CN117784001A - Design method and device of radio positioning system - Google Patents
Design method and device of radio positioning system Download PDFInfo
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Abstract
The application discloses a design method and device of a radio positioning system. The method comprises the following steps: according to the target characteristics, the observation platform parameters, the positioning error indexes and the observation distance of the target to be positioned, analyzing the characteristics of a radio positioning task, and primarily determining an engineering alternative radio positioning system; calculating parameter estimation errors of positioning parameters according to target characteristics, signal-to-noise ratio and observation time length for each alternative positioning system, and evaluating the positioning errors of the target positions in the observation distance by combining the parameter estimation errors, the observation model errors and the observation platform parameters; iteratively selecting a positioning system with positioning errors meeting the positioning error index requirement and minimum engineering realization cost from all the alternative positioning systems; based on the optimized positioning system and the clear observation platform parameters, the composition of the radio positioning system and the positioning workflow thereof are designed. The present application addresses radiolocalization system demonstration and overall design issues.
Description
Technical Field
The present application relates to the field of radio technologies, and in particular, to a method and an apparatus for designing a radio positioning system.
Background
For positioning of the target radiation source, common radio positioning systems include direction finding positioning, time difference positioning, frequency finding positioning, time-frequency difference positioning and other combined positioning systems, but in practical engineering application, due to various limiting factors, not all positioning systems are applicable. Therefore, in the process of designing a radio positioning system, a feasible positioning system is selected after comprehensive consideration of various constraint conditions (such as positioning indexes, target radiation source characteristics, observation platform limitations and the like) is required, and then the system composition and the positioning workflow suitable for the positioning system are determined, so that the positioning system which meets the index requirements and is easy to apply in engineering is finally formed.
Disclosure of Invention
The embodiment of the application provides a design method and device of a radio positioning system, which are used for solving the problems of demonstration and overall design of the positioning system.
According to a first aspect of the present application, a method for designing a radio positioning system is provided, comprising the steps of:
s1, analyzing the characteristics of a radio positioning task according to the target characteristics, the parameters of an observation platform, positioning error indexes and observation distances of a target to be positioned, and preliminarily determining an engineering alternative radio positioning system;
s2, for each alternative positioning system, calculating a parameter estimation error of a positioning parameter according to the target characteristic, the signal-to-noise ratio and the observation time length, and evaluating the positioning error of the target position in the observation distance by combining the parameter estimation error of the positioning parameter, the observation model error and the observation platform parameter;
s3, iteratively selecting a positioning system with positioning errors meeting the positioning error index requirement and minimum engineering realization cost from all the alternative positioning systems;
s4, designing the composition of the radio positioning system and the positioning workflow thereof based on the optimized positioning system and the clear observation platform parameters.
Optionally, the step S3 specifically includes starting the first screening cycle and the second screening cycle sequentially:
starting the screening cycle I, respectively judging whether the positioning error of each alternative positioning system meets the positioning error index requirement, if so, putting the positioning error into an index meeting pool, and if not, putting the positioning error in the pool until the positioning error judgment screening is completed for all the alternative positioning systems, wherein the index meets at least one alternative positioning system in the pool;
and starting the screening cycle II, and evaluating engineering realization costs of each alternative positioning system in the index meeting pool one by one, and screening a positioning system with the minimum engineering realization cost from the positioning system.
After the first screening cycle, if the index meets no alternative positioning system in the pool, and all alternative positioning systems are in the pool which is not met by the index, the method further comprises:
determining error correction methods for all the alternative positioning systems according to engineering experience, and performing error correction on the positioning errors one by one;
and starting the screening cycle I again, and respectively judging whether the corrected positioning errors meet the positioning error index requirements or not until the positioning errors of at least one alternative positioning system meet the positioning error index requirements after error correction.
