CN115792800A - Grid search-based double-station three-dimensional cross positioning method - Google Patents
Grid search-based double-station three-dimensional cross positioning method Download PDFInfo
- Publication number
- CN115792800A CN115792800A CN202211617853.0A CN202211617853A CN115792800A CN 115792800 A CN115792800 A CN 115792800A CN 202211617853 A CN202211617853 A CN 202211617853A CN 115792800 A CN115792800 A CN 115792800A
- Authority
- CN
- China
- Prior art keywords
- radiation source
- station
- coordinate system
- positioning
- finding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a double-station three-dimensional cross positioning method based on grid search, which belongs to the technical field of electronic countermeasure reconnaissance, and is characterized in that direction-finding vectors of radiation sources corresponding to two stations are converted in a northeast coordinate system with the respective station as an origin according to direction-pitching dimension angle-finding vectors measured by reconnaissance equipment of the two stations in the air or on the ground, then the double-station direction-finding vectors are converted into the same coordinate system by using a coordinate system conversion method, the coordinates of the radiation sources are searched by using a grid search method with the shortest heterofacial straight line distance, and finally the radiation source coordinates searched for multiple times are clustered to obtain optimal positioning coordinates.
Description
Technical Field
The invention relates to an electronic countermeasure reconnaissance technology, in particular to a double-station three-dimensional cross positioning method based on grid search.
Background
The direction-finding cross positioning method is that the direction is measured for many times at different positions through a moving single station, and the intersection of direction-finding vectors measured in time-sharing mode by utilizing the reconnaissance equipment is used for positioning, or the intersection of the direction-finding vectors measured by the reconnaissance equipment in the air or on the ground at the same time is used for positioning. The single-station positioning needs to accumulate a plurality of measurement results for positioning, so the method has low speed and low precision. However, the multi-station direction-finding cross positioning system has the advantages of high speed, long detection distance, high anti-interference capability and the like.
The common direction-finding positioning algorithm is to solve the position information of a radiation source by using a measurement equation set containing target coordinate values, the common method is to simplify a weighted least square positioning algorithm, and the application of the direction-finding cross positioning method in engineering introduces a double-station cross positioning method based on the weighted least square method, so that the problems of large matrix inversion calculation amount, high calculation resource consumption, long radiation source positioning time, difficult engineering realization and the like exist, and the application scene with real-time requirements is difficult to meet. The position information of the radiation source is determined by using the space geometric relation of the direction-finding vectors of the double-station reconnaissance equipment, so that the real-time performance is high, and the engineering implementation is easy.
Disclosure of Invention
The invention provides a grid search-based double-station three-dimensional cross positioning method which is high in instantaneity and convenient for engineering realization.
The technical solution for realizing the invention is as follows: a double-station three-dimensional cross positioning method based on grid search comprises the following steps: and step 1, respectively measuring the azimuth angle and the pitch angle of the radiation source by adopting a passive mode by the reconnaissance equipment of the two stations.
And 2, establishing a northeast coordinate system by using the self-positioning coordinates as the origin of the two stations respectively, and converting the azimuth-pitch angle of the radiation source into the direction-finding vector of the radiation source in the respective coordinate system.
And 3, converting the self-positioning coordinate and the radiation source direction-finding vector of the double station into a geocentric coordinate system through the conversion relation between the northeast sky coordinate system and the geocentric coordinate system.
And 4, establishing a northeast coordinate system by roughly presetting the coordinate position of the radiation source according to the coordinate, and converting the self-positioning coordinate of the double stations in the geocentric coordinate system and the radiation source direction-finding vector into the same coordinate system through the conversion relation between the geocentric coordinate system and the northeast coordinate system.
And 5, calculating the space distance from the grid to the direction-finding vector by dividing grid nodes in the three-dimensional space according to the principle that the distance from the radiation source to the double-station direction-finding vector is shortest, and taking the grid node with the shortest space distance as the positioning coordinate of the secondary radiation source.
And 6, clustering the radiation source positioning coordinates for multiple times by a clustering method based on a least square method to obtain the final radiation source positioning coordinates.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The least square positioning algorithm solves the position information of the radiation source by using a measurement equation set containing target coordinate values, has the problems of large calculation amount, high calculation resource consumption, difficult engineering realization and the like, and is difficult to meet the real-time requirement. The positioning method can quickly position the radiation source through the direction finding result of a group of double stations. Compared with the traditional method for solving the equation set to calculate the radiation source coordinate, the method for dividing the grid nodes to search the radiation source coordinate is convenient for the realization of embedded software.
