JP7301621B2 - Position location device, position location program and position location system - Google Patents

Description

The present disclosure relates to techniques for locating a transmission source.

Techniques for locating the position of a transmission source are disclosed in Patent Documents 1, 2, and the like. In Patent Documents 1 and 2, the position of the transmission source is located so that the measured value of the direction of arrival of the received wave from the transmission source and the predicted value of the direction of arrival of the received wave from the transmission source by a Kalman filter or the like match. do.

Patent No. 5730473 Patent No. 5730506

FIG. 1 shows the localization results of the prior art. The aircraft indicated by the triangle mark is equipped with a transmission source positioning system, drops the transmission source indicated by the diamond mark, goes straight immediately after the transmission source is dropped, turns 180° after a while, and after turning 180° Go straight. The source, indicated by the diamond, is substantially fixed at the drop position of the source. A straight line extending from the aircraft indicates the measured direction of arrival of the received wave from the transmission source. The ever-moving circle indicates the location of the transmission source.

Here, the locating position of the transmission source continuously advances straight as the aircraft advances straight immediately after the transmission source is dropped. It should be noted that the measurement result of the direction of arrival of the received wave from the transmission source indicates a direction that substantially coincides with the direction connecting the true position of the transmission source and the position of the aircraft immediately after the transmission source is dropped.

The locating position of the transmission source discontinuously flies from immediately after the transmission source is dropped to when it turns 180°. The measurement result of the direction of arrival of the received wave from the transmission source indicates a direction that does not match the direction connecting the true position of the transmission source and the position of the aircraft during a 180° turn.

Furthermore, once the determined position of the transmission source deviates from the true position of the transmission source, it becomes difficult to match the true position of the transmission source after convergence, although it approaches the true position of the transmission source.

Therefore, in order to solve the above problems, an object of the present disclosure is to reduce deviation of the determined position of the transmission source from the true position of the transmission source when locating the position of the transmission source.

In the position location results of the prior art, the location of the transmission source continuously moves straight along with the straight flight of the aircraft immediately after the transmission source is dropped. The reason for this is that the direction of arrival of the waves received from the transmission source does not change substantially immediately after the transmission source is dropped as the aircraft travels straight. A slight error in the measurement result of the direction of arrival of the received wave from the transmission source causes the estimated position of the transmission source to deviate from its true position at the start of position determination immediately after the transmission source is dropped.

Therefore, in order to solve the above problem, the positioning of the transmission source is started when the direction of arrival of the received wave from the transmission source changes greatly with the movement of a mobile object such as an aircraft. More specifically, the positioning of the transmission source is started when the direction of arrival of the received wave from the transmission source is within the horizontal range with respect to the moving direction of the moving body such as an aircraft. Therefore, even a slight error in the measurement result of the direction of arrival of the received wave from the transmission source hardly causes deviation of the determined position of the transmission source from the true position of the transmission source at the start of position determination satisfying the start conditions.

Specifically, the present disclosure obtains information on the direction of arrival of a received wave from a transmission source, and acquires information on the direction of arrival of a received wave, and within a predetermined direction range around the lateral direction with respect to the moving direction of a mobile body equipped with an antenna that receives the received wave a direction-of-arrival determination unit that determines whether or not there is the direction of arrival; In doing so, when it is determined that the direction of arrival is not within the predetermined range of directions, the positioning of the transmission source is not started, and when it is determined that the direction of arrival is within the range of predetermined directions, the transmission is performed. a position locating unit for initiating source position locating.

In addition, the present disclosure obtains information on the direction of arrival of a received wave from a transmission source, and detects the arrival direction within a predetermined direction range around the left-right direction with respect to the moving direction of a mobile body equipped with an antenna that receives the received wave. A direction-of-arrival determination step of determining whether or not there is a direction of arrival, and locating the position of the transmission source so that the measured value of the direction of arrival and the predicted value of the direction of arrival match, When it is determined that the arrival direction is not within the predetermined direction range, the positioning of the transmission source is not started, and when it is determined that the arrival direction is within the predetermined direction range, the transmission source is positioned. and a position locating step for starting orientation, and a position locating program for causing a computer to sequentially execute a position locating step.