According to a second aspect of the present application, there is provided a design apparatus of a radio positioning system, comprising:
the positioning system initial selection unit is used for analyzing the characteristics of a radio positioning task according to the target characteristics, the parameters of an observation platform, the positioning error indexes and the observation distance of a target to be positioned and preliminarily determining an engineering alternative radio positioning system;
the positioning error evaluation unit is used for calculating the parameter estimation error of the positioning parameter according to the target characteristics, the signal-to-noise ratio and the observation time length for each alternative positioning system, and evaluating the positioning error of the target position in the observation distance by combining the parameter estimation error of the positioning parameter, the observation model error and the observation platform parameter;
the positioning system optimization unit is used for iteratively optimizing one positioning system with the positioning error meeting the positioning error index requirement and the engineering realization cost being minimum from all the alternative positioning systems;
and the positioning system design unit is used for designing the composition of the radio positioning system and the positioning workflow thereof based on the optimized positioning system and the clear observation platform parameters.
According to a third aspect of the present application, there is provided an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method described above.
The above-mentioned at least one technical scheme that this application embodiment adopted can reach following beneficial effect:
according to the scheme of the embodiment of the application, firstly, the characteristics of a radio positioning task are analyzed according to the target characteristics, the parameters of an observation platform, the positioning error indexes and the observation distance of a target to be positioned, and an engineering alternative radio positioning system is primarily determined; then, for each alternative positioning system, calculating parameter estimation errors of positioning parameters according to target characteristics, signal-to-noise ratio and observation time length, and evaluating the positioning errors of the target positions in the observation distance by combining the parameter estimation errors of the positioning parameters, the observation model errors and the observation platform parameters; then iteratively selecting a positioning system with positioning errors meeting the positioning error index requirement and minimum engineering realization cost from all the alternative positioning systems; finally, based on the optimized positioning system and clear observing platform parameters, the composition of the radio positioning system and the positioning workflow thereof are designed. Therefore, the scheme of the embodiment of the application provides the radio positioning system demonstration and overall design flow based on the positioning task, and the positioning system design scheme which meets the positioning index requirement and is easy for engineering realization is obtained by carrying out performance evaluation analysis and optimization selection on a plurality of engineering viable positioning systems, so that the problems of the positioning system demonstration and overall design are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
fig. 1 is a schematic flow chart of a design method of a radio positioning system according to an embodiment of the present application;
FIG. 2 illustrates a radiolocalization system demonstration and overall design flow diagram of an embodiment of the present application;
FIG. 3 shows a direction finding error plot in an embodiment of the present application;
FIG. 4 shows a two-machine direction-finding relative positioning error map in an embodiment of the present application;
FIG. 5 shows a graph of dual-machine time-frequency difference versus positioning error in an embodiment of the present application;
FIG. 6 shows a three-machine moveout versus positioning error plot in an embodiment of the present application;
FIG. 7 illustrates a positioning system composition diagram as contemplated by an embodiment of the present application;
FIG. 8 illustrates a positioning workflow diagram as contemplated by an embodiment of the present application;
fig. 9 is a functional schematic diagram of a design device of a radio positioning system according to an embodiment of the present application;
fig. 10 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of the present application and in the foregoing figures, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to a first aspect of the present application, referring to fig. 1 and 2, an embodiment of the present application proposes a design method of a radio positioning system, including steps S1 to S4:
s1, analyzing the characteristics of a radio positioning task according to the target characteristics, the parameters of an observation platform, the positioning error indexes and the observation distance of a target to be positioned, and primarily determining an engineering alternative radio positioning system.
In this embodiment of the present application, the target characteristics of the target to be positioned include: target motion state, signal duration, signal frequency band, signal bandwidth, signal type, radiated power, single target or time-frequency overlapping multi-target, etc. The observation platform parameters include: whether the observation platform is fixed or moving, the number of the observation platforms, the distance between stations and the like.
The optional radiolocalization regime includes: two-step positioning and direct positioning, wherein the two-step positioning comprises direction finding positioning, time difference positioning, frequency measuring positioning, time-frequency difference positioning, combined positioning and the like, and the direct positioning comprises direction finding direct positioning, time-varying direct positioning and the like.
S2, for each alternative positioning system, calculating parameter estimation errors of positioning parameters according to target characteristics, signal-to-noise ratio and observation time length of a target to be positioned, and evaluating the positioning errors of the target position in the observation distance by combining the parameter estimation errors of the positioning parameters, the observation model errors and the observation platform parameters.