(2) The spacing of the grid nodes can be selected according to the positioning accuracy requirement. When the radiation source coordinates are estimated, the distance between grid nodes can be set to thousands of meters or even dozens of kilometers, rough radiation source coordinates are given by positioning once in advance, and then fine grid nodes are selected for accurate positioning. The method can be flexibly selected in rough positioning and precise positioning.
(3) The method can adjust the node spacing and the searching range of the searching grid according to the practical engineering application and the positioning precision, and reduce the positioning time of the radiation source. The invention can be realized in microsecond level as soon as possible based on the positioning result of engineering practice, and the positioning result of the radiation source can guide other equipment in the system to perform reconnaissance, interference and the like on the radiation source in real time.
Drawings
Fig. 1 is a flow chart of a grid search-based two-station three-dimensional cross positioning method of the invention.
Fig. 2 is a schematic diagram of a dual site direction-finding cross-location.
Fig. 3 is a diagram of simulation results of a grid search-based two-station three-dimensional cross positioning method.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without inventive step, are within the scope of the present invention.
It should be noted that all directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically defined otherwise.
Technical solutions between the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the scope of the claimed invention.
The following further introduces specific embodiments, technical difficulties and inventions of the present invention with reference to the design examples.
With reference to fig. 1 and fig. 2, a two-station three-dimensional cross location method based on grid search includes the following steps:
step 1, the scouting devices of the two stations respectively scout the directions of the radiation sources,the scouting equipment of the first station and the second station respectively measure the azimuth-pitch angle (beta) of the radiation source by adopting a passive angle measurement mode 1 ,ε 1 )、(β 2 ,ε 2 ) The azimuth-elevation angle measurement error is
e S1 ＝[cosε 1 *sinβ 1 cosε 1 *cosβ 1 sinε 1 ]
e S2 ＝[cosε 2 *sinβ 2 cosε 2 *cosβ 2 sinε 2 ]
And 3, the two direction-finding vectors obtained above are not in a coordinate system, so that calculation is convenient, and the self-positioning coordinates and the direction-finding vectors of the two stations are converted into a coordinate system. Through the conversion relation between the northeast sky coordinate system and the geocentric coordinate system, the self-positioning coordinate S of the first station in the geocentric coordinate system is combined g1 (x g1 y g1 z g1 ) (the self-positioning coordinate is obtained through Beidou positioning), the radiation source direction-finding vector in the northeast coordinate system is converted into the geocentric coordinate system, and the radiation source direction-finding vector of the first station after conversion is e g-S1 ＝[l g1 m g1 n g1 ](ii) a Similarly, according to the self-positioning coordinate S of the second station in the geocentric coordinate system g2 (x g2 y g2 z g2 ) Obtaining a radiation source direction-finding vector e of the second station after conversion g-S2 ＝[l g2 m g2 n g2 ]。l ga Representing the x-direction component of the corresponding coordinate system in the radiation source direction-finding vector of the converted a-th station; m is ga Representing the y-direction component, n, of the corresponding coordinate system in the radiation source direction-finding vector of the converted a-th station ga And a component in the z direction of a corresponding coordinate system in the radiation source direction-finding vector of the a-th site after conversion is represented, and the site serial number a =1,2.
And 4, converting the station coordinates and the direction-finding vectors in the geocentric coordinates into a northeast sky coordinate system for convenience of calculation due to overlarge coordinate values in the geocentric coordinate system. By roughly presetting the coordinate position O = (x) of the radiation source 0 y 0 z 0 ) Or searching a large range once through the positioning method in the text to give a rough radiation source position O = (x) 0 y 0 z 0 ) Establishing a northeast coordinate system by taking the coordinate as an origin, and obtaining a self-positioning coordinate S of a first station point under the northeast coordinate system through the conversion relation between the northeast coordinate system and the geocentric coordinate system O-1 (x O1 y O1 z O1 ) Self-positioning coordinates S of the second station O-2 (x O2 y O2 z O2 ) And the radiation source direction-finding vector e measured by the first station O-S1 ＝[l O1 m O1 n O1 ]And a radiation source direction-finding vector e measured by the second station O-S2 ＝[l O2 m O2 n O2 ]Wherein, l Oa Representing the x-direction component of the corresponding coordinate system in the radiation source direction-finding vector measured by the a-th station; m is Oa Representing the y-direction component, n, of the coordinate system corresponding to the radiation source direction-finding vector measured by the a-th station Oa And a z-direction component of a corresponding coordinate system in a radiation source direction-finding vector measured by the a-th station, wherein the station serial number a =1,2.
