CN117784116A - Active and passive combined positioning method - Google Patents
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Abstract
The invention discloses an active and passive combined positioning method, which comprises the following steps: the method comprises the steps of deploying an active positioning observation station and a passive positioning signal receiving station, acquiring the arrival time of an electromagnetic wave of a target radiation source through the passive positioning signal receiving station, recording the time when each observation station receives the signal, actively transmitting a radio frequency signal through the active positioning observation station, calculating the distance between the active positioning observation station and the target radiation source, carrying out fusion processing on active passive positioning data, and then calculating the coordinate position of a target through the processed data information by a positioning method to carry out target positioning.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to an active and passive combined positioning method.
Background
The accurate positioning of targets is very important, both in civilian and military systems. For civilian systems, locating the target helps provide various reliable services to the target; in the aspect of military systems, positioning of targets is a basic function of communication electronic warfare systems, and determining the positions of targets has various meanings, such as: destroying the enemy's weapon, thereby releasing the threat to the own party, helping to understand the enemy's military deployment, etc. There are several common target location problems that are common at present: active positioning, passive positioning, self-positioning of targets, etc.
The positioning of the target using some active devices (such as radar, etc.) is called active positioning, and has the advantages of being capable of detecting the target all the day and positioning the target, and being high in positioning accuracy. The positioning of the object by measuring electromagnetic waves of a radiation source, such as a communication transmitter, a radar, etc., without emitting electromagnetic waves to the object is called passive positioning.
Active localization determines the target location by signals transmitted by the target, such as radar, radio, etc., but is limited by signal transmission range and interference. Passive positioning is performed by receiving passive signals in the environment, such as Wi-Fi, bluetooth, acoustic waves, etc., but is affected by multipath effects, signal weakening, etc.
Therefore, there is a need to provide an active-passive joint positioning method to solve the above technical problems.
Disclosure of Invention
In order to solve the technical problems, the invention provides an active and passive combined positioning method.
The invention provides a method for active and passive combined positioning, which comprises the following specific steps:
s1, deploying an active positioning observation station and a passive positioning signal receiving station in a geographic environment, and acquiring required data by using the deployed observation station.
S2, acquiring the arrival time of the electromagnetic wave of the target radiation source through the passive positioning signal receiving station, and recording the time of each observation station receiving the signal.
S3, actively transmitting radio frequency signals through the active positioning observation station, and calculating the distance between the active positioning observation station and the target radiation source.
S4, fusing the active passive positioning data, and calculating the coordinate position of the target through the positioning method of the text by using the processed data information.
S5, performing error analysis on the obtained target position, and comparing the obtained target position with a traditional method.
Preferably, the arrangement form of the observation station in the step S1 is determined according to the application requirement, the measurement target and the geographical environment, and the arrangement form of the observation station is one of triangular arrangement, diamond arrangement and rectangular arrangement.
Preferably, in the step S2, the signal of the target radiation source is detected by using a sensing method of energy detection, and a threshold detection method is used to determine whether the signal arrives and record the arrival time.
Preferably, in the step S3, a pulse system radar is used to determine the coordinates of the target radiation source.
Preferably, the distance between the pulse system radar and the target radiation source is calculated by using a distance measurement core formula of the pulse radar, and the problem of distance ambiguity is solved by a 'house pulse' method.
Preferably, in the step S4, the active passive positioning data is fused and then processed
Rear part (S)
The specific steps of calculating the coordinate position of the target through the positioning method of the text are as follows:
s41, simplifying a positioning model into a two-dimensional problem so as to carry out mathematical modeling;
s42, establishing a mathematical model through distance information obtained by a pulse system radar;
s43, merging the active and passive data into an algorithm provided herein to calculate target coordinates.
Preferably, in the step S5, the error analysis uses two error index parameter measurement bases, namely a mean square error and a root mean square error.
Preferably, in S5, algorithm simulations are performed by selecting several site coordinates and a single radiation source coordinate, and analyzing the results.
Compared with the related art, the method for active and passive combined positioning has the following beneficial effects:
the invention utilizes the method of combining active positioning and passive positioning to realize more accurate and reliable target positioning, supplements the two methods with each other, fully utilizes the information of active signals and passive signals, improves the positioning accuracy and robustness, and can overcome the limitation of a single method, reduce the positioning error and enhance the positioning stability in complex and changeable environments.