In the embodiment of the present application, the positioning parameter refers to a measurement parameter for positioning the target position. The observation model of the positioning parameters is shown as follows:
z＝h(x,x 0 )+ξ
wherein z is a positioning parameter observation result, h (x) represents a positioning parameter observation equation, x is a target position, and x 0 For observing platform position, ζ is random observation error and obeys zero mean gaussian distribution.
The observation model error in the embodiment of the present application refers to an error existing in the observation model, and includes: station address errors, attitude angle errors and time-frequency synchronization errors among different observation platforms of the observation platform; each error includes a random error and a systematic error.
According to some embodiments of the present application, the positioning parameters include a target signal incoming wave direction, a target signal time difference, and a target signal frequency shift; correspondingly, the parameter estimation error of the positioning parameter includes: direction finding error, time difference estimation error, frequency shift estimation error. It should be noted that the object to be located is a specific physical device, and the object signal refers to an electromagnetic signal radiated by the device.
According to some embodiments of the present application, estimating the positioning error of the target position within the observation distance in step S2 includes:
using maximum likelihood estimation of the target position, the Root-Mean-Square Error (RMSE) of the positioning Error of the target position is represented by the trace of the CRLB, i.eThis has the advantage that it is easy to calculate when only random errors are present, avoiding that the root mean square error RMSE can only be obtained by multiple simulations of monte carlo.
And S3, iteratively selecting a positioning system with positioning errors meeting the positioning error index requirement and minimum engineering realization cost from all the alternative positioning systems.
The method comprises two screening cycles started in sequence: screening cycle one and screening cycle two.
Screening cycle one: for each alternative positioning system, judging whether the positioning error meets the positioning error index requirement or not respectively, if so, putting the positioning error into an index meeting pool, and if not, putting the positioning error into the pool; and finishing the positioning error judgment and screening for all the alternative positioning systems.
After a first screening cycle, two possible screening results were obtained:
first kind: the index meeting pool has at least one alternative positioning system;
second kind: and no alternative positioning system exists in the index meeting pool, and all alternative positioning systems are in the pool with the index not meeting.
Because the second screening result, the positioning errors of all the alternative positioning systems do not meet the positioning error index, and no proper positioning system can enter the next round of screening, and the second screening cycle cannot be started, the second screening result needs to be subjected to special treatment of positioning error correction:
and respectively determining error correction methods for all the alternative positioning systems according to engineering experience, and carrying out error correction on the positioning errors one by one. For example, the signal to noise ratio can be improved by reference to multiple observation accumulation, and parameter estimation errors are reduced by a method for improving the signal to noise ratio; the system error of the observation model is reduced by constructing a multi-parameter joint estimation of the system error and the target position or adopting an external calibration source method. And after error correction is carried out on the positioning errors of all the alternative positioning systems respectively, starting a screening cycle I again, and judging whether the corrected positioning errors meet the positioning error index requirements or not respectively. And obtaining the first screening result until at least one alternative positioning system meets the positioning error index requirement after positioning error correction.
The first screening result is obtained after the first screening cycle, at which time the second screening cycle is started.
Screening cycle two: and evaluating the engineering realization cost of each alternative positioning system in the index meeting pool one by one, and screening a positioning system with the minimum engineering realization cost from the positioning system. Of course, if the index meets only one alternative positioning system in the pool, the alternative positioning system can be directly selected without evaluating the engineering realization cost.
Therefore, after two screening cycles in the step S3, a positioning system with positioning error meeting the positioning error index requirement and minimum engineering realization cost can be optimized finally.
S4, designing the composition of the radio positioning system and the positioning workflow thereof based on the optimized positioning system and the clear observation platform parameters.
Once the radio positioning system is selected, parameters of the observation platform corresponding to the positioning system, such as the number of the observation platforms, the inter-station distance and the like, are defined.