According to these configurations, it is possible to reduce the deviation of the determined position of the transmission source from the true position of the transmission source when the position determination of the transmission source is started.

Further, according to the present disclosure, the direction-of-arrival determination unit determines whether the moving object is moving away from the transmission source or the moving object is approaching the transmission source based on the information on the direction of arrival, The position locating unit does not start locating the position of the transmission source when it is determined that the moving object is moving away from the transmission source even though the direction of arrival is within the range of the predetermined direction. The position locating apparatus is characterized in that, when it is determined that the direction of arrival is within a range and the moving body is approaching the transmission source, the position locating device starts locating the position of the transmission source.

According to this configuration, it is possible to increase the position location accuracy of the transmission source by lengthening the period in which the direction of arrival of the received wave from the transmission source changes significantly with the movement of the mobile body.

Further, according to the present disclosure, the direction-of-arrival determination unit determines whether or not the moving body is turning around the transmission source based on the information on the direction of arrival, is the direction of arrival, and when it is determined that the moving body is circling the transmission source, the position location of the transmission source is started.

According to this configuration, the position location accuracy of the transmission source can be increased by lengthening the period during which the direction of arrival of the received wave from the transmission source is within the predetermined direction range as the mobile body moves.

Further, in the present disclosure, the position locating unit continues the position locating of the transmission source even when it is determined that the direction of arrival is not within the predetermined direction range after starting the position locating of the transmission source. A position locating device characterized by:

According to this configuration, it is possible to appropriately operate the Kalman filter or the like by eliminating irregular inputs to the Kalman filter or the like due to interruption of position location of the transmission source.

Further, in the present disclosure, the position locating unit, in the position locating of the preceding transmission source, before the locating position of the transmission source converges to a predetermined extent, when starting the position locating of the subsequent transmission source, The position locating apparatus is characterized in that the start condition is that the arrival direction is determined to be within the predetermined direction range.

According to this configuration, even if the positioning position of the transmission source cannot be corrected to the true position after convergence of the positioning position of the transmission source in the preceding positioning of the transmission source, in the subsequent positioning of the transmission source, The orientation position can be corrected to the true position before the orientation position converges.

In the position location results of the prior art, the measurement result of the direction of arrival of the received wave from the transmission source indicates a direction that does not match the direction connecting the true position of the transmission source and the position of the aircraft during a 180° turn. The reason for this is that multipaths, such as those caused by the wings or fuselage of the aircraft, exist between the transmission source and the antennas mounted on the aircraft. Then, the correlation between the wave received by one antenna and the wave received by the other antenna becomes low, and the maximum intensity of the spectrum in the arrival direction of the received wave becomes low.

Therefore, in order to solve the above-mentioned problems, when a multipath due to a structure of a mobile body such as an aircraft exists between a transmission source and an antenna mounted on a mobile body such as an aircraft, the direction of arrival of received waves is changed. Information on the direction of arrival of the received wave that gives the maximum spectrum intensity is not output to the position locating process of the transmission source. More specifically, when the maximum intensity of the spectrum in the direction of arrival of the received wave is equal to or less than a predetermined intensity threshold value, information on the direction of arrival of the received wave that gives the maximum intensity of the spectrum in the direction of arrival of the received wave is sent to the transmission source. It was decided not to output to the position location processing of .

Specifically, the present disclosure includes the position locating device described above, (1) acquiring the received wave, calculating the spectrum of the direction of arrival of the received wave using a signal subspace method, and (2) ) extracting the maximum intensity of the spectrum, and when the maximum intensity is less than or equal to a predetermined intensity threshold, not outputting the direction-of-arrival information giving the maximum intensity to the positioning process of the transmission source; a direction-of-arrival measuring device for outputting information on the direction of arrival giving the maximum intensity to a position location process of the transmission source when the intensity is greater than a predetermined threshold.

