CN117347945B - Interferometer system direction finding method based on antenna array three-dimensional layout - Google Patents
Interferometer system direction finding method based on antenna array three-dimensional layout Download PDFInfo
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
Abstract
The invention discloses a direction finding method of an interferometer system based on three-dimensional layout of an antenna array, which adopts a 3-channel three-dimensional space array mode and realizes estimation of an arrival azimuth angle and a pitch angle of a radiation source by measuring the phase difference between signals of the radiation source and an interferometer antenna. Firstly, determining the maximum fuzzy number by utilizing the base line length and the radiation source signal frequency, determining the phase difference value range of the interferometer according to the maximum fuzzy number, traversing each fuzzy number to determine the initial value of the direction vector, and then carrying out least square iteration to improve the estimation precision of the direction vector; and finally, deblurring by a correlation interferometer method, determining the arrival azimuth angle and the pitch angle of the radiation source, and further realizing the position estimation of the radiation source. The method realizes the direction finding of the antenna array element space three-dimensional layout interferometer system, and can obtain higher disambiguation probability and direction finding precision.
Description
Technical Field
The invention belongs to a radiation source monitoring and positioning technology, and particularly relates to an interferometer system direction finding method based on antenna array three-dimensional layout.
Background
The passive positioning technology for the non-cooperative radiation source has important application value in the fields of electronic monitoring, early warning detection and the like. The angle information with high precision can be obtained by using the long baseline interferometer direction-finding positioning system, and the interferometer direction-finding adaptation signal is wide in type, so that the interferometer direction-finding positioning system is widely applied to the fields of electronic monitoring and the like.
In the existing interferometer direction-finding system and the published academic paper, the theoretical model of the interferometer direction-finding system is built in such a way that antenna array elements are distributed in a two-dimensional plane, and the developed direction-finding algorithm is only suitable for the two-dimensional plane layout mode of the antenna array. In order to obtain higher direction-finding performance, the length of the base line of the interferometer direction-finding system is increased, the distance between antenna array elements is often required to be increased to a plurality of meters or even tens of meters, the flatness of an antenna mounting surface is difficult to ensure, at the moment, the antenna array elements are distributed in a three-dimensional space, the fuzzy probability and the direction-finding precision are rapidly reduced by adopting the existing direction-finding solution method, and the use requirement of the system is difficult to meet.
The document "baseline configuration technique in interferometer direction finding system" (radio engineering, volume 44, phase 4) describes a two-dimensional in-plane interferometer baseline design method and gives a progressive-solution ambiguity direction finding method.
The literature (improved correlation interferometer direction-finding processing method) (33 rd edition of the university of western electronic technology university) provides an improved correlation interferometer direction-finding processing method, solves the problem that the phase difference jumps at the boundary of a main value interval, and can adapt to an interferometer system with three-dimensional space layout of antenna array elements, but the algorithm needs to search fuzzy intervals one by one, so that the calculation amount of the long baseline interferometer system is large, and the engineering implementation is difficult.
The document "design method of multi-baseline phase interferometer" (electronic information countermeasure technology, 23 rd edition, 4 th edition) describes a design method of interferometer antenna array baseline, which assumes that antenna array elements are distributed in a two-dimensional plane and are distributed in a linear manner, and can adopt a step-by-step fuzzy direction finding algorithm.
The literature (multiple hypothesis NLS positioning algorithm based on the fuzzy phase difference of the rotating interferometer) (electronic and information journal volume 34, phase 4) provides a rotating long baseline positioning system aiming at a traditional long baseline positioning system, and the system can realize the non-fuzzy direction finding positioning only by two receiving channels. The algorithm needs to compare all fuzzy phase differences with actual measured phase differences one by one, is large in calculated amount and engineering realization difficulty, and needs a plurality of pulses to realize direction finding, so that the algorithm has certain limitation.
Disclosure of Invention
The invention provides a direction-finding method of an interferometer system based on three-dimensional layout of an antenna array, which solves the problems of low ambiguity resolution probability and large direction-finding error of the existing direction-finding algorithm when the antenna array elements of the interferometer are distributed in a three-dimensional space.
The technical scheme for realizing the invention is as follows: an interferometer system direction finding method based on antenna array three-dimensional layout is characterized by comprising the following steps:
step 1, setting a space three-dimensional layout antenna array, receiving a radiation source signal by utilizing an interferometer antenna to obtain a phase difference, and turning to step 2.