According to some embodiments of the present application, the positioning workflow of the present step S4 in designing a radiolocation system includes:
reducing random errors of the observation model, namely reducing random errors in the observation model errors through multiple observation accumulation; and/or the number of the groups of groups,
through constructing an adaptive or overdetermined equation set for multi-parameter joint estimation of the system error and the target position, synchronously solving the system error and the target position, and reducing the system error of the observation model, namely reducing the system error in the observation model error; and/or the number of the groups of groups,
and an external calibration source is adopted to externally calibrate the station address error and attitude angle error of the observation platform and the time-frequency synchronization error among different observation platforms, so that the systematic error of the observation model is reduced.
In the designed positioning workflow, the positioning error of the designed radio positioning system can be reduced by adopting a proper correction method to reduce the error of the observation model.
In summary, according to the design method of the radio positioning system provided by the embodiment of the application, the characteristics of a radio positioning task are analyzed according to the target characteristics, the parameters of an observation platform, the positioning error indexes and the observation distance of the target to be positioned, and the radio positioning system which is selected in engineering is primarily determined; then, for each alternative positioning system, calculating parameter estimation errors of positioning parameters according to target characteristics, signal-to-noise ratio and observation time length, and evaluating the positioning errors of the target positions in the observation distance by combining the parameter estimation errors of the positioning parameters, the observation model errors and the observation platform parameters; then iteratively selecting a positioning system with positioning errors meeting the positioning error index requirement and minimum engineering realization cost from all the alternative positioning systems; finally, based on the optimized positioning system and clear observing platform parameters, the composition of the radio positioning system and the positioning workflow thereof are designed. Therefore, the scheme of the embodiment of the application provides the radio positioning system demonstration and overall design flow based on the positioning task, and the positioning system design scheme which meets the positioning index requirement and is easy for engineering realization is obtained by carrying out performance evaluation analysis and optimization selection on a plurality of engineering viable positioning systems, so that the problems of the positioning system demonstration and overall design are solved.
Example 2
An application scenario of a typical positioning task case is given below to demonstrate and explain the design method of the radio positioning system according to the embodiment of the present application.
The main technical index requirements of a positioning task of the ground stationary target radiation source of a certain airborne platform are as follows:
(1) Positioning error index: RMSE is less than or equal to 2% R;
(2) Observation distance: 100-250 km;
(3) Signal frequency band: 200-400 MHz;
(4) Signal bandwidth: 50kHz;
(4) Radiation power: more than or equal to 15dBW;
(5) Observation duration: less than or equal to 5s;
(6) And (3) an observation platform: multimachine synergy (no more than three);
(7) Station spacing: less than or equal to 50km.
Step one: positioning task analysis
In the positioning task, according to the target characteristics and the observation platform parameters, positioning systems such as double-machine direction finding positioning, double-machine time-frequency difference positioning, three-machine time difference positioning and the like can be considered. Firstly, a dual-machine direction-finding positioning system easy to realize engineering can be considered, an observation platform is an onboard platform, a plurality of array elements can be installed on the belly of a machine for facilitating the installation of a direction-finding antenna array, a linear array with long and short base lines is constructed, and a group of direction-finding antennas are additionally arranged for determining the directions of front and rear waves. In addition, a dual-machine time-frequency difference positioning system and a three-machine time difference positioning system can be considered, the signal bandwidth is 50kHz, and the time difference estimation error is larger and the frequency difference estimation error is smaller for a narrow-band signal, so that if time difference positioning is adopted, signal sampling time accumulation is needed, and the time difference positioning precision is improved. For the time-frequency difference estimation of continuous wave signals, sampling data are required to be transmitted between a main station and a secondary station, so that data transmission equipment with larger transmission bandwidth is required to be equipped when a positioning system is designed to be composed, and the real-time performance of co-positioning is ensured.
Step two: positioning system error assessment
And evaluating the positioning performance of the alternative position system. Based on different observation platform parameters, simulation analysis is carried out on the positioning errors, and simulation conditions are as follows: assuming that the flight speed of the observation platform is 1000km/h, the multiple machines fly in the same direction, and the observation model error only has the site error of 20m of the observation platform, and the target radiation source within 250km is positioned.
