CN116359901A - 5G external radiation source radar low-altitude target positioning method based on particle filtering - Google Patents
5G external radiation source radar low-altitude target positioning method based on particle filtering Download PDFInfo
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- 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
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- G01S13/06—Systems determining position data of a target
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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
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Abstract
The invention relates to the technical field of external radiation source radar positioning, in particular to a 5G external radiation source radar low-altitude target positioning method based on particle filtering, which comprises the following steps: s1, synchronizing signals between receiving stations and transmitting stations; s2, echo signal processing; s3, establishing a target state transition model and a measurement model; s4, initializing particles; s5, calculating pseudo-range errors between the target and the transceiver station; s6, updating the weight of the particles; s7, resampling particles; s8, extracting a target state. According to the invention, a time difference-based positioning method is adopted to obtain pseudo-range information, pseudo-range errors between a target and a 5G base station and a receiving station which participate in positioning are used as measurement values, the received echo signals are processed to obtain preliminary positioning and the pseudo-range information is used as priori information, a target state transition model and a measurement model are constructed, the position of the target to be measured is estimated through a particle filtering algorithm, the target positioning is finally realized, and the influence of clutter and interference on the target positioning in a low-altitude complex environment is reduced.
Description
Technical Field
The invention relates to the technical field of external radiation source radar positioning, in particular to a 5G external radiation source radar low-altitude target positioning method based on particle filtering.
Background
In recent years, the rapid development of low-altitude targets such as unmanned aerial vehicles brings a certain threat to the safety of the low-altitude field, and the detection and positioning of the targets are key links for supervision and treatment of the low-altitude field.
The external radiation source radar does not emit electromagnetic wave signals, but utilizes the third party radiation source signals to realize the detection of targets, and compared with the traditional radar, the external radiation source radar has the advantages of strong concealment, low cost, strong anti-interference capability, environmental friendliness, spectrum resource saving and the like, and gradually becomes one of important sensing means for target detection.
Compared with the traditional opportunity irradiation sources such as frequency modulation signals, the 5G signals have the advantages of wider bandwidth, higher carrier frequency and the like, and meanwhile, the dense distribution of the 5G base stations enables the coverage range of the signals to be wider, and multi-angle and full-range target irradiation can be realized, so that the detection and positioning of low-altitude targets are realized by utilizing the existing 5G base station facilities, and the method has certain advantages.
The particle filtering is an optimal regression Bayesian filtering algorithm based on Monte Carlo simulation, and the core of the particle filtering algorithm is that a concerned state vector is expressed as a group of random samples with related weights, namely particles, on the basis of measurement, samples which obey actual distribution are obtained by adjusting the weight size and the position of the particles, and the average value of the samples is used as a system state estimation value. The particle filter is used as an effective nonlinear filtering algorithm, has the advantages of high precision, fast convergence, no need of linearization processing of a state equation and the like, is not limited by linearization errors and Gaussian environment, and is suitable for the condition that a system equation is nonlinear and noise is non-Gaussian.
Common positioning methods for multi-station external radiation source radar include DOA positioning, TDOA positioning, FDOA positioning and the like, and positioning ambiguity can occur when the methods are directly used for positioning a target in a complex low-altitude environment with low signal-to-noise ratio.
Disclosure of Invention
The invention aims to provide a 5G external radiation source radar low-altitude target positioning method based on particle filtering so as to solve the problems in the background technology.
