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 PDF

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CN115598670B
CN115598670B CN202211201021.0A CN202211201021A CN115598670B CN 115598670 B CN115598670 B CN 115598670B CN 202211201021 A CN202211201021 A CN 202211201021A CN 115598670 B CN115598670 B CN 115598670B
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points
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CN115598670A (en
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王前
王志涛
许万科
刘文冠
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Xian University of Posts and Telecommunications
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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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/004—Artificial life, i.e. computing arrangements simulating life
    • G06N3/006—Artificial life, i.e. computing arrangements simulating life based on simulated virtual individual or collective life forms, e.g. social simulations or particle swarm optimisation [PSO]

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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

Method for monitoring and positioning interference source by combining triangular network and ant colony algorithm
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)

1.一种三角网与蚁群算法联合对干扰源监测与定位的方法，其特征在于，包括以下步骤：1. A method for monitoring and locating interference sources by combining triangulation network and ant colony algorithm, which is characterized by including the following steps: S1，确定凸包能覆盖整个待监测区域的点集A1；S1, determine the point set A1 that the convex hull can cover the entire area to be monitored; S2，对所述点集A1进行Delaunay三角剖分，得到Delaunay三角网；S2, perform Delaunay triangulation on the point set A1 to obtain a Delaunay triangulation network; S3，将Delaunay三角网中所有含有待监测区域的三角形区域组成区域Q，再选取点集A1中落入区域Q的点组成点集B；S3, combine all the triangular areas in the Delaunay triangulation network containing the area to be monitored to form the area Q, and then select the points in the point set A1 that fall into the area Q to form the point set B; S4，根据待监测区域最小外接矩形中心在区域Q中的位置，确定固定监测站的位置，并标记各固定监测站能够监测到的所有三角形区域；S4, determine the location of the fixed monitoring station based on the position of the smallest circumscribed rectangular center of the area to be monitored in area Q, and mark all triangular areas that can be monitored by each fixed monitoring station; S5，在区域Q中除去各固定监测站能够监测到的所有三角形区域，得到剩余区域M；根据点集B，确定依次经过剩余区域M各三角形区域顶点后，能够完成对剩余区域M中是否存在干扰信号监测的顶点，作为初定移动监测点，根据各初定移动监测点所在三角形区域，将所有初定移动监测点组成点集C；S5, remove all the triangular areas that can be monitored by each fixed monitoring station in the area Q, and obtain the remaining area M; according to the point set B, determine whether after passing through the vertices of each triangular area in the remaining area M in sequence, it can be completed to determine whether there are The vertex of the interference signal monitoring is used as the initial mobile monitoring point. According to the triangular area where each initial mobile monitoring point is located, all the preliminary mobile monitoring points are composed of point set C; S6，对点集C通过蚂蚁算法确定一条最优路径，将该最优路径分为多条子路径，以各子路径上的点作为各移动监测站的最终移动监测点，并确定各移动监测站的监测顺序为各子路径上各点的顺序；S6, determine an optimal path for point set C through the ant algorithm, divide the optimal path into multiple sub-paths, use the points on each sub-path as the final mobile monitoring points of each mobile monitoring station, and determine each mobile monitoring station The monitoring order is the order of each point on each sub-path; S7，通过固定监测站和移动监测站监测干扰信号，根据固定监测站和移动监测站的监测结果，利用测向交叉定位方法计算干扰信号位置。S7, monitor the interference signal through the fixed monitoring station and the mobile monitoring station, and calculate the position of the interference signal using the direction finding cross positioning method based on the monitoring results of the fixed monitoring station and the mobile monitoring station. 2.