And step 2, calculating the maximum fuzzy number of the phase difference according to the base line length, and switching to step 3.
And step 3, determining the value range of the phase difference fuzzy number of the interferometer according to the maximum fuzzy number, and turning to step 4.
And step 4, traversing each group of fuzzy number values, calculating the initial value of the direction vector, and turning to step 5.
And 5, performing least square iteration, improving the estimation accuracy of the direction vector, and switching to the step 6.
And 6, calculating azimuth angle and pitch angle through the direction vector.
Compared with the prior art, the invention has the remarkable advantages that: the invention utilizes the signal phase difference of the radiation source received by the multiple array elements to realize the direction finding of the interferometer system with the spatial three-dimensional layout of the antenna array elements, and compared with the traditional multichannel direction finding method, the invention can obtain higher ambiguity resolution probability and direction finding precision and solve the problem of the installation of the antenna array of the interferometer direction finding system in engineering.
Drawings
Fig. 1 is a schematic diagram of a three-dimensional layout of an antenna array element according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by one of ordinary skill in the art without creative efforts, are within the scope of the present invention based on the embodiments of the present invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to base that the technical solutions can be implemented by those skilled in the art, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered to be absent, and not included in the scope of protection claimed in the present invention.
The following describes the specific embodiments, technical difficulties and inventions of the present invention in further detail in connection with the present design examples.
In practical engineering application, in order to obtain a high-precision direction-finding result, the length of a base line is often set to be several meters, the flatness of an antenna mounting surface is difficult to ensure, at the moment, the height difference exists among antenna array elements, namely, the antenna array forms a three-dimensional space layout, and the conventional interferometer direction-finding algorithm is only suitable for the two-dimensional condition of the plane of the antenna array. The invention provides a direction finding method of an interferometer system based on three-dimensional layout of an antenna array, which is suitable for the three-dimensional layout situation of the antenna array of the interferometer direction finding system, as shown in figure 1, 3 antenna array elements are arranged, and the installation heights of the antenna array elements are different to form a three-dimensional layout interferometer. Taking the first antenna element 1 as a reference, the height difference exists between the second antenna element 2 and the first antenna element 1, and the height difference is recorded asThe third antenna element 3 has a height difference from the first antenna element 1, denoted +.>. After the antenna receives the radiation source signals, the phase difference between every two antenna array elements is measured, so that the ambiguity resolution and direction finding are completed. Calculating the maximum fuzzy number according to the base line length and the radiation source signal frequency, calculating a direction vector initial value according to each fuzzy number, and carrying out least square iteration to obtain an accurate direction vector; and finally, calculating to obtain an azimuth angle and a pitch angle.
The invention provides an interferometer system direction finding method based on antenna array three-dimensional layout, which comprises the following steps:
step 1, setting 3 antenna array elements in an interferometer direction-finding system, wherein the antenna array element mounting heights are different, as shown in fig. 1. Taking the first antenna element 1 as a reference, the height difference exists between the second antenna element 2 and the first antenna element 1, and the height difference is recorded asThe third antenna element 3 has a height difference from the first antenna element 1, denoted +.>. The 3 antenna array elements form a three-dimensional space layout interferometer direction-finding system.
The first antenna array element 1 and the second antenna array element 2 form a group of interferometers, which are denoted as an A interferometer, and a first phase difference is measuredThe method comprises the steps of carrying out a first treatment on the surface of the The first antenna array element 1 and the third antenna array element 3 form a group of interferometers, which are denoted as B interferometers, and the second phase difference is measured>。
Step 2, calculating the maximum fuzzy number of the phase difference according to the base line length, wherein the maximum fuzzy number is as follows:
the maximum number of ambiguities of the phase difference is calculated from the baseline length,，/>a maximum number of modes for the first phase difference; />A baseline length for the a interferometer; />A maximum number of modes for the second phase difference; />Is the baseline length of the interferometer B; />Is the radiation source signal wavelength.
Step 3, determining the range of the phase difference fuzzy number of the interferometer according to the maximum fuzzy number, wherein the range is specifically as follows:
according to the maximum modulus of ruptureDetermining the value range of phase difference fuzzy number of an interferometer A, and the minimum value isMaximum->Step 1; b interferometer phase difference fuzzy number minimum value is +.>Maximum->The step is 1.
Step 4, traversing each group of fuzzy number values, and calculating a direction vector initial value, wherein the method comprises the following steps of:
traversing each group of fuzzy number values of the interferometer A and the interferometer B respectively, calculating initial values of the direction vectors, and calculating togetherAnd twice.