The technical scheme of the invention is as follows: A5G external radiation source radar low-altitude target positioning method based on particle filtering comprises the following steps:
s1, signal synchronization between receiving stations: high-precision time synchronization of signals among all the receiving and transmitting stations participating in positioning is realized through a fiber channel;
s2, echo signal processing: the signal receiving end of the external radiation source radar system respectively receives the direct wave and the target echo signal by adopting a reference channel and a monitoring channel, and processes the received signal to obtain the time difference between the direct wave and the target echo;
s3, establishing a target state transition model and a measurement model: taking the position coordinate of the target to be measured at the moment k as a state quantity, and the pseudo-range error delta rho between the target at the moment k and the transceiver station i,k Constructing a state transition model and a measurement model of a target to be measured as measurement values;
s4, initializing particles: constructing a set of N particles consisting of particle states and particle weights, and initializing the particles;
s5, calculating pseudo-range errors between the target and the transceiver station: calculating pseudo-range information between a transceiver station and a target to be detected by adopting an arrival time difference positioning method and by using a direct wave obtained by echo signal processing and a target echo time difference, and calculating pseudo-range error by combining a target estimated position;
s6, updating the weight of the particles: updating the weight of the generated particles by the obtained measurement data set and calculating the normalized weight of the particles;
s7, resampling particles: describing the starvation degree of the particles by using the effective particle number, comparing the starvation degree with the threshold particle number, resampling the particles if the starvation degree is smaller than the threshold particle number, and ending the cycle if the starvation degree is smaller than the threshold particle number;
s8, extracting a target state: and extracting the target state from the particle set to obtain the low-altitude target position after positioning optimization.
Preferably, S3 comprises setting the state of the target at the kth time to x k Its state transition model can be expressed as: x is x k ＝f k (x k-1 )+v k ，
Wherein f k (.) a state transfer function representing the kth time, v k Representing motion process noise; the measurement model expression corresponding to the kth moment of the target is: z k ＝h k (x k )+w k ，
Wherein h is k (.) represents a measurement function at the kth time, w k Representing measurement noise, taking the k moment target P u Position coordinate x of (2) k ＝[x u,k ,y u,k ,z u,k ] T Is a state quantity, wherein x u,k ,y u,k ,z u,k A spatial coordinate point of a target to be measured at the kth moment;
taking a pseudo-range error data set between a 5G base station and a receiving station participating in positioning at the kth moment
Is a measurement value, wherein N sta For the number of base stations participating in the positioning at the kth time, Δρ i,k Pseudo-range error between the target and the i-th group transceiver station;
from the observation starting time to the kth time, the state set of the object to be measured is X 1:k ＝{x 1 ,x 2 ,L,x k Z is the set of measurement values k ＝{z 1 ,z 2 ,L,z k }。
Preferably, S4 comprises, in particular, constructing and initializing a collection of N particles
Wherein->
Indicating the state of the ith particle at the initial moment,/->
The weight of the particle at this time is expressed as follows:
preferably, S5 comprises at time k, the external radiation source radar positioning system consisting of N involved in positioning sta The method comprises the following steps of:
s51, taking the position coordinate of the target to be detected at the moment k as a state quantity, and the pseudo-range error Deltaρ between the target at the moment k and the transceiver station i,k Modeling the measurement values: the position coordinates of the 5G base stations participating in positioning at the kth moment are respectively P 1 (x 1 ,y 1 ,z 1 ),P 2 (x 2 ,y 2 ,z 2 ),L,
Pseudo-ranges between the target and the target are respectively l 1,k ,l 2,k ,L,/>
The position coordinate of the receiving station is P r (x r ,y r ,z r ) Pseudo-range between the target and the target is l r,k The sum of the pseudoranges of the 5G base station and the receiving station involved in the positioning can be expressed as: ρ i,k ＝l i,k +l r,k i＝1,2,L,N sta ；
S52, constructing a state transition model of the target to be detected: the distance between the base station and the receiving station is d respectively 1 ,d 2 ,L,
The position coordinate of the target to be measured is P u (x u,k ,y u,k ,z u,k ) The time difference between the direct wave and the target echo obtained by echo signal processing is delta tau 1,k ,Δτ 2,k ,L,/>
The light velocity is denoted by c and is based on the relation Deltaτ i,k ×c＝ρ i,k -d i i＝1,2,L,N sta The sum of the pseudo ranges between the 5G base station to be involved in positioning and the receiving station at time k can be expressed as: ρ i,k ＝Δτ i,k ×c+d i i＝1,2,L,N sta ；