According to this configuration, it is possible to reduce the deviation of the determined position of the transmission source from the true position of the transmission source when continuing the position determination of the transmission source after starting.

In this way, the present disclosure can reduce deviation of the location of the transmission source from the true location of the transmission source when locating the location of the transmission source.

FIG. 10 is a diagram showing a position location result of the prior art; 1 is a diagram showing the configuration of a position locating system according to a first embodiment; FIG. FIG. 7 is a diagram showing the procedure of orientation start processing according to the first embodiment; FIG. 4 is a diagram showing the content of orientation start processing according to the first embodiment; FIG. 4 is a diagram showing the content of orientation start processing according to the first embodiment; It is a figure which shows the procedure of the position location process of 1st Embodiment. FIG. 7 is a diagram showing the procedure of orientation switching processing of the first embodiment; FIG. 10 is a diagram showing the configuration of a position locating system according to a second embodiment; FIG. FIG. 10 is a diagram showing the procedure of orientation start processing according to the second embodiment; It is a figure which shows the procedure of the position location process of 2nd Embodiment. FIG. 12 is a diagram showing the contents of direction-of-arrival output according to the second embodiment; FIG. 12 is a diagram showing the contents of direction-of-arrival output according to the second embodiment; FIG. 10 is a diagram showing details of intensity threshold setting according to the second embodiment; It is a figure which shows the position location result of 2nd Embodiment.

Embodiments of the present disclosure will be described with reference to the accompanying drawings. The embodiments described below are examples of implementing the present disclosure, and the present disclosure is not limited to the following embodiments.

(First embodiment)
FIG. 2 shows the configuration of the positioning system of the first embodiment. A position locating system P is composed of a direction-of-arrival measuring device 1 and a position locating device 2 . The direction-of-arrival measuring device 1 is composed of a spectrum calculator 11 . The position locating device 2 is composed of an arrival direction determining section 21 and a position locating section 22 . The position locating system P is implemented by installing a direction-of-arrival measurement program and a position locating program shown in FIGS.

The spectrum calculation unit 11 acquires a received wave from a transmission source received by an antenna mounted on a moving object, and calculates the spectrum of the direction of arrival of the received wave using the signal subspace method. Here, MUSIC (Multiple Signal Classification) spectrum or the like is given as the spectrum of the direction of arrival of the received wave. Then, in order to calculate the MUSIC spectrum, the spectrum calculator 11 acquires information on the reception phase difference between the antennas, information on the mounting position of each antenna, and information on the transmission frequency of each transmission source.

The position locating unit 22 locates the position of the transmission source so that the actual measured value of the direction of arrival and the predicted value of the direction of arrival match. Here, the position locating unit 22 may be a Kalman filter or the like, and the state equation of the Kalman filter or the like may be a fixed point model (transmission source is fixed) or a moving point model (transmission source is moving). As an observation equation of , there is a triangulation equation and the like. Then, the position locating unit 22 acquires information on the direction of arrival, information on the position and orientation of the moving body, and information on the previous locating position in order to locate the position of the transmission source.

Here, in the position location results of the prior art, the location of the transmission source continuously advances straight as the aircraft travels straight immediately after the transmission source is dropped. The reason for this is that the direction of arrival of the waves received from the transmission source does not change substantially immediately after the transmission source is dropped as the aircraft travels straight. A slight error in the measurement result of the direction of arrival of the received wave from the transmission source causes the estimated position of the transmission source to deviate from its true position at the start of position determination immediately after the transmission source is dropped.