Drawings
FIG. 1 is a general flow diagram of data acquisition and data processing in the present invention;
FIG. 2 is an active passive joint location GDOP graph of a triangular cloth station;
FIG. 3 is an active passive joint location GDOP map for a diamond-shaped layout;
FIG. 4 is an active passive joint location GDOP map of a rectangular layout;
FIG. 5 is a graph of constant false alarm detection of signals in passive positioning at different signal to noise ratios;
FIG. 6 is a schematic diagram of a pulse radar received echo signal in active positioning;
FIG. 7 is a schematic diagram of pulse Lei Dashe pulse method deblurring in active positioning;
FIG. 8 is a graph of MSE results for active and passive joint positioning under different error conditions;
fig. 9 is a graph of RMSE results for active passive joint localization under different error conditions.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
A specific implementation of a method for active passive joint location is described in detail below in connection with specific embodiments.
The invention provides a method for active and passive combined positioning, which comprises the following specific steps:
s1, deploying an active positioning observation station and a passive positioning signal receiving station in a geographic environment, and acquiring required data by using the deployed observation station.
S2, acquiring the arrival time of the electromagnetic wave of the target radiation source through the passive positioning signal receiving station, and recording the time of each observation station receiving the signal.
S3, actively transmitting radio frequency signals through the active positioning observation station, and calculating the distance between the active positioning observation station and the target radiation source.
S4, fusing the active passive positioning data, and calculating the coordinate position of the target through the positioning method of the text by using the processed data information.
S5, performing error analysis on the obtained target position, and comparing the obtained target position with a traditional method.
In the step S1, the station arrangement mode in the general geographic environment needs to be estimated, and since the station arrangement mode of the observation station has importance in positioning and measurement applications, it directly affects positioning accuracy, fault tolerance, reliability and overall performance of the system. Different station arrangement modes can influence the positioning accuracy. The reasonable selection of the station arrangement mode can enable the geometric relationship between the observation stations to better meet the requirements of a positioning algorithm, so that the positioning accuracy is improved. Common positioning and distributing stations are triangular distributing stations, diamond distributing stations and rectangular distributing stations. The station distribution mode has the advantages of high positioning accuracy, good fault tolerance, wide applicability and the like. The form of the station arrangement is selected according to the specific application scene, the measurement requirement and the environmental characteristics. Generally in navigation positioning, a GDOP (Geometric Dilution ofPrecision, geometric dilution of precision factor) map is used for showing a graphical representation of the position resolution accuracy in a navigation system.
Wherein, fig. 2,3 and 4 are respectively the GDOP diagrams of the triangular station arrangement, the diamond station arrangement and the rectangular station arrangement, and the station arrangement mode of the observation station is selected.
Further described are: triangulated stations are a way of arranging observation stations in a triangle form within a geographical area, the principle of triangulating stations being based on triangulation, by measuring angles and side lengths inside a triangle, the position of a target relative to the observation station can be deduced. Diamond placement is a way to arrange observation stations in the form of diamonds within a geographic area. Like a delta station, a diamond station is also a form of station for measuring and positioning applications, in which the observation stations are arranged in a diamond, wherein the four vertices of the diamond are the positions of the observation stations, respectively. By measuring the distance and angle between the observation stations, geometrical deductions can be used to calculate the position or other information of the target. Rectangular placement is a way to arrange observation stations in a rectangular fashion within a geographic area. Like other forms of the docking station, a rectangular docking station is also a docking station for measuring and positioning applications, in which the observation station is arranged as a rectangle, wherein the four corner positions of the rectangle are set as the positions of the observation station, respectively. By measuring the distance and angle between the observation stations, geometrical deductions can be used to calculate the position or other information of the target.
Further, in step S2, it is necessary to detect the electromagnetic wave signal emitted by the target source and record the time of reception, so a more classical method of spectrum sensing, i.e. Energy Detection (ED), is used.
A method based on threshold detection is used herein to determine whether a signal is coming and record the time of arrival, and is described in detail below.
