applied when the path of the mobile monitoring station is designed, an optimal path can be quickly and accurately found, and the mobile monitoring station is distributed on different road sections on the optimal path, so that the method can be used for detecting whether interference signals exist in the whole area to be detected or not in the shortest time, and the monitoring and positioning efficiency is improved to the greatest extent.
3. According to the invention, the mobile monitoring station and the fixed monitoring station are mutually matched to position the interference signal, so that the positioning accuracy can be effectively improved.
Drawings
Fig. 1 is a schematic flow chart of an embodiment of a method for monitoring and positioning an interference source by combining a triangulation network and an ant colony algorithm.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
As shown in fig. 1, the invention provides a method for monitoring and positioning an interference source by combining a triangular network and an ant colony algorithm, which comprises the following specific steps:
step 1, searching a minimum circumscribed rectangle of a region to be monitored, establishing a plane rectangular coordinate system, selecting N points in the plane rectangular coordinate system, and marking the N points as a point set A1, so that a convex hull of the point set A1 can contain the whole region to be monitored.
Step 1.1, searching a minimum circumscribed rectangle of the area to be monitored according to the shape of the area to be monitored, taking a geometric center point of the minimum circumscribed rectangle as a coordinate origin, taking a straight line parallel to a broadside of the minimum circumscribed rectangle as an X axis, and taking a straight line parallel to a long side of the minimum circumscribed rectangle as a Y axis, and establishing a plane rectangular coordinate system.
And 1.2, selecting two points on the X axis of the plane rectangular coordinate system, enabling the length of a line segment formed by the two points on the X axis to be equal to the monitoring radius of the monitoring station, enabling the midpoint of the line segment to be located at the origin of the coordinate system, and marking the two points as a point set A.
Rules are formulated for the extended point set A: and selecting a point D on the plane where the rectangular plane coordinate system is located, wherein the point D cannot be repeated with the points in the point set A, and adding the point D to the point set A to update the point set A so that the distance from two points in the point set A to the point D is equal to the monitoring radius of the monitoring station. Then, sequentially selecting points on the plane of the rectangular coordinate system, enabling the distance from at least two points in the point set A to the points to be equal to the monitoring radius of the monitoring station, and sequentially adding the selected points into the point set A. According to the rule, coordinate points are selected one by one around by taking an origin as a center until the convex hull of the point set A can contain the whole area to be monitored, and the point set A corresponding to the point set A at the moment is recorded as a point set A1.
And 2, performing Delaunay triangulation on the point set A1 to construct a triangular network, taking out all triangular areas containing the area to be monitored to form a new area Q, and marking all points of the point set A1 falling in the area Q as a point set B.
Step 2.1 Delaunay triangulation of Point set A1
First, a rectangular auxiliary window R is constructed that can contain the point set A1 and connect any diagonal to form the initial Delaunay triangle mesh. Then, any point in the point set A1 is inserted into the Delaunay triangle mesh, the triangle adjacent to the triangle is searched from the triangle where the point is located, the empty circle detection is carried out, all triangles of which the circumscribed circle contains the point are found, the triangles are deleted, a polygonal cavity containing the point is formed, and then each vertex of the point and the polygonal cavity is connected, so that a new Delaunay triangle mesh is formed. And inserting the rest points in the point set A1 into the Delaunay triangular grids one by one, detecting an empty circumcircle at each inserted point, adjusting the Delaunay triangular grids by deleting all triangles of the circumcircle including the current inserted point, and deleting all triangles of which the vertexes include the vertexes of the rectangular auxiliary window R after all points in the point set A1 are inserted into the Delaunay triangular grids, thereby completing Delaunay triangulation.
And 2.2, after the Delaunay triangulation is completed through the step 2.1, taking out all triangle areas containing the area to be monitored in the Delaunay triangulation network to form a new area Q, and marking all points falling in the area Q as a point set B in the point set A1.
And 3, placing three fixed monitoring stations at three vertexes of a triangle area where the minimum circumscribed rectangle center is located, and analyzing the monitoring range of the fixed monitoring stations.
Three fixed monitoring stations are respectively placed in the area Q, three vertexes of a triangle area containing the center of the minimum circumscribed rectangle are positioned, and all triangle areas which can be monitored by the three fixed monitoring stations are marked.
Step 4: the monitoring range of the fixed monitoring station is removed in the area Q to obtain a residual area, and the monitoring at which points in the point set B are analyzed, so that the monitoring on whether interference signals exist in the residual area can be completed, and the points are marked as the point set C.