根据权利要求1所述一种三角网与蚁群算法联合对干扰源监测与定位的方法，其特征在于，步骤S1具体为：2. A method for jointly monitoring and locating interference sources using triangular network and ant colony algorithm according to claim 1, characterized in that step S1 is specifically: S1.1，确定待监测区域的最小外接矩形；S1.1, determine the minimum circumscribed rectangle of the area to be monitored; S1.2，以所述最小外接矩形的几何中心点为坐标原点，分别以平行于最小外接矩形宽边的直线为X轴，平行于最小外接矩形长边的直线为Y轴，建立平面直角坐标系；S1.2, take the geometric center point of the minimum circumscribed rectangle as the coordinate origin, take the straight line parallel to the wide side of the minimum circumscribed rectangle as the X-axis, and the straight line parallel to the long side of the minimum circumscribed rectangle as the Y-axis to establish plane rectangular coordinates Tie; S1.3，在所述平面直角坐标系的X轴上选取两个关于坐标原点对称的点，且该两个点之间的距离等于监测站的监测半径，将这两个点组成的点集记作点集A；所述监测站包括固定监测站和移动监测站；S1.3. Select two points that are symmetrical about the coordinate origin on the Denoted as point set A; the monitoring stations include fixed monitoring stations and mobile monitoring stations; S1.4，在平面直角坐标系的Y轴上选取点D，使点D到点集A中两个点的距离等于监测站的监测半径，将点D加入点集A；S1.4, select point D on the Y-axis of the plane rectangular coordinate system, make the distance between point D and the two points in point set A equal to the monitoring radius of the monitoring station, and add point D to point set A; S1.5，在平面直角坐标系所在平面上选取点，若点集A中至少两个点到该选取点的距离等于监测站的监测半径，则将该选取点加入点集A；否则，重新在平面平面直角坐标系所在平面上选取点；直至点集A的凸包能够包含待监测区域，得到最终的点集A，记作点集A1。S1.5, select a point on the plane where the plane Cartesian coordinate system is located. If the distance from at least two points in point set A to the selected point is equal to the monitoring radius of the monitoring station, then add the selected point to point set A; otherwise, re- Select points on the plane where the plane rectangular coordinate system is located; until the convex hull of point set A can include the area to be monitored, the final point set A is obtained, which is recorded as point set A1. 3.根据权利要求2所述一种三角网与蚁群算法联合对干扰源监测与定位的方法，其特征在于，步骤S2具体为：3. A method for jointly monitoring and locating interference sources with triangulation network and ant colony algorithm according to claim 2, characterized in that step S2 is specifically: S2.1，构建能够包含点集A1的矩形辅助窗口R；S2.1, construct a rectangular auxiliary window R that can contain point set A1; S2.2，连接矩形辅助窗口R的任意一条对角线，得到两个三角形，作为Delaunay三角网格；S2.2, connect any diagonal of the rectangular auxiliary window R to obtain two triangles as a Delaunay triangle grid; S2.3，将点集A1中的任一点插入Delaunay三角网格中，对该点所在三角形的临近三角形进行空外接圆检测，删除外接圆包含该点的所有三角形，得到多边形空腔；S2.3. Insert any point in the point set A1 into the Delaunay triangular grid, detect empty circumscribed circles of adjacent triangles of the triangle where the point is located, delete all triangles whose circumscribed circles include the point, and obtain a polygon cavity; S2.4，使步骤S2.3中插入的点与所述多边形空腔的各顶点相连，更新Delaunay三角网格；S2.4, connect the points inserted in step S2.3 with each vertex of the polygon cavity, and update the Delaunay triangular mesh; S2.5，重复执行步骤S2.3和步骤S2.4，直至点集A1中所有点均插入完成，将当前的Delaunay三角网格作为Delaunay三角网。S2.5, repeat steps S2.3 and S2.4 until all points in point set A1 are inserted, and the current Delaunay triangular mesh is used as a Delaunay triangular mesh. 4.根据权利要求3所述一种三角网与蚁群算法联合对干扰源监测与定位的方法，其特征在于，步骤S4中，所述根据待监测区域最小外接矩形中心在区域Q中的位置，确定固定监测站的位置具体为：4. A method for jointly monitoring and locating interference sources with a triangular network and an ant colony algorithm according to claim 3, characterized in that, in step S4, the position of the center of the minimum circumscribed rectangle of the area to be monitored in the area Q is , determine the location of the fixed monitoring station as follows: 将三个固定监测站分别放置于区域Q中含有最小外接矩形中心的三角形区域的三个顶点处。Three fixed monitoring stations are placed at the three vertices of the triangular area containing the center of the smallest circumscribed rectangle in area Q. 5.根据权利要求4所述一种三角网与蚁群算法联合对干扰源监测与定位的方法，其特征在于，步骤S5中，所述点集C通过以下方法得到：5. A method for jointly monitoring and locating interference sources with triangulation network and ant colony algorithm according to claim 4, characterized in that, in step S5, the point set C is obtained by the following method: S5.a，在点集B中选取多个点，得到剩余区域M中，所有包含从点集B中选取出的点的三角形区域，将这些三角形区域中每个三角形区域有一个顶点作为初定移动监测点；S5.a, select multiple points in point set B, and obtain all the triangle areas in the remaining area M that contain the points selected from point set B. Use one vertex in each triangle area in these triangle areas as the initial determination. mobile monitoring points; S5.b，使移动监测站依次在各初定移动监测点处进行监测，若能够完成对剩余区域M中是否存在干扰信号的监测，则将相应点集B中选取的点计入点集C，否则，放弃相应点集B中选取的点；得到最终的点集C。S5.b. Let the mobile monitoring station perform monitoring at each initially determined mobile monitoring point in turn. If it can complete the monitoring of whether there is an interference signal in the remaining area M, then the points selected in the corresponding point set B will be included in the point set C. , otherwise, abandon the selected points in the corresponding point set B; obtain the final point set C. 6.根据权利要求5所述一种三角网与蚁群算法联合对干扰源监测与定位的方法，其特征在于，步骤S6具体为：6. A method for jointly monitoring and locating interference sources with triangulation network and ant colony algorithm according to claim 5, characterized in that step S6 is specifically: S6.1，对点集C通过蚂蚁算法确定一条最优路径，得到该最优路径的长度L；S6.1, determine an optimal path through the ant algorithm for point set C, and obtain the length L of the optimal path; S6.2，获取最优路径上所有相邻两点之间的距离，得到其中的最大值l；S6.2, obtain the distance between all two adjacent points on the optimal path, and obtain the maximum value l; S6.3，以步骤S6.2确定的最大值对应的相邻两点中的靠近最优路径前端的点作为起点，将最优路径分为三段，每段的长度为：S6.3, taking the point close to the front end of the optimal path among the two adjacent points corresponding to the maximum value determined in step S6.2 as the starting point, divide the optimal path into three segments, with the length of each segment for: S6.4，将三个移动监测站分别分配在这三段路径上，以三个移动监测站上的各点作为各移动监测站的最终移动监测点，并确定各移动监测站的监测顺序为各子路径上各点的顺序。S6.4, allocate three mobile monitoring stations to the three sections of the path respectively, use each point on the three mobile monitoring stations as the final mobile monitoring point of each mobile monitoring station, and determine the monitoring sequence of each mobile monitoring station as The order of points on each subpath. 7.根据权利要求6所述一种三角网与蚁群算法联合对干扰源监测与定位的方法，其特征在于，步骤S7具体为：7. A method for jointly monitoring and locating interference sources with triangulation network and ant colony algorithm according to claim 6, characterized in that step S7 is specifically: S7.1，分别在确定的固定监测站的位置处和各移动监测站的最终移动监测点处放置固定监测站和移动监测站，通过各固定监测站和各移动监测站同时监测干扰信号；S7.1, place fixed monitoring stations and mobile monitoring stations at the determined positions of the fixed monitoring stations and the final mobile monitoring points of each mobile monitoring station, and monitor interference signals simultaneously through each fixed monitoring station and each mobile monitoring station; S7.2当任意一个固定监测站或移动监测站监测到任一方向上存在干扰信号，以该固定监测站或移动监测站所在位置作为顶点E，确定包含监测到干扰信号所在方向对应的三角形区域N；S7.2 When any fixed or mobile monitoring station detects an interference signal in any direction, use the location of the fixed or mobile monitoring station as the vertex E to determine the triangular area N corresponding to the direction in which the interference signal is detected. ; S7.3，若为固定监测站监测到干扰信号，则暂停任意两个移动监测站的监测，将该两个移动监测站移动至三角形区域N除E之外的另两个顶点处；S7.3, if the fixed monitoring station detects interference signals, suspend the monitoring of any two mobile monitoring stations, and move the two mobile monitoring stations to the other two vertices of the triangle area N except E; 若为移动监测站监测到干扰信号，则暂停剩余两个移动监测站的监测，将该两个移动监测站移动至三角形区域N除E之外的另两个顶点处；If the interference signal is detected by the mobile monitoring station, the monitoring of the remaining two mobile monitoring stations is suspended, and the two mobile monitoring stations are moved to the other two vertices of the triangular area N except E; S7.4，通过三角形区域N三个顶点处的固定监测站和/或移动监测站继续监测，并根据监测到的干扰信号的特征确定其中监测到的相同的干扰信号，记录其中任意两个固定监测站和/或移动监测站的坐标(x1,y1)和(x2,y2)，以及X轴和该两个固定监测站和/或移动监测站与监测到的干扰信号之间连线的夹角θ1和θ2；S7.4, continue monitoring through the fixed monitoring stations and/or mobile monitoring stations at the three vertices of the triangular area N, and determine the same interference signal detected based on the characteristics of the monitored interference signals, and record any two of them. The coordinates (x 1 , y 1 ) and (x 2 , y 2 ) of the monitoring station and/or mobile monitoring station, as well as the distance between the X axis and the two fixed monitoring stations and/or mobile monitoring stations and the detected interference signal The angle between the connecting lines θ 1 and θ 2 ; S7.5，通过下式确定干扰信号在平面直角坐标系中的位置(x,y)：S7.5, determine the position (x, y) of the interference signal in the plane rectangular coordinate system through the following formula: S7.6，将移动监测站恢复至原来所处位置；S7.6, restore the mobile monitoring station to its original location; S7.7，继续进行监测，重复执行步骤S7.2至步骤S7.6，直至移动监测站完成所有最终移动监测点处的监测，得到所有干扰信号在平面直角坐标系中的位置。S7.7, continue monitoring and repeat steps S7.2 to S7.6 until the mobile monitoring station completes monitoring of all final mobile monitoring points and obtains the positions of all interference signals in the plane rectangular coordinate system.
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