And 5, if the two station scout devices have no direction errors, the intersection point of the two direction vectors is the radiation source coordinate. However, it is the case that the station scout apparatus has errors in both the self-positioning coordinates and the azimuth-elevation angle measurements, which results in two direction-finding vectors not intersecting in three-dimensional space. Therefore, according to the principle that the distance between the radiation source coordinates and the direction-finding vectors of two stations is the shortest, grid nodes are divided at equal intervals delta l in a three-dimensional space, the sum of the spatial distances between the grid nodes and the two direction-finding vectors is calculated, and the corresponding grid node when the sum of the spatial distances is the shortest is taken as the search result of the radiation source coordinates. Grid node coordinate T ijk (x i y j z k )，i＝1,2…I，j＝1,2…J，k＝1,2…K。x i ，y j ，z k The step value is delta l, and the values of I, J and K determine the search range of the three-dimensional space.
First site to grid node vector e T-S1 ：
e T-S1 ＝[l i m j n k ]＝[x i -x O1 y j -y O1 z k -z O1 ]；
Calculating the space distance d between the grid node and the direction-finding vector of the first station by adopting the vector cross-multiplication principle 1 ：
Spatial distance d between grid node and direction-finding vector of second station 2 ：
Traversing all grid nodes, and taking d 1 +d 2 Mesh node T corresponding to the minimum value ijk (x i y j z k ) As the current radiation source coordinate T 1 。
The two stations perform N times of cross positioning on the radiation source to obtain N times of positioning results T n (x n y n z n )，n＝1,2,3...N。
Step 6, because the two stations have a large error in the single cross positioning result of the radiation source, this section clusters the radiation source positioning coordinates for N times based on the shortest distance principle to obtain an optimal positioning result, and the process is as follows:
in actual engineering, a direction-finding vector with a large error may appear, and an abnormal positioning result is eliminated firstly. Finding N positioning results T n (x n y n z n ) Mean point of
Calculating and solving N times of positioning results T n To the mean point
A distance l of n According to angle measurement error
And a radiation source to the first site S 1 Of (2) is
Calculating a positioning error
Culling l from empirical values n And the distance between the position coordinate and the abnormal position coordinate is more than or equal to 10 x delta d.
Clustering the rest M positioning coordinates, and solving the distance square sum of each coordinate to other M-1 coordinates
Current coordinate number m 0 M =1,2,3. Finally, take the minimum sum of squares of the distances
Corresponding coordinates
As the optimal radiation source positioning coordinate.
FIG. 3 shows the simulation of the cross-positioning method performed according to the actual measurement results in the engineering, the self-positioning longitude and latitude coordinates (118.913216/180 π,31.955966/180 π, 64.8847) of the first station, the azimuth pitch angle (β 1 ,ε 1 ) = (-9.0 °,9.1 °), self-positioning latitude and longitude coordinates (118.913766/180 x pi, 31.958927/180 x pi, 36.9) of the second station, azimuth and pitch angles (β) 2 ,ε 2 ) = (21 degrees, 11.8 degrees), self-positioning error of station by 5 meters, and direction-finding error of reconnaissance equipment
The grid node distance delta l =2 meters, radiation source coordinates (118.919804/180 x pi, 31.956680/180 x pi, 170) are preset, the radiation sources are subjected to N =100 times of cross positioning by the two stations, the optimal positioning result (18, 22, -1) of the clustered sources is obtained in a northeast coordinate system with radiation as an origin, and the spatial distance error between the clustered sources and the real position (22, 0) is better than 5 meters. The grid searching method in the text is suitable for performing pipelined operation in an FPGA (field programmable gate array), and can complete one-time positioning operation within microsecond-level time.