Therefore, in the first embodiment, the position determination of the transmission source is started when the direction of arrival of the received wave from the transmission source changes greatly with the movement of a mobile object such as an aircraft. More specifically, the positioning of the transmission source is started when the direction of arrival of the received wave from the transmission source is within the horizontal range with respect to the moving direction of the moving body such as an aircraft. Therefore, even a slight error in the measurement result of the direction of arrival of the received wave from the transmission source hardly causes deviation of the determined position of the transmission source from the true position of the transmission source at the start of position determination satisfying the start conditions.

3 to 5 show the procedure and contents of the orientation start process of the first embodiment. The spectrum calculator 11 acquires the received wave (step S1), calculates the MUSIC spectrum (step S2), extracts the maximum intensity (step S3), and outputs information on the direction of arrival (step S4).

The direction-of-arrival determining unit 21 acquires direction-of-arrival information (step S5), and determines whether the direction of arrival exists within a predetermined direction range around the left-right direction with respect to the moving direction of the moving body (step S6, NO), or whether the direction of arrival is (step S6, YES).

When it is determined that the arrival direction is not within the predetermined direction range (step S6, NO), the position locating section 22 does not start the position locating of the transmission source (step S7), and returns to step S1.

When the direction-of-arrival determining unit 21 determines that the direction of arrival is within the predetermined direction range (step S6, YES), based on the direction-of-arrival information, is the moving object moving away from the transmission source (step S8, moving away)? , whether the mobile is approaching the transmission source (step S8, approaching) or whether the mobile is circling the transmission source (step S8, circling).

If the direction of arrival is within the predetermined direction range (step S6, YES) but the moving body is determined to be moving away from the transmission source (step S8, move away), the position locating unit 22 determines the position of the transmission source. Without starting (step S7), the process returns to step S1.

When it is determined that the direction of arrival is within the predetermined direction range (step S6, YES) and the moving object is approaching the transmission source (step S8, approaching), the position locating unit 22 determines the position of the transmission source. is started (step S9), and the program of FIG. 3 is terminated.

When it is determined that the direction of arrival is within the predetermined direction range (step S6, YES) and that the moving object is turning around the transmission source (step S8, turns), the position locating unit 22 determines the position of the transmission source. Orientation is started (step S9), and the program of FIG. 3 is terminated.

In FIG. 4, a mobile V passes a transmission source T. In FIG. In FIG. 5, a mobile V circles a transmission source T. In FIG. The forward direction with respect to the moving direction of the moving body V is the 0° direction, the rearward direction with respect to the moving direction of the moving body V is the 180° direction, and the right side direction with respect to the moving direction of the moving body V is the 90° direction. Let the left direction with respect to the direction be the 270° direction. The predetermined direction range around the right side with respect to the moving direction of the moving body V is defined as a range centering on the 90° direction and excluding the vicinity of the 0° direction and the 180° direction, and the left side around the moving direction of the moving body V The predetermined direction range is a range centered on the 270° direction and excluding the vicinity of the 0° direction and the 180° direction.

On the left side of the upper part of FIG. 4, the mobile V is located at the mobile position R1 and approaches the transmission source T. In FIG. The arrival direction is near the 0° direction and is not within the predetermined direction range (step S6, NO). Therefore, the conditions for starting position location of the transmission source T are not met (step S7). The reason for this is that, as shown in the lower left part of FIG. At the start of the orientation, the orientation position of the transmission source T is shifted from its true position.

In the middle of the upper part of FIG. 4, the mobile V is located at the mobile position R2 and is closest to the transmission source T. In FIG. The arrival direction is near the 90° direction and within the predetermined direction range (step S6, YES). Therefore, the conditions for starting position location of the transmission source T are satisfied (step S9). The reason for this is that, as shown in the middle of the lower part of FIG. At the start of orientation, deviation of the locating position of the transmitting source T from the true position of the transmitting source T is hardly caused.

On the right side of the upper part of FIG. 4, the mobile V is located at the mobile position R3 and moves away from the transmission source T. In FIG. The arrival direction is near the 180° direction and is not within the predetermined direction range (step S6, NO). Therefore, the conditions for starting position location of the transmission source T are not met (step S7). The reason for this is that, as shown on the right side of the lower part of FIG. At the start of the orientation, the orientation position of the transmission source T is shifted from its true position.