The fuzzy number of phase difference of A interferometer isThe corresponding third phase difference is +.>，/>The value range is at least ∈>Maximum->Step 1; b interferometer phase difference blur number is +.>The fourth phase difference corresponding to the time is +.>，/>Minimum value range->Maximum->The step is 1.
Direction vectorIs that
，
，
Wherein,as a matrix of the base lines,as a direction vector, a direction vector is used,is the wavelength of the signal) Is the first antenna array element 1 coordinate, the first antenna array element is the first antenna array element 1 coordinate) Is the coordinates of the second antenna array element 2) And 3 coordinates of a third antenna array element.
And 5, carrying out least square iteration to improve the estimation precision of the direction vector, wherein the method comprises the following steps of:
vector the directionSetting the initial value of least square iteration, and starting iterative calculation:
，
representing the direction vector estimate, will +.>Carrying out phase difference prediction value calculation:
，
wherein the method comprises the steps ofFor the A interferometer predictive value, < >>Is the predicted value of the B interferometer.
Calculated atJacobian matrix J:
，
wherein,representing the first row of the baseline matrix, +.>Representing a second row of the baseline matrix; />Representation->Is the first element of (a); />Representation->Is a second element of (2); />Representing a matrix-to-rank operation.
Updating an estimate：
，
With the latest estimated valueAs iteration input, iterating for 3-5 times, and finally outputting the result as the target position estimated value.
Step 6, calculating azimuth angle and pitch angle through the direction vector, wherein the method specifically comprises the following steps:
，
，
the first element representing the direction vector, +.>A second element representing a direction vector, +.>Indicating azimuth angle, ++>Representing pitch angle.
The invention will be described in further detail with reference to examples.
Referring to fig. 1, an interferometer system direction finding method based on antenna array three-dimensional layout includes the following steps:
step 1, setting 3 antenna array elements, wherein the coordinates of a first antenna array element 1 are as followsThe coordinates of the second antenna array element 2 are +.>The coordinates of the third antenna array element 3 areThe method comprises the steps of carrying out a first treatment on the surface of the Setting the signal frequency of a radiation source to be 9400MHz, azimuth angle 77.9755062211736 degrees, pitch angle 48.7343563010608 degrees and phase difference +.>Is-98.1424 DEG; b phase difference measured by interferometer>27.3366 deg..
Step 2, calculating the maximum fuzzy number according to the base line length,for the baseline length of the A interferometer, calculated as 0.3685m, frequency 9400MHz, signal wavelength of 0.0319m, the maximum A interferometer ambiguity count calculated as +.>=11；/>For the baseline length of the interferometer B, the baseline length of the interferometer B is calculated to be 0.3685m, the frequency is 9400MHz, the signal wavelength is 0.0319m, and the maximum A/D of the baseline B of the interferometer is=11。
Step 3, determining the value range of the phase difference fuzzy number of the interferometer A according to the maximum fuzzy number, wherein the minimum value is-11, the maximum value is 11, and the step is 1; the minimum value of the phase difference fuzzy number of the interferometer B is-11, the maximum value of the phase difference fuzzy number of the interferometer B is 11, and the step is 1.
Step 4, traversing each group of fuzzy values of the interferometer A and the interferometer B, calculating initial values of the direction vectors, and calculating togetherAnd twice. When the A interferometer blur number is +.>= -11, its phase difference ∈11>4058.1 °; when the ambiguity of the B interferometer is-11, its phase difference is +.>At-3932.7 °, the direction vector is calculated as:
，
，/>is a direction vector.
And 5, carrying out least square iteration, and improving the estimation accuracy of the direction vector.
The direction vector obtained in step 4Setting the initial value of least square iteration, and starting iterative calculation:
，
representing the direction vector estimate, will +.>Carrying out phase difference prediction value calculation:
，
wherein the method comprises the steps ofFor the A interferometer predictive value, < >>Is the predicted value of the B interferometer.
Calculated atFabry-Perot matrix
，
Updating an estimate
，
With the latest estimated valueAs iteration input, repeating the above steps for 3-5 times. After traversing all fuzzy numbers of the interferometer base line, selecting the estimated value with the minimum cost function as a final result to be output.
And 6, calculating azimuth angle and pitch angle through the direction vector.