The problem of signal detection can be regarded as a binary hypothesis problem
Where s (t) represents the signal and n (t) represents the noise, the variance of which can be set to sigma 2 ，H i I=0, 1 represents a different hypothesis. In the observation time T, the energy of the received signal is calculated and compared with a threshold th, if the energy is larger than the threshold th, the signal is judged to be H 1 I.e. there is a signal; otherwise, it is judged as H 0 I.e. no signal.
In practice, a digital signal is generally used, and then the received signal can be expressed as
Where N represents the number of sample points. Then the test statistic D can be expressed as
It can be demonstrated that the test statistic approximately follows a gaussian distribution, in particular
H 0 ：D～Normal(Nσ 2 ，2Nσ 4 )
H 1 ：
Wherein,representing the average power of the signal.
For constant false alarm detection, the false alarm probability P can be used when the signal does not exist f To determine the detection threshold th, since at H 0 Under the assumption that the test statistic D obeys Gaussian distribution and false alarm probability
P f ＝P(D＞th|H 0 )
Then it can be obtained
Wherein,
then the detection threshold th can be calculated by the above equation
Also, in H 1 Can be obtained by a normalization method, and the test statistic D also obeys Gaussian distribution, then the detection probability can be expressed as
The threshold th is brought in, and the detection probability of the system can be calculated.
Fig. 5 shows the probability P of false alarm by simulation according to the principle of constant false alarm detection f And detection probability P d Relationship between them. As can be seen from the figure, with the increase of the signal-to-noise ratio, the larger the detection probability is under the condition of the same false alarm probability, which is consistent with the realityThe better the channel conditions, the easier it is to detect the signal. The method is the detection method of the passive signal selected in the text.
Further, in step S3, a distance measurement by a pulse system radar is required. The range finding core method of the pulse system radar is that
The target distance measurement is in fact to accurately determine the delay time t R . Wherein t is R It is meant that there is a correspondence between the time difference between the transmitted pulse and the echo of this transmitted pulse impinging on a certain target.
FIG. 6 is a schematic diagram of a received echo signal, wherein a target echo signal is received by a receiving antenna, mixed with a local oscillator signal to obtain an intermediate frequency signal, amplified by a matched filter at an intermediate frequency, and further passed through an envelope detector to obtain a video signal, the video echo and a threshold voltage U 0 Comparing in a comparator, outputting a rectangular pulse of width τ as an output of a sum branch (Σ) whose purpose is to detect the presence or absence of a target; the other route consists of a differentiating circuit and a zero crossing detector, which generates a narrow pulse when the output of the differentiator passes through a zero value, the pulse occurring at exactly the maximum value of the echo pulse, usually also the centre of the echo pulse, this branch being the difference (delta) branch. And the branch pulse is added to the zero crossing point detector, and the narrow pulse corresponding to the echo peak value is selected, so that zero crossing pulse output caused by distance side lobes and noise is prevented. The delay time of the narrow pulse corresponding to the center of the echo pulse relative to the equivalent transmit pulse can be measured with a high-speed counter or other device and converted into a range data output.
In order to solve the problem, a 'pulse-cut' method is introduced. In the case of ranging ambiguity, the distance R corresponding to the target echo may be expressed as:
wherein t is r For the time delay between the measured echo signal and the transmitted pulse, i.e. the time difference between the echo and the main wave nearest to it, 0.ltoreq.t r ≤T r In order to obtain the true distance R of the target, the ambiguity value M must be determined, and the range ambiguity is determined by the "pulse-cut" method, i.e. discarding one out of M pulses transmitted each time as an additional flag for the transmitted pulse train. As shown, the transmit pulse is from a 1 To A M Wherein A is 2 And does not emit. Corresponding to the transmit pulse, the received echo pulse train is again absent one out of every M echo pulses. From A 2 And accumulating the number of the transmitted pulses one by one until the number of the transmitted pulses is stopped when no echo pulse exists after a certain transmitted pulse, and the accumulated value is the repetition period number m of echo crossing. Fig. 7 is a schematic diagram of deblurring.