S53, constructing a measurement model of the target to be measured: due to the existence of measurement noise, a plurality of possible target positions are obtained according to the spatial position geometrical relationship, and the coordinate values of all the obtained possible target positions are averaged to be used as initial target estimated positions, and then the target estimated positions are obtained
The sum of the pseudoranges between the 5G base station and the receiving station at the participating position fix can be expressed as: />
The pseudorange error may be expressed as:
s54, outputting a pseudo-range error measurement set at the kth moment: finally, a pseudo-range error measurement set measured by a plurality of stations at the kth moment is obtained as follows:
preferably, S6 comprises in particular the measurement data set obtained from
The weight of the generated particles is updated as follows: />
Wherein,,
as likelihood function +.>
As an important density function>
As a priori density function, if an important density function +.>
And a priori density function->
Equal, then the particle weights can be expressed as: />
In a low-altitude environment, assuming that the pseudo-range errors between each station and the target are independent of each other, the likelihood function can be expressed as:
then, the particle weight can be expressed as:
the normalized particle weights can be expressed as:
preferably, S7 includes describing the degree of particle starvation using the effective particle count as an index, and the estimated value may be expressed as:
the threshold particle count estimate may be expressed as:
if N eff ＜N th Resampling the particles, otherwise recording the effective particle group, letting
Preferably, S8 comprises a compound of formula
Extracting target state x k ＝[x u,k ,y u,k ,z u,k ] T Obtaining the low-altitude target position P after positioning optimization u (x u,k ,y u,k ,z u,k ) And (3) coordinates, repeating the process until the target track is ended.
The invention provides a 5G external radiation source radar low-altitude target positioning method based on particle filtering by improving, which has the following improvement and advantages compared with the prior art:
according to the invention, a time difference-based positioning method is adopted to obtain pseudo-range information, pseudo-range errors between a target and a 5G base station and a receiving station which participate in positioning are used as measurement values, the received echo signals are processed to obtain preliminary positioning and the pseudo-range information is used as priori information, a target state transition model and a measurement model are constructed, the position of the target to be measured is estimated through a particle filtering algorithm, the target positioning is finally realized, and the influence of clutter and interference on the target positioning in a low-altitude complex environment is reduced.
Drawings
The invention is further explained below with reference to the drawings and examples:
FIG. 1 is a schematic diagram of a 5G external radiation source radar multi-station single target positioning of the present invention;
FIG. 2 is a flow chart of a positioning method of the present invention;
fig. 3 is a flow chart of the particle filter algorithm of the present invention.
Detailed Description
The following detailed description of the present invention clearly and fully describes the technical solutions of the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a method for locating a low-altitude target of a 5G external radiation source radar based on particle filtering by improving the method, which comprises the following steps:
as shown in fig. 1-3, a method for locating a target in a low altitude of a 5G external radiation source radar based on particle filtering comprises the following steps:
s1, signal synchronization between receiving stations: high-precision time synchronization of signals among all the receiving and transmitting stations participating in positioning is realized through a fiber channel;
s2, echo signal processing: the signal receiving end of the external radiation source radar system respectively receives the direct wave and the target echo signal by adopting a reference channel and a monitoring channel, and processes the received signal to obtain the time difference between the direct wave and the target echo;
s3, establishing a target state transition model and a measurement model: taking the position coordinate of the target to be measured at the moment k as a state quantity, wherein the pseudo-range error between the target at the moment k and the transceiver station is Deltaρ i,k Measuring value, constructing a state transition model and a measuring model of the object to be measured, specifically, setting the state of the object at the kth moment as x k Its state transition model can be expressed as: x is x k ＝f k (x k-1 )+v k ，
Wherein f k (.) a state transfer function representing the kth time, v k Representing motion process noise; the measurement model expression corresponding to the kth moment of the target is: z k ＝h k (x k )+w k ，
Wherein h is k (-) represents the measurement function at time, w k Representing measurement noise, taking the k moment target P u Position coordinate x of (2) k ＝[x u,k ,y u,k ,z u,k ] T Is a state quantity, wherein x u,k ,y u,k ,z u,k A spatial coordinate point of a target to be measured at the kth moment;
taking a pseudo-range error data set between a 5G base station and a receiving station participating in positioning at the kth moment