1. Dual machine direction finding positioning performance evaluation
The direction finding error formula of the one-dimensional linear array is as follows:
wherein,for the phase difference measurement error, λ is the target wavelength, D is the baseline length, and α is the target azimuth angle of incidence.
Assume that the phase difference error before measurement is caused by phase inconsistency between antenna array elementsFor a signal bandwidth of 50kHz, a signal duration of 20ms, signal-to-noise ratio snr=12 dB, the phase difference estimation error is obtained +.>The total phase difference mean square error is:
the positioning task is an airborne platform, the baseline installation aperture is limited, and an antenna array can be arranged in a region with the maximum of 3 to 5 meters, so that the baseline length D=3m is assumed, and the total phase difference mean square errorWithout considering phase ambiguity, the theoretical direction finding error is shown in fig. 3.
As can be seen from fig. 3, the direction finding error at this time is within 1.3 °. The direction-finding time interval is 0.5s, the cumulative observation is 10 times, the total observation time is 5s, the distance between the two machines is planned according to the flight of 50km, and the relative positioning error of the two machines is represented by the trace of CRLB, as shown in figure 4.
As can be seen from fig. 4, when the distance between the two platforms is 50km, the relative positioning error of the observation area at 250km exceeds 5% r, and the positioning index of 2% r is not satisfied.
2. Dual-machine time-frequency difference positioning performance evaluation
For a 200 MHz-400 MHz frequency band signal bandwidth of 50kHz, assuming that the signal duration is 20ms and the signal-to-noise ratio SNR=12dB, a time-frequency difference estimation error can be calculated based on a time-frequency difference estimation performance theoretical formula of a mutual blurring function, and is as follows:
σ τ ≈88.74ns
σ f ≈0.22Hz
because of the systematic error of the time-frequency system among different observation platforms, the estimation error of the time-frequency difference parameter in the actual engineering can be increased, and the estimation error is assumed to be 1.2 times of the theoretical time-frequency difference estimation error value, namely, the values of 106.49ns and 0.26Hz are respectively taken.
According to the analysis, the time difference estimation error value between the two machines is 106.49ns, the frequency difference estimation error value is 0.26Hz, the distance between the two machines is still defined to be 50km, the time-frequency difference positioning error of the radiation source two machines within 250km is represented by the trace of CRLB, and the simulation result is shown in figure 5.
As can be seen from fig. 5, the relative positioning error of the observation area at 250km is within 1.5% r, satisfying the 2% r positioning index. Based on the positioning of the time-frequency difference of the two machines, the original sampling data needs to be transmitted to extract the time-frequency difference, so that the actual engineering application of the method has higher requirements on the transmission bandwidth between the two machines.
3. Three-machine time difference positioning performance evaluation
If time difference positioning is adopted, three airborne platforms are needed. And three airborne platforms are specified to fly along the X axis, the distance between adjacent stations is not more than 50km, the time difference estimation error value is 106.49ns, the three-machine time difference relative positioning error of the radiation source within 250km is represented by a trace of CRLB, and the simulation result is shown in figure 6.
As can be seen from FIG. 6, the observation area relative positioning error at the position of 250km of three-machine time difference positioning is within 1.1% R, and the positioning index requirement of 2% R is met. For time difference positioning, time difference parameters are required to be extracted by a cross-correlation method and the like based on original sampling data among multiple observation platforms, so that the actual engineering application of the method has higher requirements on the transmission bandwidth among machines.
Step three: system comparison and selection
Based on the above positioning task analysis and positioning error evaluation, a positioning system comparison as shown in the following table can be obtained.
Table 1 comparison of positioning systems
It can be seen from the above table that the dual-time-frequency difference positioning system and the three-time-difference positioning system both meet the positioning error index requirement, but the three-time-difference positioning system needs to be equipped with three sets of positioning systems, and the master station needs to receive the original sampling data transmitted by the two auxiliary stations, and has higher requirement on the receiving processing capacity of the master station, so that the dual-time-frequency difference positioning system is preferred from the aspects of meeting the positioning error index requirement and being easy for engineering realization.