Claims (2)
1. A double-station three-dimensional cross positioning method based on grid search is characterized by comprising the following steps:
step 1, scouting devices of two stations scout the direction of a radiation source respectively, and the scout devices of a first station and a second station respectively measure the azimuth-pitch angle (beta) of the radiation source by adopting a passive angle measurement mode 1 ,ε 1 )、(β 2 ,ε 2 ) The error of the angle measurement is
Step 2, establishing a northeast coordinate system by using the self-positioning coordinates as the original points of the two stations, setting the azimuth-pitch angle (0 degrees and 0 degrees) of the reconnaissance equipment to point to the true north, and enabling the azimuth-pitch angle (beta) of the radiation source to point to the true north in the coordinate system 1 ,ε 1 )、(β 2 ,ε 2 ) Conversion into direction-finding vector e of radiation source S1 、e S2 ：
e S1 ＝[cosε 1 *sinβ 1 cosε 1 *cosβ 1 sinε 1 ]
e S2 ＝[cosε 2 *sinβ 2 cosε 2 *cosβ 2 sinε 2 ]
Step 3, combining the self-positioning coordinate S of the first station in the earth-centered coordinate system through the conversion relation between the coordinate system of the northeast sky and the earth-centered coordinate system g1 (x g1 y g1 z g1 ) Converting the direction-finding vector of the radiation source in the northeast coordinate system into a geocentric coordinate systemRadiation source direction finding vector e of one station g-S1 ＝[l g1 m g1 n g1 ](ii) a Similarly, according to the self-positioning coordinate S of the second station in the geocentric coordinate system g2 (x g2 y g2 z g2 ) Obtaining a radiation source direction-finding vector e of the second station after conversion g-S2 ＝[l g2 m g2 n g2 ]；l ga Representing the x-direction component of the corresponding coordinate system in the radiation source direction-finding vector of the converted a-th station; m is ga Representing the y-direction component, n, of the corresponding coordinate system in the radiation source direction-finding vector of the converted a-th station ga Representing a z-direction component of a corresponding coordinate system in a radiation source direction-finding vector of the a-th site after conversion, wherein the site serial number a =1,2;
step 4, roughly presetting a radiation source coordinate position O = (x) 0 y 0 z 0 ) Establishing a coordinate system of the northeast of China by taking the coordinate as an origin, and obtaining a self-positioning coordinate S of a first station point under the coordinate system of the northeast of China through the conversion relation between the coordinate system of the northeast of China and the coordinate system of the earth center O-1 (x O1 y O1 z O1 ) Self-positioning coordinates S of the second station O-2 (x O2 y O2 z O2 ) And the radiation source direction-finding vector e measured by the first station O-S1 ＝[l O1 m O1 n O1 ]And a radiation source direction-finding vector e measured by the second station O-S2 ＝[l O2 m O2 n O2 ]Wherein l is Oa Representing the x-direction component of the corresponding coordinate system in the radiation source direction-finding vector measured by the a-th station; m is Oa Representing the y-direction component of the coordinate system corresponding to the radiation source direction-finding vector measured by the a-th site, n Oa A component in the z direction of a corresponding coordinate system in a radiation source direction-finding vector measured by the site a, wherein the site serial number a =1,2;
step 5, dividing grid nodes at equal intervals delta l in a three-dimensional space according to the principle that the distance between a radiation source coordinate and direction-finding vectors of two stations is the shortest, calculating the space distance between a grid and the direction-finding vectors, and taking the corresponding grid node when the space distance is the shortest as a search result of the radiation source coordinate; grid node coordinate T ijk (x i y j z k )，i＝1,2…I，j＝1,2…J，k＝1,2…K；x i ，y j ，z k The stepping values are all delta l, and the values of I, J and K determine the search range of the three-dimensional space;
first site to grid node vector e T-S1 ：
e T-S1 ＝[l i m j n k ]＝[x i -x O1 y j -y O1 z k -z O1 ]；
Calculating the space distance d between the grid node and the direction-finding vector of the first station by adopting the vector cross-multiplication principle 1 ：
Spatial distance d between grid node and direction-finding vector of second station 2 ：
Traversing all grid nodes, and taking d 1 +d 2 Mesh node T corresponding to the minimum value ijk (x i y j z k ) As the current radiation source coordinate T 1 ；
The two stations perform N times of cross positioning on the radiation source to obtain N times of positioning results T n (x n y n z n )，n＝1,2,3…N；
And 6, clustering the radiation source positioning coordinates for N times based on the shortest distance principle to obtain an optimal positioning result.