Step 4.1, removing all triangular areas which can be monitored by the fixed monitoring station from the area Q, and marking the residual area as a residual area M;
and 4.2, selecting a plurality of points from the point set B, ensuring that all triangular areas containing the points selected from the point set B in the residual area M have a vertex as an initial mobile monitoring point of the mobile monitoring station, so that the mobile monitoring station can complete monitoring on whether interference signals exist in the residual area M after monitoring at the points in sequence, and marking the points as the point set C.
Step 5, applying an ant algorithm to the point set C to determine an optimal path, wherein the specific steps are as follows:
step 5.1, initializing various parameters of the ant algorithm: at the beginning of calculation, each parameter needs to be initialized, such as ant number m, pheromone factor alpha, heuristic function factor beta, pheromone volatilization factor rho, pheromone constant Q, maximum iteration number t and the like.
Step 5.2, constructing a solution space: and (3) randomly placing each ant at different starting points, and calculating the next point to be accessed for each ant k (k is more than or equal to 1 and less than or equal to m) until each ant accesses all points. Ants use roulette to select the next point to arrive at each step of the construction path. The probability of selecting each path is expressed as:
where i, j represent the start and end of each path, respectively, τ represents the pheromone concentration from i to j at time t, the value of η is equal to the inverse of the path length d, and allowed represents the set of unviewed nodes.
Step 5.3, updating the pheromone: calculating the path length L of each ant passing by, and recording the historical optimal solution in the current iteration number, namely the shortest path; meanwhile, the pheromone concentration of the path connected with each point is updated, and the expression of the pheromone update is as follows:
τ ij (t+1)＝τ ij (t)*(1-ρ)+Δτ ij ,0＜ρ＜1
wherein,
step 5.4, judging whether a termination condition is reached: and when the maximum iteration number of the algorithm reaches the maximum iteration number, ending the algorithm to output an optimal path.
And 6, dividing the optimal path into three sub-paths, and respectively monitoring whether interference signals exist at each point of the three movable monitoring stations according to the sequence of the points on the three paths.
Step 6.1, applying an ant algorithm to the point set C to determine an optimal path (loop path) and the length L of the optimal path, and recording the points which the obtained optimal path sequentially passes through and the distances between the two adjacent points;
step 6.2, respectively taking two adjacent points with the largest distance (marked as l) as a starting point and an end point of the path, and arranging the point set C according to the sequence of the points of the optimal path;
step 6.3: dividing the optimal path into three sections from the path starting point determined in the step S5.2, wherein the length of each section is as follows:
step 6.4: and respectively distributing three mobile monitoring stations on the three paths, wherein each mobile monitoring station monitors each point on each path one by one, and observing whether an interference signal can be monitored.
And 7, after the monitoring station monitors that the interference signal exists in a certain triangular area, the other monitoring station is required to monitor the interference signal at other vertexes of the triangular area, and then the direction-finding information of the two monitoring stations is utilized to carry out cross direction-finding positioning. The monitoring stations herein include fixed monitoring stations and mobile monitoring stations.
And 7.1, respectively numbering the fixed monitoring stations and the mobile monitoring stations, such as the fixed monitoring station 1, the fixed monitoring station 2, the fixed monitoring station 3, the mobile monitoring station 1, the mobile monitoring station 2 and the mobile monitoring station 3, when a plurality of monitoring stations (including the fixed monitoring station and the mobile monitoring station) monitor interference signals simultaneously, preferentially positioning the interference signals monitored by the fixed monitoring stations according to the sequence from small numbers to large numbers, and then positioning the interference signals monitored by the mobile monitoring stations.
When any one of the fixed monitoring stations or the mobile monitoring stations monitors that an interference signal exists in a certain direction at a certain point, an included angle which takes the point as a vertex and contains the direction is found, and a triangle area containing the included angle is determined. If the fixed monitoring station monitors the interference signals, suspending the work of two mobile monitoring stations and moving the two mobile monitoring stations to the other two vertexes of the determined triangular area; if the mobile monitoring station detects an interference signal, the operation of the other two mobile monitoring stations is suspended, and the other two mobile monitoring stations are moved to the other two vertexes of the triangular area.