Step four: positioning system composition and positioning workflow determination
Based on the positioning system selection analysis in the third step, a dual-machine time-frequency difference positioning system is preferred. The corresponding design of the single system comprises a receiving antenna, a receiver (a radio frequency front end and a tuner), a comprehensive processor (a signal processing unit, a data storage unit, a task management and control unit and a main processing unit), a navigation receiving antenna, a self-positioning time service device, a data transmission device, a control display device and a positioning system shown in figure 7.
In the process of executing a positioning task, a receiving antenna receives a radiation source signal, and self-positioning time service equipment provides current self-positioning information for an observation platform and marks time stamp information on sampling data of a receiver; the receiver amplifies and frequency-converts the signal output by the receiving antenna; the comprehensive processor detects, samples, stores and positions and calculates the signals; the secondary station transmits the sampling data to the primary station through the data transmission equipment, so that the primary station can perform time-frequency difference estimation and positioning calculation; the control display device is used for inputting instructions and displaying positioning results.
When the positioning task is executed, the secondary station transmits the sampled target signal data to the primary station, the primary station carries out cross-correlation pairing operation on the self sampled data and the sampled data of the secondary station, extracts time-frequency difference parameters for positioning calculation, and reports positioning results. The positioning workflow is shown in fig. 8.
It should be noted that, in the positioning workflow shown in fig. 8, in order to reduce the positioning error of the dual-machine time-frequency difference positioning system, an appropriate correction method may be adopted to implement error correction, for example, the random error of the observation model may be reduced by multiple observation accumulation; and the system error and the target position can be synchronously calculated by constructing an adaptive or overdetermined equation set for multi-parameter joint estimation of the system error and the target position, and/or an external calibration source is adopted to externally calibrate the station address error and the attitude angle error of the observation platform and the time-frequency synchronous error among different observation platforms, so that the system error of the observation model is reduced.
Example 3
According to a second aspect of the present application, as shown in fig. 9, an embodiment of the present application further proposes a design apparatus of a radio positioning system, including:
a positioning system initial selection unit 91, configured to analyze characteristics of a radio positioning task according to target characteristics, an observation platform parameter, a positioning error index and an observation distance of a target to be positioned, and preliminarily determine an engineering alternative radio positioning system;
a positioning error evaluation unit 92, configured to calculate, for each alternative positioning system, a parameter estimation error of a positioning parameter according to the target characteristic, a signal-to-noise ratio, and an observation time length, and evaluate, in combination with the parameter estimation error of the positioning parameter, an observation model error, and the observation platform parameter, a positioning error of the target position within the observation distance;
a positioning system optimizing unit 93, configured to iteratively optimize one positioning system with a positioning error meeting the positioning error index requirement and having the minimum engineering implementation cost from all the alternative positioning systems;
the positioning system design unit 94 is used to design the composition of the radio positioning system and its positioning workflow based on the preferred positioning system and the well-defined observation platform parameters.
According to some embodiments of the present application, the positioning error evaluation unit 92 is specifically configured to, when evaluating a positioning error of a target position within an observation distance:
using maximum likelihood estimation of the target position, the root mean square error RMSE of the positioning error of the target position is represented by the trace of the Kramer lower bound CRLB, i.e
According to some embodiments of the present application, the positioning system optimization unit 93 is specifically configured to:
the first screening cycle and the second screening cycle are started successively:
starting the screening cycle I, respectively judging whether the positioning error of each alternative positioning system meets the positioning error index requirement, if so, putting the positioning error into an index meeting pool, and if not, putting the positioning error in the pool until the positioning error judgment screening is completed for all the alternative positioning systems, wherein the index meets at least one alternative positioning system in the pool;
and starting the screening cycle II, and evaluating engineering realization costs of each alternative positioning system in the index meeting pool one by one, and screening a positioning system with the minimum engineering realization cost from the positioning system.
After the first screening cycle, if the index meets no alternative positioning system in the pool, and all the alternative positioning systems are in the pool, the positioning system optimization unit 93 is further configured to:
determining error correction methods for all the alternative positioning systems according to engineering experience, and performing error correction on the positioning errors one by one; and starting the screening cycle I again, and respectively judging whether the corrected positioning errors meet the positioning error index requirements or not until the positioning errors of at least one alternative positioning system meet the positioning error index requirements after error correction.