2. The grid search based two-station three-dimensional cross location method according to claim 1, wherein in step 6, an optimal location result is obtained by clustering the radiation source location coordinates for N times based on the shortest distance principle, which is specifically as follows:
finding N positioning results T n (x n y n z n ) Mean point of
Calculating and solving N times of positioning results T n To the mean point
A distance l of n According to angle measurement error
And the radiation source to the first station S 1 Is a distance of
Calculating a positioning error
Culling l from empirical values n Positioning coordinates of distance abnormality of more than or equal to 10 × Δ d;
clustering the rest M positioning coordinates, and solving the distance square sum of each coordinate to other M-1 coordinates
Taking the minimum sum of squares of distances
And the corresponding coordinates are the optimal radiation source positioning coordinates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211617853.0A CN115792800A (en) | 2022-12-15 | 2022-12-15 | Grid search-based double-station three-dimensional cross positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211617853.0A CN115792800A (en) | 2022-12-15 | 2022-12-15 | Grid search-based double-station three-dimensional cross positioning method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115792800A true CN115792800A (en) | 2023-03-14 |
Family
ID=85425208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211617853.0A Pending CN115792800A (en) | 2022-12-15 | 2022-12-15 | Grid search-based double-station three-dimensional cross positioning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115792800A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116774142A (en) * | 2023-06-13 | 2023-09-19 | 中国电子产业工程有限公司 | Coordinate conversion method in non-equal-altitude double-machine cross positioning |
-
2022
- 2022-12-15 CN CN202211617853.0A patent/CN115792800A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116774142A (en) * | 2023-06-13 | 2023-09-19 | 中国电子产业工程有限公司 | Coordinate conversion method in non-equal-altitude double-machine cross positioning |
| CN116774142B (en) * | 2023-06-13 | 2024-03-01 | 中国电子产业工程有限公司 | Coordinate conversion method in non-equal-altitude double-machine cross positioning |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110837080B (en) | Rapid calibration method of laser radar mobile measurement system | |
| CN108413988B (en) | Method for quickly calibrating coordinate system of theodolite at tail end of robot | |
| CN110926337B (en) | Global measurement data registration method based on multi-vector constraint | |
| CN110470304B (en) | High-precision target positioning and speed measuring method based on unmanned aerial vehicle photoelectric platform | |
| CN109917333B (en) | Passive positioning method integrating AOA observed quantity and TDOA observed quantity | |
| CN107991676B (en) | Troposphere error correction method of satellite-borne single-navigation-pass InSAR system | |
| CN113189541B (en) | Positioning method, device and equipment | |
| CN102221688A (en) | Method for estimating radar system error | |
| CN110738275B (en) | UT-PHD-based multi-sensor sequential fusion tracking method | |
| CN112683307B (en) | Star sensor star point centroid position precision measurement method | |
| CN115792800A (en) | Grid search-based double-station three-dimensional cross positioning method | |
| CN117347945A (en) | Interferometer system direction finding method based on antenna array three-dimensional layout | |
| CN101907461B (en) | Measuration data correlation method for passive multisensor based on angle cotangent value | |
| CN111221016A (en) | Six-antenna short-baseline GNSS rapid orientation device and method | |
| CN110208741B (en) | Beyond-visual-range single target direct positioning method based on multi-circle array phase measurement | |
| CN108205128A (en) | A kind of passive measurement distance method based on long baseline interferometer | |
| CN109856619B (en) | Radar direction finding relative system error correction method | |
| CN111027646B (en) | Unmanned aerial vehicle trace point fusion method based on multisource basic information | |
| CN114705223A (en) | Inertial navigation error compensation method and system for multiple mobile intelligent bodies in target tracking | |
| CN110516349B (en) | ERS point error correction method based on multi-source coordinate fusion | |
| CN108957500B (en) | Method for calculating intersection point of observation sight of sensor and earth surface | |
| Sun et al. | Mosaic research with 3D lidar point cloud of civil aircraft | |
| Fu et al. | Research on self-calibration and adaptive algorithm of positioning base station based on uwb | |
| CN118091536B (en) | Positioning method based on mixed array interferometer | |
| AU2019272339B2 (en) | Triangulation method for determining target position |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |