CN117452333A - Positioning method based on azimuth time difference combination of double measuring stations - Google Patents

Positioning method based on azimuth time difference combination of double measuring stations Download PDF

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Publication number
CN117452333A
CN117452333A CN202310836120.4A CN202310836120A CN117452333A CN 117452333 A CN117452333 A CN 117452333A CN 202310836120 A CN202310836120 A CN 202310836120A CN 117452333 A CN117452333 A CN 117452333A
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positioning
time difference
station
positioning method
combination
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胡正
郝绍杰
王钊
韩俊辉
赵新明
王守雷
李冲
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CETC 41 Institute
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CETC 41 Institute
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Priority to CN202310836120.4A priority Critical patent/CN117452333A/en
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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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/04—Position of source determined by a plurality of spaced direction-finders
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention relates to a positioning method based on azimuth time difference combination of double measuring stations. The positioning method based on the azimuth time difference combination of the double measuring stations overcomes the defects that the existing direction-finding time difference combination positioning technology does not fully utilize the other direction-finding angle information and has insufficient consideration on the influence of GDOP, and the positioning method based on the azimuth and time difference combination positioning of the two measuring stations fully utilizes one time difference information and two direction-finding angle (azimuth) information, thereby improving the precision of intersection positioning; and taking the primary positioning result as priori information, fully considering the influence of geometric layout on positioning precision, and carrying out information fusion on the GDOP value of the target position area, thereby effectively improving the positioning precision of the combined positioning technology in practical application.

Description

Positioning method based on azimuth time difference combination of double measuring stations
Technical Field
The invention relates to the technical field of space position positioning, in particular to a positioning method based on azimuth time difference combination of double measuring stations.
Background
The main flow passive positioning technology mainly comprises time difference positioning and direction finding intersection positioning, wherein the time difference positioning needs to deploy hyperbolas formed by at least three measuring stations to realize intersection positioning, the precision of the positioning mode depends on the measurement precision of the time difference, when the distance between a radiation source and the measuring stations is far, the influence of the time difference estimation precision on the time difference positioning precision is generally smaller than the influence of the direction finding error on the positioning precision of the direction finding intersection, so the technology has low requirement on an antenna and better concealment; but the measurement accuracy of the narrow-band signal is poor, and even the single carrier cannot perform time difference measurement. The direction finding intersection positioning can be realized by only two measuring stations, the direction finding precision is not influenced by the signal bandwidth, and the direction finding can be realized by a single carrier, but when the distance between the radiation source and the direction finding station is far, the positioning precision is greatly influenced by the precision of the direction finding angle. Considering the advantages and disadvantages of two positioning technologies, in order to reduce the number of measuring stations and reduce the influence of measuring distance on measuring accuracy, a combined positioning technology of direction-finding time difference, which combines the two technologies and has feasibility, is currently available.
The existing direction-finding time difference combined positioning technology adopts time difference information and direction-finding angle information to carry out a hyperbola and a straight line to be intersected for positioning the target position, and the combined positioning technology realizes the positioning of two measuring stations and eliminates the influence of the target distance. However, in the combined positioning technology, the other direction finding angle information is not fully utilized, in addition, the positioning precision of time difference positioning and direction finding intersection positioning is related to not only the time difference precision and the direction finding precision, but also the geometric layout of a measuring station, and the geometric precision factor (Geometrical Dilutionof Precision, GDOP) is generally adopted for evaluation, and the influence of the GDOP is not fully considered in the prior method.
Disclosure of Invention
The invention aims to solve the technical problems that: the positioning method based on the azimuth time difference combination of the double measuring stations is provided, and based on the combined positioning of azimuth and time difference of the two measuring stations, one time difference information and two direction finding angle (azimuth) information are fully utilized, so that the precision of intersection positioning is improved; and taking the primary positioning result as priori information, fully considering the influence of geometric layout on positioning precision, and carrying out information fusion on the GDOP value of the target position area, thereby effectively improving the positioning precision of the combined positioning technology in practical application.