Compared to the upper left side of FIG. 4, when the mobile V is closer to the transmission source T, and compared to the upper center of FIG. 4, when the mobile V is not closer to the transmission source T. (step S6, YES and step S8, approaching), it is desirable that the starting conditions for positioning of the transmission source T are met (step S9). The reason for this is that by lengthening the period in which the direction of arrival greatly changes as the moving object V moves, the position location accuracy of the transmission source T can be increased.

Compared to the upper middle of FIG. 4, when the moving object V has moved away from the transmission source T, and compared to the upper right of FIG. 4, when the moving object V has not moved away from the transmission source T (step S6, YES and step S8, move away), it is desirable that the conditions for starting the location of the transmission source T are not met (step S7). The reason for this is that the period in which the direction of arrival greatly changes with the movement of the mobile object V is shortened, so that the position locating accuracy of the transmission source T is lowered.

On the left, center, and right sides of the upper part of FIG. 5, the moving object V is positioned at moving object positions R1, R2, and R3, respectively, and turns the transmission source T (step S8, turns). The arrival direction is near the 90° direction and within the predetermined direction range (step S6, YES). Therefore, the conditions for starting position location of the transmission source T are satisfied (step S9). The reason for this is that, as shown in the left, center, and right sides of the lower part of FIG. The resulting insignificant error causes substantially no deviation of the estimated position of the source T from its true position at the start of the location of the source T. By lengthening the period in which the arrival direction remains within the predetermined direction range as the moving object V moves, the position location accuracy of the transmission source T can be increased.

FIG. 6 shows the procedure of position location processing according to the first embodiment. The position orientation process shown in FIG. 6 is performed following the orientation start process shown in FIG. The spectrum calculator 11 acquires the received wave (step S11), calculates the MUSIC spectrum (step S12), extracts the maximum intensity (step S13), and outputs information on the direction of arrival (step S14).

The position locating unit 22 acquires information on the direction of arrival (step S15). After the positioning unit 22 starts positioning the transmission source (step S9), even if it is determined that there is no arrival direction within the predetermined direction range, the positioning unit 22 continues positioning the transmission source (step S16). . In other words, the position locating section 22 outputs the current locating position of the transmission source instead of the previous locating position of the transmitting source, regardless of whether the direction of arrival is within the predetermined direction range (step S16). When the location of the transmission source is to be continued (step S17, YES), the process returns to step S11. When the position location of the transmission source is not continued (step S17, NO), the program of FIG. 6 is terminated.

In this manner, by eliminating irregular inputs to the Kalman filter or the like due to interruption of position location of the transmission source, the Kalman filter or the like can be operated appropriately.

FIG. 7 shows the procedure of the orientation switching process of the first embodiment. The orientation switching process shown in FIG. 7 is performed following the position orientation process shown in FIG. Before the location of the transmission source converges to a predetermined extent in the location location of the preceding transmission source, the location location unit 22 starts location location of the subsequent transmission source, and the direction of arrival is within a predetermined direction range. The starting condition is that it is determined that

The position locating unit 22 starts position locating when the preceding transmission source position locating transitions from a state in which the start condition is not satisfied to a state in which the start condition is satisfied.

The position locating section 22 starts position locating the succeeding transmission source before the locating position of the transmission source converges to a predetermined extent in the position locating of the preceding transmission source. Here, the state equations of the Kalman filter, etc. (fixed-point model (transmitting source is fixed) or moving-point model (transmitting source is moving), etc.) may be the same or different in preceding and succeeding localization of the transmitting source. may

The position locating unit 22 starts position locating when the subsequent position locating of the transmission source changes from a state in which the start condition is not satisfied to a state in which the start condition is satisfied.