Further, in step S4, the distance r between the target and the active base station has been obtained by active positioning in the above step i And the arrival time of the target signal detected by the passive base station, for convenience, we take positioning in the case of a two-dimensional plane as an example, so that a positioning mathematical model can be established as follows. The active positioning is mainly designed as a method for positioning the distance between a target and a base station, wherein the distances between N base stations and the target are respectively r 1 ，r 2 ，...r N And drawing N circles by taking the measuring distance of each base station as the radius and taking the intersection point of the N circles as the position of the target. The estimated position of the target may generally be calculated according to a Least Squares (LS) algorithm.
Let the coordinates of the target be u= (x, y) T The position coordinates of N base stations are
s i ＝(x i ，y i ) T (i＝1，2，3，...，M)，
According to their geometrical meaning, then the relationship satisfied between them is
Expanding the formula and dissolving to obtain
It is written as a matrix like the following:
Y＝AX
we require the coordinates u= (x, y) T Namely, X is obtained. Obtained by least square method
X＝(A T A) -1 A T Y
The position coordinates of the target can be calculated.
In passive positioning, target positioning is performed by utilizing the arrival time difference, and it is assumed that M base stations participate in positioning the target in a two-dimensional plane, and the position coordinates of each base station are s respectively i ＝(x i ，y i ) T (i=1, 2,3,., M) the position coordinates of the target u are u= (x, y) T And assuming that the signal is at the target u and the respective base station s i The propagation is in a straight line and the influence of non-line-of-sight propagation is not considered.
The signal received by the ith base station may be sampled and written as follows:
u i (k)＝s(k-d i )+η i (k)，i＝1，2，...，M
wherein s (k) represents a target signal, d i Representing the signal delay of the ith base station, i.e. the time of arrival of the signal at the ith base station from the target, eta i (k) Representing additive noise. Assuming that signals and noise are mutually independent and are all zero-mean Gaussian stationary random sequences, taking a first base station s 1 For reference base station, the time difference between the ith base station and the first base station is d i，1 ＝d i -d 1 (i=2, 3,., M) then weThe time difference measurement value between the base station i and the base station j can be obtained as follows:
d i，j ＝d i，1 -d j，1 ，i，j＝2，3，...，M
n then we can construct d= [ d ] 2，1 ，d 3，1 ，...，d M，1 ] T The vector representing the time difference measurement and having its covariance matrix Q, we have the following:
wherein d i，j Representing the time difference measurement between base station i and base station j,indicating base station
True time difference measurement value eta between base station i and base station j i，j Representing the noise (signal delay estimation error) of the corresponding base station i and base station j. Let noise vector n= [ n ] 2，1 ，n 3，1 ，...，n M，1 ] T Since the moveout estimate is usually unbiased, the mean of the vector n is 0 and the covariance matrix is Q.
The distance between the target and the i-th base station can be expressed as follows:
wherein,
let the propagation speed of the signal be c, we then have:
r i，1 ＝cd i，1 ＝r i -r 1 ，i＝2，3，...，M
to simplify the calculation, it is assumed that the number of passive positioning stations and active positioning stations is 3, so the following equations are present.
First, known parameters and unknown parameters are specified. Let r1 be known first. The mountain equation can be regarded as a linear equation system solution. Because the system of equations is a binary system of primary equations, the binary system of primary equations can be solved directly by using the primordial elimination method. First, the above can be simplified by term shifting:
and is further abbreviated as:
wherein the method comprises the steps of
Therefore, the following modeling method is available
The above formula is in the form of active and passive combination under the condition of 3 stations, and the above formula is simplified and written as
Y＝AX
Taking the error into the equation, let the residual be ζ=y-AX, let the weight matrix be Q, whichThe selection principle depends on the actual situation. The principle of WLS algorithm is to calculate an estimate of xMinimizing the weighted value of the residual, namely:
f (x) is biased by x and the result is equal to zero, namelyWe can obtain:
-2A T Q(Y-AX)＝0
from this, it can be solved that:
X＝(A T QA) -1 A T QY
wherein x= [ UR ]] T ，u＝(x，y) T The coordinate position u= (x, y) of the target radiation source is thus obtained T 。
Further, in step S5, we generally use positioning accuracy evaluation indexes to evaluate the positioning performance of a certain algorithm, where the positioning accuracy evaluation indexes commonly used at present mainly include: mean square error (Mean Square Error, MSE), root mean square error (Root Mean Square Error, RMSE), and the Cramer-Rao Lower Bound (CRLB), among others. The positioning index is measured herein using both MSE and RMSE indices.