The positioning method based on the azimuth time difference combination of the double measuring stations comprises the following steps,
s1 equation is established-the measurement station 0 coordinates are (x 0 ,y 0 ) The coordinates of the measuring station 1 are (x 1 ,y 1 ) The following equation is established,
wherein θ 0 To measure the station 0 direction angle, sigma 0 The mean square error of the direction finding angle is measured for the measuring station 0; the coordinates of the measuring station 1 are (x 1 ,y 1 )；θ 1 For measuring the direction-finding angle of station 1, sigma 1 The mean square error of the direction finding angle of the measuring station 1 is measured; Δt (delta t) 1 C is the speed of light, which is the time difference measurement;
s2 prior information-simultaneous equations (1) and (3) are equation sets, and are solved into (x) 0 ,y 0 ) As a priori information of the positioning result;
s3 positioning region-to (x 0 ,y 0 ) Setting a threshold delta as the center 1 As square side length, square positioning area omega is obtained;
s4 simultaneous combination-selection of four positioning methods, namely a combination of equations (1) and (2), a combination of equations (1) and (3), a combination of equations (2) and (3) and a combination of equations (1) and (2) and (3). Respectively calculating average GDOP value g of four positioning modes in positioning area omega A ，g B ，g C ，g D ；
S5-calculation result-calculation [ G, index ]]＝min(g A ,g B ,g C )；
S51-if|G-G D |≤δ 2 The index value corresponding to the index is the selected positioning method; if index=2, then selecting the second positioning method, namely selecting the result of the simultaneous calculation of equations (1) (3) as the final solution of the radiation source position; wherein delta 2 Is a selected threshold value, representing that G and G are to be D The difference is limited to the allowable range;
s52-if |G-G D |＞δ 2 The result of the simultaneous calculation of equations (1) (2) (3) is selected as the final solution of the radiation source position.
Further, the average GDOP value in step S4 is calculated by the following method,
selecting a certain step length, discretizing the region into a plurality of position points, and obtaining the GDOP of each position point ij A value; where i=1, 2 … N, represents a discrete number N of points on the X axis; j=1, 2 … M, representing discretization into M points on the Y axis; the GDOP for all location points within the localization area Ω is then averaged, i.e.:
the average GDOP of the corresponding regions is g A ，g B ，g C ，g D ；
The computational expression of GDOP is:
ignoring the effect of site error, in equation (5)
E[dX·dX T ]＝C{E[dR·dR T ]}C T (6)
Wherein,is the radiation source positioning error in each coordinate direction, c= (F T F) -1 F T Trace () represents a matrix trace operation, E () represents a desire, T represents a transpose operation, () -1 Representing a matrix inversion operation.
Further, the four positioning methods described in step S4 include,
positioning method 1-employing a Direction-finding Angle θ 0 And a direction finding angle theta 1 Combined positioning case:
characterizing measurement errors of each measuring station;
a directional matrix of the target radiation source and each station;
positioning method 2-using direction finding angle θ 0 And time difference delta t 1 Combined positioning case:
characterizing measurement errors of each measuring station;
a directional matrix of the target radiation source and each station;
positioning method 3-employing a Direction-finding Angle θ 1 And time difference delta t 1 Combined positioning conditionConditions are as follows:
characterizing measurement errors of each measuring station;
a directional matrix of the target radiation source and each station;
positioning method 4-employing a Direction-finding Angle θ 0 ，θ 1 And time difference delta t 1 Combined positioning case:
characterizing measurement errors of each measuring station;
a directional matrix of the target radiation source and each station.
The invention relates to a positioning method based on azimuth time difference combination of double measuring stations, which overcomes the defects that the existing technology of combined positioning of azimuth time difference does not fully utilize the information of another azimuth angle and has insufficient consideration on the influence of GDOP, and is based on combined positioning of azimuth and time difference of two measuring stations, fully utilizes the information of one time difference and the information of two azimuth angles (azimuth), and improves the precision of intersection positioning; and taking the primary positioning result as priori information, fully considering the influence of geometric layout on positioning precision, and carrying out information fusion on the GDOP value of the target position area, thereby effectively improving the positioning precision of the combined positioning technology in practical application.