Is a measurement value, wherein N sta To participate in the kth momentNumber of base stations of bits Δρ i,k Pseudo-range error between the kth moment target and the ith group of transceiver stations;
from the observation starting time to the kth time, the state set of the object to be measured is X 1:k ＝{x 1 ,x 2 ,L,x k Z is the set of measurement values k ＝{z 1 ,z 2 ,L,z k }；
S4, initializing particles: constructing and initializing a set of N particles composed of particle states and particle weights, specifically, constructing and initializing a set containing N particles
Wherein->
Indicating the state of the ith particle at the initial moment,/->
The weight of the particle at this time is expressed as follows: />
S5, calculating pseudo-range errors between the target and the transceiver station: by adopting an arrival time difference positioning method, calculating pseudo-range information between a receiving and transmitting station and a target to be detected by using a direct wave obtained by echo signal processing and a target echo time difference, and calculating pseudo-range error by combining a target estimated position, wherein in particular, at the kth moment, an external radiation source radar positioning system comprises N participating in positioning sta The method comprises the following steps of:
s51, taking the position coordinate of the target to be detected at the moment k as a state quantity, and the pseudo-range error Deltaρ between the target at the moment k and the transceiver station i,k Modeling the measurement values: the position coordinates of the 5G base stations participating in positioning at the kth moment are respectively P 1 (x 1 ,y 1 ,z 1 ),P 2 (x 2 ,y 2 ,z 2 ),L,
Pseudo-ranges between the target and the target are respectively l 1,k ,l 2,k ,L,/>
The position coordinate of the receiving station is P r (x r ,y r ,z r ) Pseudo-range between the target and the target is l r,k The sum of the pseudoranges of the 5G base station and the receiving station involved in the positioning can be expressed as: ρ i,k ＝l i,k +l r,k i＝1,2,L,N sta ；
S52, constructing a state transition model of the target to be detected: the distance between the base station and the receiving station is d respectively 1 ,d 2 ,L,
The position coordinate of the target to be measured is P u (x u,k ,y u,k ,z u,k ) The time difference between the direct wave and the target echo obtained by echo signal processing is delta tau 1,k ,Δτ 2,k ,L,/>
The light velocity is denoted by c and is based on the relation Deltaτ i,k ×c＝ρ i,k -d i i＝1,2,L,N sta The sum of the pseudo ranges between the 5G base station to be involved in positioning and the receiving station at time k can be expressed as: ρ i,k ＝Δτ i,k ×c+d i i＝1,2,L,N sta ；
S53, constructing a measurement model of the target to be measured: due to the existence of measurement noise, a plurality of possible target positions are obtained according to the spatial position geometrical relationship, and the coordinate values of all the obtained possible target positions are averaged to be used as initial target estimated positions, and then the target estimated positions are obtained
The sum of the pseudoranges between the 5G base station and the receiving station at the participating position fix can be expressed as: />
The pseudorange error may be expressed as:
s54, outputting a pseudo-range error measurement set at the kth moment: finally, a pseudo-range error measurement set measured by a plurality of stations at the kth moment is obtained as follows:
s6, updating the weight of the particles: updating the weight of the generated particles by the obtained measurement data set and calculating the normalized particle weight, wherein the method specifically comprises the steps of obtaining the measurement data set
The weight of the generated particles is updated as follows: />
Wherein,,
as likelihood function +.>
As an important density function>
As a priori density function, if an important density function +.>
And a priori density function->
Equal, then the particle weights can be expressed as: />
In a low-altitude environment, assuming that the pseudo-range errors between each station and the target are independent of each other, the likelihood function can be expressed as:
then, the particle weight can be expressed as:
the normalized particle weights can be expressed as:
s7, resampling particles: the effective particle number is used for describing the starvation degree of the particles and comparing the starvation degree with the threshold particle number, if the effective particle number is smaller than the threshold particle number, resampling the particles, otherwise ending the cycle, specifically, using the effective particle number as an index for describing the starvation degree of the particles, wherein the estimated value can be expressed as follows:
the threshold particle count estimate may be expressed as:
if N eff ＜N th Resampling the particles, otherwise recording the effective particle group, letting
S8, extracting a target state: extracting target state from particle set to obtain low-altitude target position after positioning optimization, specifically, the method is represented by the formula
Extracting target state x k ＝[x u,k ,y u,k ,z u,k ] T Obtaining the low-altitude target position P after positioning optimization u (x u,k ,y u,k ,z u,k ) And (3) coordinates, repeating the process until the target track is ended.