Wherein the Mean Square Error (MSE) is defined as follows:
wherein,representing an estimate of the position of the target, u representing a true value, the symbol E indicates a desired operation, sign | I.I. | 2 Representing a matrix or vector2 norms of the amount. The MSE characterizes the statistical average of the square deviation of the positioning estimation of the target from the true value.
In the actual simulation process, we solve the mean square error with the following formula, thereby measuring the positioning performance of various algorithms:
wherein L represents the number of simulation experiments,the estimation result obtained for the i (i=1, 2,) th time for the target positioning is shown.
Wherein the root mean square error RMSE is defined as follows:
in the actual simulation process, we solve the root mean square error with the following formula, thereby measuring the positioning performance of various algorithms:
for verification and comparison of the algorithm herein with conventional algorithms, we performed the following simulation experiments. Assuming that 6 base stations in total participate in positioning a target in a two-dimensional plane, the coordinate vectors of the base stations are respectively as follows:
S 1 ＝[300，100] T ，S 2 ＝[400，150] T ，S 3 ＝[300，500] T ，S 4 ＝[350，200] T ，S 5 ＝[-100，-100] T ，S 6 ＝[100，150] T 。
wherein S is 1 -S 3 In the form of a passive base station,
S 4 -S 6 for an active base station, the target coordinates are u= (600, 500) T . The positioning performance of each algorithm is measured by the mean square error and the root mean square error of a target positioning estimation solution, and the specific form is as follows:
in the above-mentioned method, the step of,representing the estimated value of the target position obtained by the first simulation experiment, l=10 3 The number of simulated experiments is shown. The results are shown in FIGS. 8 and 9.
It can be seen that the active passive joint positioning method RMSE and MSE proposed herein is significantly superior to the conventional passive positioning method.
The circuits and control involved in the present invention are all of the prior art, and are not described in detail herein.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (8)
1. The active and passive combined positioning method is characterized by comprising the following specific steps of:
s1, deploying an active positioning observation station and a passive positioning signal receiving station in a geographic environment, and acquiring required data by using the deployed observation station.
S2, acquiring the arrival time of the electromagnetic wave of the target radiation source through the passive positioning signal receiving station, and recording the time of each observation station receiving the signal.
S3, actively transmitting radio frequency signals through the active positioning observation station, and calculating the distance between the active positioning observation station and the target radiation source.
S4, fusing the active passive positioning data, and calculating the coordinate position of the target through the positioning method of the text by using the processed data information.
S5, performing error analysis on the obtained target position, and comparing the obtained target position with a traditional method.
2. The method for active-passive joint positioning according to claim 1, wherein the arrangement form of the observation station in S1 is determined according to application requirements, measurement targets and geographical environments, and the arrangement form of the observation station is one of triangular arrangement, diamond arrangement and rectangular arrangement.
3. An active passive joint positioning method according to claim 1, wherein the signal of the target radiation source is detected in S2 by a sensing method of energy detection, and a threshold detection method is used to determine whether the signal is coming and record the arrival time.
4. A method of active passive joint positioning according to claim 1, wherein the S3 uses a pulsed radar to determine the target radiation source coordinates.
5. The method of claim 4, wherein the distance between the pulse system radar and the target radiation source is determined by using a range core formula of the pulse radar, and the distance ambiguity is resolved by a "pulse-cut" method.
6. The method for active-passive joint positioning according to claim 1, wherein in S4, the active-passive positioning data is fused, and the processed data is then signaled
The specific steps of calculating the coordinate position of the target through the positioning method are as follows:
s41, simplifying a positioning model into a two-dimensional problem so as to carry out mathematical modeling;
s42, establishing a mathematical model through distance information obtained by a pulse system radar;
s43, merging the active and passive data into an algorithm provided herein to calculate target coordinates.
7. The method of claim 1, wherein the error analysis in S5 uses two error index parameter metrics, i.e., a mean square error and a root mean square error.
8. An active passive joint positioning method according to claim 7, wherein in S5, several site coordinates and a single radiation source coordinate are selected for algorithmic simulation,
and the results are analyzed.
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