According to some embodiments of the present application, the positioning system design unit 94 is specifically configured to, when designing a positioning workflow of a radio positioning system:
reducing random errors in the observation model errors through multiple observation accumulation; and/or the number of the groups of groups,
through constructing an adaptive or overdetermined equation set of the multi-parameter joint estimation of the system error and the target position, synchronously solving the system error and the target position, and reducing the system error in the observation model error; and/or the number of the groups of groups,
and external calibration sources are adopted to externally calibrate the station address errors and attitude angle errors of the observation platforms and time-frequency synchronization errors among different observation platforms, so that systematic errors in the observation model errors are reduced.
It can be understood that the design apparatus of the radio positioning system shown in fig. 9 can implement the steps in the method of the foregoing embodiment 1, and the relevant explanation about the method of embodiment 1 is applicable to the respective units in the apparatus shown in fig. 9, which is not repeated herein. In addition, the names of the units described in the embodiments of the present application do not constitute limitations on the units themselves in some cases.
Example 4
According to a third aspect of the present application, an embodiment of the present application proposes an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the methods of embodiments of the present application.
Referring now to fig. 10, a schematic diagram of an electronic device suitable for use in implementing embodiments of the present application is shown. The electronic devices in the embodiments of the present application may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 10 is only an example, and should not impose any limitation on the functionality and scope of use of the embodiments of the present application.
As shown in fig. 10, the electronic device may include a processing means (e.g., a central processing unit, a graphic processor, etc.) that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) or a program loaded from a storage means into a Random Access Memory (RAM). In the RAM, various programs and data required for the operation of the electronic device are also stored. The processing device, ROM and RAM are connected to each other via a bus. An input/output (I/O) interface is also connected to the bus.
In general, the following systems may be connected to the I/O interface: input devices including, for example, touch screens, touch pads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices including, for example, liquid Crystal Displays (LCDs), speakers, vibrators, etc.; storage devices including, for example, magnetic tape, hard disk, etc.; a communication device. The communication means may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. While electronic devices having various systems are shown in the figures, it should be understood that not all of the illustrated systems are required to be implemented or provided. More or fewer systems may alternatively be implemented or provided.
In particular, according to embodiments of the present application, the processes described in the flowcharts above may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from ROM. The above-described functions defined in the methods of the embodiments of the present application are performed when the computer program is executed by a processing device.
Finally, it should be noted that:
the embodiment numbers are merely for the purpose of description and do not represent the advantages or disadvantages of the embodiments. In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments. Embodiments of the present application may be implemented in hardware, software, firmware, or a combination thereof.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The system embodiments described above are merely exemplary, and for example, the division of the units may be a logic function division, and there may be another division manner when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with respect to each other may be an indirect coupling or communication connection via some interfaces, units or modules, which may be in electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods, systems and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units. Moreover, the integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application.
Claims (10)
1. A method of designing a radio positioning system, comprising the steps of:
s1, analyzing the characteristics of a radio positioning task according to the target characteristics, the parameters of an observation platform, positioning error indexes and observation distances of a target to be positioned, and preliminarily determining an engineering alternative radio positioning system;
s2, for each alternative positioning system, calculating a parameter estimation error of a positioning parameter according to the target characteristic, the signal-to-noise ratio and the observation time length, and evaluating the positioning error of the target position in the observation distance by combining the parameter estimation error of the positioning parameter, the observation model error and the observation platform parameter;
s3, iteratively selecting a positioning system with positioning errors meeting the positioning error index requirement and minimum engineering realization cost from all the alternative positioning systems;
s4, designing the composition of the radio positioning system and the positioning workflow thereof based on the optimized positioning system and the clear observation platform parameters.
2. The method of claim 1, wherein the target characteristic comprises: target motion state, signal duration, signal frequency band, signal bandwidth, signal type, radiation power, single target or time-frequency overlapping multi-target;
the observation platform parameters include: fixed or moving, number of observation platforms, inter-site distance, receiving antenna gain requirements, data transmission requirements.