Based on the method, a time difference-based positioning method is adopted to obtain pseudo-range information, pseudo-range errors between a target and a 5G base station and a receiving station which participate in positioning are used as measurement values, the received echo signals are processed to obtain preliminary positioning and the pseudo-range information is used as priori information, a target state transition model and a measurement model are constructed, the position of a target to be detected is estimated through a particle filtering algorithm, the target positioning is finally achieved, and the influence of clutter and interference on the target positioning in a low-altitude complex environment is reduced.
The previous description is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A5G external radiation source radar low-altitude target positioning method based on particle filtering is characterized by comprising the following steps of: the method comprises the following steps:
s1, signal synchronization between receiving stations: high-precision time synchronization of signals among all the receiving and transmitting stations participating in positioning is realized through a fiber channel;
s2, echo signal processing: the signal receiving end of the external radiation source radar system respectively receives the direct wave and the target echo signal by adopting a reference channel and a monitoring channel, and processes the received signal to obtain the time difference between the direct wave and the target echo;
s3, establishing a target state transition model and a measurement model: taking the position coordinate of the target to be measured at the moment k as a state quantity, and the pseudo-range error delta rho between the target at the moment k and the transceiver station i,k For measuring value, constructing target to be measuredState transition model and measurement model of (a);
s4, initializing particles: constructing a set of N particles consisting of particle states and particle weights, and initializing the particles;
s5, calculating pseudo-range errors between the target and the transceiver station: calculating pseudo-range information between a transceiver station and a target to be detected by adopting an arrival time difference positioning method and by using a direct wave obtained by echo signal processing and a target echo time difference, and calculating pseudo-range error by combining a target estimated position;
s6, updating the weight of the particles: updating the weight of the generated particles by the obtained measurement data set and calculating the normalized weight of the particles;
s7, resampling particles: describing the starvation degree of the particles by using the effective particle number, comparing the starvation degree with the threshold particle number, resampling the particles if the starvation degree is smaller than the threshold particle number, and ending the cycle if the starvation degree is smaller than the threshold particle number;
s8, extracting a target state: and extracting the target state from the particle set to obtain the low-altitude target position after positioning optimization.
2. The method for locating the low-altitude target of the 5G external radiation source radar based on particle filtering according to claim 1, wherein the method comprises the following steps: the S3 comprises setting the state of the target at the kth moment as x k Its state transition model can be expressed as:
x k ＝f k (x k-1 )+v k ，
wherein f k (.) a state transfer function representing the kth time, v k Representing motion process noise; the measurement model expression corresponding to the kth moment of the target is:
z k ＝h k (x k )+w k ，
wherein h is k (.) represents a measurement function at the kth time, w k Representing measurement noise, taking the k moment target P u Position coordinate x of (2) k ＝[x u,k ,y u,k ,z u,k ] T Is a state quantity, wherein x u,k ,y u,k ,z u,k A spatial coordinate point of a target to be measured at the kth moment;
taking a pseudo-range error data set between a 5G base station and a receiving station participating in positioning at the kth moment
Is a measurement value, wherein N sta For the number of base stations participating in the positioning at the kth time, Δρ i,k Pseudo-range error between the kth time and the ith group of transceiver stations;
from the observation starting time to the kth time, the state set of the object to be measured is X 1:k ＝{x 1 ,x 2 ,L,x k Z is the set of measurement values k ＝{z 1 ,z 2 ,L,z k }。
3. The method for locating the low-altitude target of the 5G external radiation source radar based on particle filtering according to claim 2, wherein the method comprises the following steps: the S4 specifically comprises constructing and initializing a collection of N particles