Step 7.2, judging whether the monitored interference signals are the same interference signals according to the characteristics of the interference signals monitored by the three monitoring stations, if not, finding the same interference signals according to the information such as the frequency, the amplitude, the direction and the like of the monitored interference signals, and recording the coordinates (x 1 ,y 1 ) And (x) 2 ,y 2 ) And an included angle theta between a connecting line between the two monitoring stations and the interference signal and the X axis of the plane rectangular coordinate system 1 And theta 2 The method comprises the steps of carrying out a first treatment on the surface of the If the interference signals are the same, the coordinates (x 1 ,y 1 ) And (x) 2 ,y 2 ) And the connection between two monitoring stations and the interference signal and the X axis of the rectangular plane coordinate systemIncluded angle theta 1 And theta 2 The method comprises the steps of carrying out a first treatment on the surface of the If all the three monitoring stations monitor the same interference signal, the spectrum analyzer can be used for carrying out interference inquiry together with the directional antenna, the spectrum analyzer is used for tracking the interference signal, and the directional antenna is combined, so that an interference source can be positioned under the condition of not interrupting measurement. And after the direction finding task is completed, the mobile monitoring station returns to the original position to continue the monitoring work.
Step 7.4, calculating the position of the interference signal by using a direction-finding cross positioning method, wherein the calculation can be specifically performed by the following formula:
wherein x represents the abscissa of the position of the interference signal in the plane rectangular coordinate system, y represents the ordinate of the position of the interference signal in the plane rectangular coordinate system, and the values of x and y are calculated by matrix operation, and then (x, y) is the position of the interference signal in the rectangular coordinate system.
The monitoring and positioning method of the invention constructs a triangular monitoring network, and changes the monitoring of the interference signals in the whole area into the monitoring of the interference signals in each triangular area. In determining the path of the mobile monitoring station, an ant algorithm is used so that the mobile monitoring station can complete monitoring at all points in a minimum time.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The method for monitoring and positioning the interference source by combining the triangular network and the ant colony algorithm is characterized by comprising the following steps of:
s1, determining a point set A1 of which the convex hull can cover the whole area to be monitored;
s2, performing Delaunay triangulation on the point set A1 to obtain a Delaunay triangulation network;
s3, forming an area Q by all triangle areas containing areas to be monitored in the Delaunay triangle network, and selecting a point forming point set B falling into the area Q in the point set A1;
s4, determining the positions of the fixed monitoring stations according to the positions of the minimum circumscribed rectangle centers of the areas to be monitored in the area Q, and marking all triangle areas which can be monitored by each fixed monitoring station;
s5, removing all triangular areas which can be monitored by each fixed monitoring station from the area Q to obtain a residual area M; determining vertexes which sequentially pass through vertexes of each triangular area of the residual area M according to the point set B, and completing whether the residual area M has the vertex for monitoring interference signals or not to serve as initial movement monitoring points, and forming a point set C by all the initial movement monitoring points according to the triangular area where each initial movement monitoring point is located;
s6, determining an optimal path for the point set C through an ant algorithm, dividing the optimal path into a plurality of sub-paths, taking points on each sub-path as final mobile monitoring points of each mobile monitoring station, and determining the monitoring sequence of each mobile monitoring station as the sequence of each point on each sub-path;
s7, monitoring interference signals through the fixed monitoring stations and the mobile monitoring stations, and calculating the positions of the interference signals by using a direction-finding cross positioning method according to monitoring results of the fixed monitoring stations and the mobile monitoring stations.
2. The method for monitoring and positioning an interference source by combining a triangulation network and an ant colony algorithm according to claim 1, wherein the step S1 is specifically:
s1.1, determining a minimum circumscribed rectangle of a region to be monitored;
s1.2, taking a geometric center point of the minimum circumscribed rectangle as a coordinate origin, respectively taking a straight line parallel to the wide side of the minimum circumscribed rectangle as an X axis and a straight line parallel to the long side of the minimum circumscribed rectangle as a Y axis, and establishing a plane rectangular coordinate system;
s1.3, selecting two points which are symmetrical about a coordinate origin on an X axis of the plane rectangular coordinate system, wherein the distance between the two points is equal to the monitoring radius of a monitoring station, and recording a point set consisting of the two points as a point set A; the monitoring stations comprise fixed monitoring stations and mobile monitoring stations;
s1.4, selecting a point D on a Y axis of a plane rectangular coordinate system, enabling the distance from the point D to two points in a point set A to be equal to the monitoring radius of a monitoring station, and adding the point D into the point set A;
s1.5, selecting points on a plane where a plane rectangular coordinate system is located, and adding the selected points into the point set A if the distance from at least two points in the point set A to the selected points is equal to the monitoring radius of the monitoring station; otherwise, selecting points on the plane of the plane rectangular coordinate system again; and (3) until the convex hull of the point set A can contain the region to be monitored, obtaining a final point set A, and recording the final point set A as a point set A1.