，
Indicating azimuth angle, ++>Representing pitch angle. The true value errors of the pitch angle 48.7343563010608 degrees with the azimuth angle 77.9755062211736 degrees are 0.0577 degrees and 0.0878 degrees respectively, and the direction finding result meets the design requirement.
Claims (5)
1. An interferometer system direction finding method based on antenna array three-dimensional layout is characterized by comprising the following steps:
step 1, setting a space three-dimensional layout antenna array, receiving a radiation source signal by utilizing an interferometer antenna to obtain a phase difference, and turning to step 2;
step 2, calculating the maximum fuzzy number of the phase difference according to the base line length, and turning to step 3;
step 3, determining the value range of the phase difference fuzzy number of the interferometer according to the maximum fuzzy number, and turning to step 4;
step 4, traversing each group of fuzzy number values, and calculating a direction vector initial value, wherein the method comprises the following steps of:
traversing each group of fuzzy number values of the interferometer A and the interferometer B respectively, calculating initial values of the direction vectors, and calculating (2 k A +1)×(2k B +1) times;
the corresponding third phase difference when the fuzzy number of the phase difference of the interferometer A is i isi minimum value range-k A At most k A Step 1; the corresponding fourth phase difference when the fuzzy number of the phase difference of the B interferometer is j isThe value range of j is the least-k B At most k B Step 1;
the direction vector η is:
wherein H is a base line matrix, eta is a direction vector, lambda is a signal wavelength, (x) 1 ,y 1 ,z 1 ) Is the coordinates of the first antenna element (1), (x) 2 ,y 2 ,z 2 ) Is the coordinates of the second antenna element (2), (x) 3 ,y 3 ,z 3 ) Is the coordinates of the third antenna array element (3);
turning to step 5;
and 5, carrying out least square iteration to improve the estimation precision of the direction vector, wherein the method comprises the following steps of:
setting the direction vector eta as a least square iteration initial value, and starting iterative calculation:
representing the direction vector estimate, will +.>Carrying out phase difference prediction value calculation:
wherein the method comprises the steps ofFor the A interferometer predictive value, < >>The predicted value of the interferometer B;
calculated atJacobian matrix J:
wherein H1,:]representing the first row of the baseline matrix, H [2,:]representing a second row of the baseline matrix;representation->Is the first element of (a); />Representation->Is a second element of (2); [] T Representing matrix rank conversion operation;
updating the estimated value:
with the latest estimated valueAs iteration input, iterating for 3-5 times, and finally outputting a result as a target position estimated value;
turning to step 6;
and 6, calculating azimuth angle and pitch angle through the direction vector.
2. The method for measuring direction of interferometer system based on three-dimensional layout of antenna array according to claim 1, wherein in step 1, an antenna array is set, and the interferometer antenna is used to receive the radiation source signal, so as to obtain phase difference, specifically as follows:
setting 3 antenna array elements, wherein the mounting heights of the antenna array elements are different to form a three-dimensional space layout interferometer;
the first antenna array element (1) and the second antenna array element (2) form a group of interferometers, which are denoted as an A interferometer, and a first phase difference is measuredThe first antenna array element (1) and the third antenna array element (3) form a group of interferometers, which are marked as B interferometers, and the second phase difference is measured>
3. The method for direction finding of an interferometer system based on three-dimensional layout of an antenna array according to claim 2, wherein in step 2, the maximum number of ambiguities of the phase difference is calculated according to the base line length, specifically as follows:
the maximum number of ambiguities of the phase difference is calculated from the baseline length,k A a maximum number of modes for the first phase difference; d, d 12 A baseline length for the a interferometer; k (k) B A maximum number of modes for the second phase difference; d, d 13 Is the baseline length of the interferometer B; lambda is the radiation source signal wavelength.
4. The interferometer system direction finding method based on the three-dimensional layout of the antenna array according to claim 3, wherein: in step 3, determining the range of the phase difference ambiguity number of the interferometer according to the maximum ambiguity number, wherein the range is specifically as follows:
determining the range of phase difference ambiguity values of the interferometer A according to the maximum ambiguity number, wherein the minimum value is-k A At most k A Step 1; b interferometer phase difference fuzzy number minimum value is-k B At most k B The step is 1.
5. The interferometer system direction finding method based on the three-dimensional layout of the antenna array according to claim 1, wherein: in step 6, the azimuth angle and the pitch angle are calculated through the direction vector, and the method concretely comprises the following steps:
representation->Is->Representation->Alpha represents azimuth and beta represents pitch.
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