3. The method according to claim 1, wherein the positioning parameter is a measurement parameter for positioning a target position; the observation model of the positioning parameters is shown as follows:
z＝h(x,x 0 )+ξ
wherein z is a positioning parameter observation result, h (x) represents a positioning parameter observation equation, x is a target position, and x 0 For observing the position of the platform, xi is a random observation error and obeys zero-mean Gaussian distribution;
the observation model error refers to an error existing in the observation model, and comprises the following steps: station address errors, attitude angle errors and time-frequency synchronization errors among different observation platforms of the observation platform; each error includes a random error and a systematic error.
4. A method according to claim 3, wherein the positioning parameters include a target signal incoming wave direction, a target signal time difference, a target signal frequency shift; correspondingly, the parameter estimation error of the positioning parameter includes: direction finding error, time difference estimation error, frequency shift estimation error.
5. The method according to claim 1, wherein the estimating of the positioning error of the target position within the observation distance in step S2 includes:
using maximum likelihood estimation of the target position, the root mean square error RMSE of the positioning error of the target position is represented by the trace of the Kramer lower bound CRLB, i.e
6. The method according to claim 1, wherein step S3 comprises starting a first screening cycle and a second screening cycle in succession:
starting the screening cycle I, respectively judging whether the positioning error of each alternative positioning system meets the positioning error index requirement, if so, putting the positioning error into an index meeting pool, and if not, putting the positioning error in the pool until the positioning error judgment screening is completed for all the alternative positioning systems, wherein the index meets at least one alternative positioning system in the pool;
and starting the screening cycle II, and evaluating engineering realization costs of each alternative positioning system in the index meeting pool one by one, and screening a positioning system with the minimum engineering realization cost from the positioning system.
7. The method of claim 6, wherein after the first screening cycle, if none of the candidate positioning systems is satisfied by the index, all of the candidate positioning systems are in the index unsatisfied pool, the method further comprises:
determining error correction methods for all the alternative positioning systems according to engineering experience, and performing error correction on the positioning errors one by one;
and starting the screening cycle I again, and respectively judging whether the corrected positioning errors meet the positioning error index requirements or not until the positioning errors of at least one alternative positioning system meet the positioning error index requirements after error correction.
8. The method according to claim 1, wherein the designing of the positioning workflow of the radio positioning system in step S4 comprises:
reducing random errors in the observation model errors through multiple observation accumulation; and/or the number of the groups of groups,
through constructing an adaptive or overdetermined equation set of the multi-parameter joint estimation of the system error and the target position, synchronously solving the system error and the target position, and reducing the system error in the observation model error; and/or the number of the groups of groups,
and external calibration sources are adopted to externally calibrate the station address errors and attitude angle errors of the observation platforms and time-frequency synchronization errors among different observation platforms, so that systematic errors in the observation model errors are reduced.
9. A design apparatus for a radio positioning system, comprising:
the positioning system initial selection unit is used for analyzing the characteristics of a radio positioning task according to the target characteristics, the parameters of an observation platform, the positioning error indexes and the observation distance of a target to be positioned and preliminarily determining an engineering alternative radio positioning system;
the positioning error evaluation unit is used for calculating the parameter estimation error of the positioning parameter according to the target characteristics, the signal-to-noise ratio and the observation time length for each alternative positioning system, and evaluating the positioning error of the target position in the observation distance by combining the parameter estimation error of the positioning parameter, the observation model error and the observation platform parameter;
the positioning system optimization unit is used for iteratively optimizing one positioning system with the positioning error meeting the positioning error index requirement and the engineering realization cost being minimum from all the alternative positioning systems;
and the positioning system design unit is used for designing the composition of the radio positioning system and the positioning workflow thereof based on the optimized positioning system and the clear observation platform parameters.
10. An electronic device, comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 8.
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| CN202311534980.9A CN117784001A (en) | 2023-11-17 | 2023-11-17 | Design method and device of radio positioning system |
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| CN202311534980.9A CN117784001A (en) | 2023-11-17 | 2023-11-17 | Design method and device of radio positioning system |
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