3. The method for monitoring and positioning an interference source by combining a triangulation network and an ant colony algorithm according to claim 2, wherein step S2 is specifically:
s2.1, constructing a rectangular auxiliary window R capable of containing the point set A1;
s2.2, connecting any diagonal line of the rectangular auxiliary window R to obtain two triangles serving as Delaunay triangular grids;
s2.3, inserting any point in the point set A1 into the Delaunay triangular mesh, detecting an empty circumcircle of a triangle adjacent to the triangle where the point is located, and deleting all triangles of which the circumcircle contains the point to obtain a polygonal cavity;
s2.4, connecting the points inserted in the step S2.3 with each vertex of the polygonal cavity, and updating the Delaunay triangular mesh;
s2.5, repeating the step S2.3 and the step S2.4 until all points in the point set A1 are inserted, and taking the current Delaunay triangle mesh as the Delaunay triangle mesh.
4. The method for monitoring and positioning an interference source by combining a triangle network and an ant colony algorithm according to claim 3, wherein in step S4, the determining the position of the fixed monitoring station according to the position of the minimum circumscribed rectangle center of the area to be monitored in the area Q is specifically:
three fixed monitoring stations are placed at the three vertices of the triangular region in region Q containing the smallest circumscribed rectangular center, respectively.
5. The method for monitoring and positioning an interference source by combining a triangulation network and an ant colony algorithm according to claim 4, wherein in step S5, the point set C is obtained by:
s5.A, selecting a plurality of points from the point set B to obtain all triangular areas containing the points selected from the point set B in the residual area M, wherein each triangular area in the triangular areas has a vertex as a preliminary movement monitoring point;
s5.B, enabling the mobile monitoring station to monitor at each initial mobile monitoring point in sequence, if the monitoring on whether interference signals exist in the residual area M can be completed, counting the points selected from the corresponding point set B into the point set C, otherwise, discarding the points selected from the corresponding point set B; resulting in a final set of points C.
6. The method for monitoring and positioning an interference source by combining a triangulation network and an ant colony algorithm according to claim 5, wherein step S6 is specifically:
s6.1, determining an optimal path of the point set C through an ant algorithm to obtain the length L of the optimal path;
s6.2, obtaining the distances between all adjacent two points on the optimal path, and obtaining the maximum value l in the distances;
s6.3, taking the point, close to the front end of the optimal path, of the two adjacent points corresponding to the maximum value determined in the step S6.2 as a starting point, dividing the optimal path into three sections, wherein the length of each sectionThe method comprises the following steps:
and S6.4, respectively distributing the three mobile monitoring stations on the three paths, taking each point on the three mobile monitoring stations as a final mobile monitoring point of each mobile monitoring station, and determining the monitoring sequence of each mobile monitoring station as the sequence of each point on each sub path.
7. The method for monitoring and positioning an interference source by combining a triangulation network and an ant colony algorithm according to claim 6, wherein step S7 is specifically:
s7.1, respectively placing a fixed monitoring station and a mobile monitoring station at the determined position of the fixed monitoring station and the final mobile monitoring point of each mobile monitoring station, and simultaneously monitoring interference signals through each fixed monitoring station and each mobile monitoring station;
s7.2, when any one of the fixed monitoring station or the mobile monitoring station monitors that an interference signal exists in any direction, determining a triangular area N corresponding to the direction in which the interference signal is detected by taking the position of the fixed monitoring station or the mobile monitoring station as a vertex E;
s7.3, if the interference signal is detected by the fixed monitoring station, suspending the monitoring of any two mobile monitoring stations, and moving the two mobile monitoring stations to the other two vertexes of the triangular area N except E;
if the interference signals are monitored for the mobile monitoring stations, suspending the monitoring of the remaining two mobile monitoring stations, and moving the two mobile monitoring stations to the other two vertexes of the triangular area N except E;
s7.4, continuously monitoring through the fixed monitoring stations and/or the mobile monitoring stations at the three vertexes of the triangular area N, determining the same monitored interference signals according to the characteristics of the monitored interference signals, and recording the coordinates (x 1 ,y 1 ) And (x) 2 ,y 2 ) And an angle theta between the X-axis and a line connecting the two fixed monitoring stations and/or the mobile monitoring station and the monitored interference signal 1 And theta 2 ；
S7.5, determining the position (x, y) of the interference signal in the plane rectangular coordinate system by the following formula:
s7.6, restoring the mobile monitoring station to the original position;
and S7.7, continuing to monitor, and repeatedly executing the steps S7.2 to S7.6 until the mobile monitoring station completes the monitoring at all final mobile monitoring points, so as to obtain the positions of all interference signals in the plane rectangular coordinate system.
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