Drawings
The following describes a positioning method based on azimuth time difference combination of double measuring stations with reference to the accompanying drawings:
FIG. 1 is a schematic diagram of the intersection positioning of two straight lines and a hyperbola without measurement error;
FIG. 2 is a GDOP profile with intersection location using only azimuth angles of two measurement stations;
FIG. 3 is a GDOP map for a position determination using only left measuring station direction finding angles in combination with time difference information;
fig. 4 is a GDOP profile of a measuring station when two direction finding angles are combined with time difference information.
Detailed Description
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present invention, it should be understood that the terms "left", "right", "front", "rear", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The technical scheme of the present invention will be further described by the following specific examples, but the scope of the present invention is not limited to the following examples.
Embodiments are described below: the positioning method comprises the following steps,
s1 equation is established-the measurement station 0 coordinates are (x 0 ,y 0 ) The coordinates of the measuring station 1 are (x 1 ,y 1 ) The following equation is established,
wherein θ 0 To measure the station 0 direction angle, sigma 0 The mean square error of the direction finding angle is measured for the measuring station 0; the coordinates of the measuring station 1 are (x 1 ,y 1 )；θ 1 For measuring the direction-finding angle of station 1, sigma 1 The mean square error of the direction finding angle of the measuring station 1 is measured; Δt (delta t) 1 C is the speed of light, which is the time difference measurement;
s2 prior information-simultaneous equations (1) and (3) are equation sets, and are solved into (x) 0 ,y 0 ) As a priori information of the positioning result;
s3 positioning region-to (x 0 ,y 0 ) Setting a threshold delta as the center 1 As square side length, square positioning area omega is obtained;
s4 simultaneous combination-selection of four positioning methods, namely a combination of equations (1) and (2), a combination of equations (1) and (3), a combination of equations (2) and (3) and a combination of equations (1) and (2) and (3). Respectively calculating average GDOP value g of four positioning modes in positioning area omega A ，g B ，g C ，g D ；
The calculation method of the average GDOP value comprises the following steps:
selecting a certain step length, discretizing the region into a plurality of position points, and obtaining the GDOP of each position point ij A value; where i=1, 2 … N, represents a discrete number N of points on the X axis; j=1, 2 … M, representing discretization into M points on the Y axis; the GDOP for all location points within the localization area Ω is then averaged, i.e.:
the average GDOP of the corresponding regions is g A ，g B ，g C ，g D ；
The computational expression of GDOP is:
ignoring the effect of site error, in equation (5)
E[dX·dX T ]＝C{E[dR·dR T ]}C T (6)
Wherein,is the radiation source positioning error in each coordinate direction, c= (F T F) -1 F T Trace () represents a matrix trace operation, E () represents a desire, T represents a transpose operation, () -1 Representing a matrix inversion operation.
The four positioning methods are specifically as follows:
positioning method 1-employing a Direction-finding Angle θ 0 And a direction finding angle theta 1 Combined positioning case:
characterizing measurement errors of each measuring station;
a directional matrix of the target radiation source and each station;
positioning method 2-using direction finding angle θ 0 And time difference delta t 1 Combined positioning case:
characterizing measurement errors of each measuring station;
a directional matrix of the target radiation source and each station;
positioning method 3-employing a Direction-finding Angle θ 1 And time difference delta t 1 Combined positioning case:
characterizing measurement errors of each measuring station;
a directional matrix of the target radiation source and each station;
positioning method 4-employing a Direction-finding Angle θ 0 ，θ 1 And time difference delta t 1 Combined positioning case:
characterizing measurement errors of each measuring station;
a directional matrix of the target radiation source and each station.
S5-calculation result-calculation [ G, index ]]＝min(g A ,g B ,g C )；
S51-if|G-G D |≤δ 2 The index value corresponding to the index is the selected positioning method; if index=2, then selecting the second positioning method, namely selecting the result of the simultaneous calculation of equations (1) (3) as the final solution of the radiation source position; wherein delta 2 Is a selected threshold value, representing that G and G are to be D The difference is limited to the allowable range;
s52-if |G-G D |＞δ 2 The result of the simultaneous calculation of equations (1) (2) (3) is selected as the final solution of the radiation source position.