Wherein the method comprises the steps of
Indicating the state of the ith particle at the initial moment,/->
The weight of the particle at this time is expressed as follows:
4. a method for locating a target in a low altitude of a 5G external radiation source radar based on particle filtering according to claim 3, wherein: the S5 comprises that at the kth time, the external radiation source radar positioning system consists of N participating in positioning sta The 5G base station and the receiving station comprise the following specific steps ofThe steps are as follows:
s51, taking the position coordinate of the target to be detected at the moment k as a state quantity, and the pseudo-range error Deltaρ between the target at the moment k and the transceiver station i,k Modeling the measurement values: the position coordinates of the 5G base stations participating in positioning at the kth moment are respectively P 1 (x 1 ,y 1 ,z 1 ),P 2 (x 2 ,y 2 ,z 2 ),L,
Pseudo-ranges between the target and the target are respectively l 1,k ,l 2,k ,L,/>
The position coordinate of the receiving station is P r (x r ,y r ,z r ) Pseudo-range between the target and the target is l r,k The sum of the pseudoranges of the 5G base station and the receiving station involved in the positioning can be expressed as:
ρ i,k ＝l i,k +l r,k i＝1,2,L,N sta ；
s52, constructing a state transition model of the target to be detected: the distance between the base station and the receiving station is d respectively 1 ,d 2 ,L,
The position coordinate of the target to be measured is P u (x u,k ,y u,k ,z u,k ) The time difference between the direct wave and the target echo obtained by echo signal processing is delta tau 1,k ,Δτ 2,k ,L,/>
The light velocity is denoted by c and is based on the relation Deltaτ i,k ×c＝ρ i,k -d i i＝1,2,L,N sta The sum of the pseudo ranges between the 5G base station to be involved in positioning and the receiving station at time k can be expressed as:
ρ i,k ＝Δτ i,k ×c+d i i＝1,2,L,N sta ；
s53, structure of the object to be testedTarget measurement model: due to the existence of measurement noise, a plurality of possible target positions are obtained according to the spatial position geometrical relationship, and the coordinate values of all the obtained possible target positions are averaged to be used as initial target estimated positions, and then the target estimated positions are obtained
The sum of the pseudoranges between the 5G base station and the receiving station at the participating position fix can be expressed as:
the pseudorange error may be expressed as:
s54, outputting a pseudo-range error measurement set at the kth moment: finally, a pseudo-range error measurement set measured by a plurality of stations at the kth moment is obtained as follows:
5. the method for locating the low-altitude target of the 5G external radiation source radar based on the particle filtering according to claim 4, wherein the method comprises the following steps: the S6 specifically comprises the measurement data set obtained by the method
The weight of the generated particles is updated as follows:
wherein,,
as likelihood function +.>
As an important density function>
As a priori density function, if an important density function +.>
And a priori density function->
Equal, then the particle weights can be expressed as:
in a low-altitude environment, assuming that the pseudo-range errors between each station and the target are independent of each other, the likelihood function can be expressed as:
then, the particle weight can be expressed as:
the normalized particle weights can be expressed as:
6. the method for locating the low-altitude target of the 5G external radiation source radar based on particle filtering according to claim 5, wherein the method comprises the following steps: the step S7 includes describing the starvation degree of the particles by using the effective particle number as an index, and the estimated value can be expressed as:
the threshold particle count estimate may be expressed as:
if N eff ＜N th Resampling the particles, otherwise recording the effective particle group, letting
7. The method for locating the low-altitude target of the 5G external radiation source radar based on particle filtering according to claim 6, wherein the method comprises the following steps: the S8 comprises a formula
Extracting target state x k ＝[x u,k ,y u,k ,z u,k ] T Obtaining the low-altitude target position P after positioning optimization u (x u,k ,y u,k ,z u,k ) And (3) coordinates, repeating the process until the target track is ended.
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