Comparative example: FIG. 1 shows the intersection location of two straight lines and a hyperbola without measurement error, and the GDOP contour distribution simulation was performed, with the coordinates of the two measurement stations being (-3000 m,0 m), (3000 m,0 m), respectively, i.e., the measurement station baseline length being 6000m, ignoring the station address error of the measurement station. The measurement accuracy of the time difference is set to be 50ns, and for simplicity of simulation, it is assumed that the measurement angle accuracy of the two measurement stations is the same and is 1 degree. FIG. 2 shows the GDOP profile when intersection positioning is performed using only azimuth angles of two measurement stations; FIG. 3 shows the GDOP distribution when positioning using only left measuring station direction finding angles in combination with time difference information; fig. 4 shows the GDOP distribution state when two direction finding angles of the measuring station are combined with time difference information. By comparison, it can be seen that: when only adopting azimuth angles of two measuring stations to carry out intersection positioning, the GDOP value is sufficiently large near the connecting line of the measuring stations, namely the positioning error is large, and the positioning is almost impossible, as shown in figure 2; when the positioning is performed by only combining the direction-finding angle of the left measuring station with time difference information, the GDOP value near the connecting line of the measuring station and at the left side is obviously improved, and meanwhile, the GDOP value of the left side area is obviously lower than that of the right side, namely, the positioning accuracy at the right side is lower, as shown in the figure 3; when the two direction-finding angles of the measuring station are combined with time difference information, the GDOP value of the area near the connecting line of the measuring station and around the measuring station is reduced, namely the positioning accuracy is obviously improved, as shown in figure 4. In conclusion, the simulation results show that under the condition of two measuring stations, the time difference information is added, so that the positioning accuracy of intersection positioning can be improved.
However, in the actual positioning calculation process, if three equations are combined to form an overdetermined equation set solution (x, y), the solution accuracy may be reduced in a specific area. For example, if the target is located near the left region of the baseline link, i.e., measuring station 0, measuring station 1 is farther from the target, and the direction-finding angle θ 1 The error of the positioning distance caused by the error of (2) is far greater than the direction-finding angle theta 0 A positioning distance error caused by an error of (a). Due to theta 1 The influence caused by the error is larger, and if the (1) (2) (3) simultaneous solution is adopted, the final positioning accuracy is often lower than the positioning result of the (1) (3) simultaneous solution. And, solve (1) (2) (3) simultaneously, generally convert the equation set into the unitary quadratic equation and solve, get the intermediate variable R, get final (x, y) according to variable R, in extreme cases, the equation set may appear without solving. The case shows that the three equations are simply adopted simultaneously, namely two direction finding angle signals are adoptedInformation and a time difference information, if the geometrical layout of the radiation source target with respect to the measuring station is not considered, may reduce the positioning accuracy.
Therefore, the direction-finding angle and time difference information are fully utilized, the situation such as the case is avoided, and the positioning accuracy can be improved by utilizing the positioning method and combining the geometric distribution to flexibly perform combined positioning on the equations (1), (2) and (3).
The positioning method based on the azimuth time difference combination of the double measuring stations overcomes the defects that the existing direction-finding time difference combination positioning technology does not fully utilize the other direction-finding angle information and has insufficient consideration on the influence of GDOP, and the positioning method based on the azimuth and time difference combination positioning of the two measuring stations fully utilizes one time difference information and two direction-finding angle (azimuth) information, thereby improving the precision of intersection positioning; and taking the primary positioning result as priori information, fully considering the influence of geometric layout on positioning precision, and carrying out information fusion on the GDOP value of the target position area, thereby effectively improving the positioning precision of the combined positioning technology in practical application.
The foregoing description illustrates the major features, principles, and advantages of the invention. It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments or examples, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The foregoing implementations or examples should be regarded as illustrative rather than limiting. The scope of the invention is indicated by the appended claims rather than by the foregoing description, and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (3)

1. A positioning method based on azimuth time difference combination of double measuring stations is characterized in that: the positioning method comprises the following steps,
s1 equation is established-the measurement station 0 coordinates are (x 0 ,y 0 ) The coordinates of the measuring station 1 are (x 1 ,y 1 ) The following equation is established,
wherein θ 0 To measure the station 0 direction angle, sigma 0 The mean square error of the direction finding angle is measured for the measuring station 0; the coordinates of the measuring station 1 are (x 1 ,y 1 )；θ 1 For measuring the direction-finding angle of station 1, sigma 1 The mean square error of the direction finding angle of the measuring station 1 is measured; Δt (delta t) 1 C is the speed of light, which is the time difference measurement;
s2 prior information-simultaneous equations (1) and (3) are equation sets, and are solved into (x) 0 ,y 0 ) As a priori information of the positioning result;
s3 positioning region-to (x 0 ,y 0 ) Setting a threshold delta as the center 1 As square side length, square positioning area omega is obtained;
s4 simultaneous combination-selecting four positioning methods, namely a combination of equations (1) and (2), a combination of equations (1) and (3), a combination of equations (2) and (3) and a combination of equations (1) and (2) and (3); respectively calculating average GDOP value g of four positioning modes in positioning area omega A ，g B ，g C ，g D ；
S5-calculation result-calculation [ G, index ]]＝min(g A ,g B ,g C )；
S51-if|G-G D |≤δ 2 The index value corresponding to the index is the selected positioning method; if index=2, then selecting the second positioning method, namely selecting the result of the simultaneous calculation of equations (1) (3) as the final solution of the radiation source position; wherein delta 2 Is a selected threshold value, representing that G and G are to be D The difference is limited to the allowable range;
s52-if |G-G D |＞δ 2 The result of the simultaneous calculation of equations (1) (2) (3) is selected as the final solution of the radiation source position.
2. The positioning method based on the azimuth time difference combination of the double measuring stations according to claim 1, wherein the positioning method is characterized by: the average GDOP value in step S4 is calculated by,
selecting a certain step length, discretizing the region into a plurality of position points, and obtaining the GDOP of each position point ij A value; where i=1, 2 … N, represents a discrete number N of points on the X axis; j=1, 2 … M, representing discretization into M points on the Y axis; the GDOP for all location points within the localization area Ω is then averaged, i.e.:
the average GDOP of the corresponding regions is g A ，g B ，g C ，g D ；
The computational expression of GDOP is:
ignoring the effect of site error, in equation (5)
E[dX·dX T ]＝C{E[dR·dR T ]}C T (6)
Wherein,is the radiation source positioning error in each coordinate direction, c= (F T F) -1 F T Trace () represents a matrix trace operation, E () represents a desire, T represents a transpose operation, () -1 Representing a matrix inversion operation.
3. The positioning method based on the azimuth time difference combination of the double measuring stations according to claim 2, wherein: the four positioning manners described in step S4 include,
positioning method 1-employing a Direction-finding Angle θ 0 And a direction finding angle theta 1 Combined positioning case:
characterizing measurement errors of each measuring station;
a directional matrix of the target radiation source and each station;
positioning method 2-using direction finding angle θ 0 And time difference delta t 1 Combined positioning case:
characterizing measurement errors of each measuring station;
a directional matrix of the target radiation source and each station;
positioning method 3-employing a Direction-finding Angle θ 1 And time difference delta t 1 Combined positioning case:
characterizing measurement errors of each measuring station;
a directional matrix of the target radiation source and each station;
positioning method 4-employing a Direction-finding Angle θ 0 ，θ 1 And time difference delta t 1 Combined positioning case:
characterizing measurement errors of each measuring station;
a directional matrix of the target radiation source and each station.
CN202310836120.4A 2023-07-07 2023-07-07 Positioning method based on azimuth time difference combination of double measuring stations Pending CN117452333A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117687056A (en) * 2024-02-02 2024-03-12 齐鲁卫星技术(山东)有限责任公司 Communication and electronic signal satellite-ground joint positioning method based on differential time difference

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117687056A (en) * 2024-02-02 2024-03-12 齐鲁卫星技术(山东)有限责任公司 Communication and electronic signal satellite-ground joint positioning method based on differential time difference
CN117687056B (en) * 2024-02-02 2024-05-07 齐鲁卫星技术(山东)有限责任公司 Communication and electronic signal satellite-ground joint positioning method based on differential time difference

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