The position locating unit 22 terminates the position locating of the preceding transmission source after the locating position of the transmission source converges to a predetermined extent in the position locating of the subsequent transmission source. Here, the position locating unit 22 adopts the locating positions from the start time to the end time in the previous position locating of the transmission source. Then, the position locating section 22 does not adopt the locating position from the start to the convergence time, but adopts the locating position from the convergence time to the end time in the subsequent position locating of the transmission source.

In this way, even if in the previous positioning of the transmission source, the positioning position of the transmission source cannot be corrected to the true position after convergence of the positioning position of the transmission source, in the subsequent positioning of the transmission source, the positioning position of the transmission source The orientation position can be corrected to the true position before convergence of .

(Second embodiment)
FIG. 8 shows the configuration of the positioning system of the second embodiment. The direction-of-arrival measurement apparatus 1 includes a direction-of-arrival output section 12 in addition to the spectrum calculation section 11, unlike the first embodiment. The position locating system P is implemented by installing a direction-of-arrival measurement program and a position locating program shown in FIGS. 9 and 10 in a computer.

Here, in the position location results of the prior art, the measurement result of the direction of arrival of the received wave from the transmission source indicates a direction that does not match the direction connecting the true position of the transmission source and the position of the aircraft during a 180° turn. ing. The reason for this is that multipaths, such as those caused by the wings or fuselage of the aircraft, exist between the transmission source and the antennas mounted on the aircraft. Then, the correlation between the wave received by one antenna and the wave received by the other antenna becomes low, and the maximum intensity of the spectrum in the arrival direction of the received wave becomes low.

Therefore, in the second embodiment, when a multipath due to a structure of a mobile object such as an aircraft exists between a transmission source and an antenna mounted on a mobile object such as an aircraft, the spectrum of the direction of arrival of the received wave is information on the direction of arrival of the received wave that gives the maximum intensity of the transmission source is not output to the position locating process of the transmission source. More specifically, when the maximum intensity of the spectrum in the direction of arrival of the received wave is equal to or less than a predetermined intensity threshold value, information on the direction of arrival of the received wave that gives the maximum intensity of the spectrum in the direction of arrival of the received wave is sent to the transmission source. It was decided not to output to the position location processing of .

FIG. 9 shows the procedure of orientation start processing in the second embodiment. 11 and 12 show the contents of the direction-of-arrival output of the second embodiment. FIG. 13 shows the details of intensity threshold setting in the second embodiment. Steps S21 to S23 are the same as steps S1 to S3, respectively.

When the maximum intensity is equal to or less than the predetermined intensity threshold value (step S24, YES), the direction-of-arrival output unit 12 does not output information on the direction of arrival giving the maximum intensity to the positioning process of the transmission source (step S25). The direction-of-arrival determining unit 21 does not acquire information about the direction of arrival (step S26). After step S26 is executed, the process returns to step S21.

When the maximum intensity is greater than the predetermined intensity threshold value (step S24, NO), the direction-of-arrival output unit 12 outputs the information of the direction of arrival that gives the maximum intensity to the positioning process of the transmission source (step S27). The direction-of-arrival determining unit 21 acquires direction-of-arrival information (step S28). After step S28 is executed, the process moves to step S29.

Steps S29-S32 are the same as steps S6-S9, respectively.

FIG. 10 shows the procedure of position location processing according to the second embodiment. 11 and 12 show the contents of the direction-of-arrival output of the second embodiment. FIG. 13 shows the details of intensity threshold setting in the second embodiment. Steps S41 to S46, S48 and S49 are the same as steps S21 to S28, respectively.

After step S46 is executed, the process moves to step S47. After starting the position locating of the transmission source (step S32), the position locating unit 22 continues the position locating of the transmission source (step S47) even when the information on the direction of arrival is not acquired (step S46). In other words, even when the direction of arrival information is not acquired (step S46), the position locating unit 22 outputs the previous determined position of the transmission source as the current determined position of the transmission source (step S47).

After step S49 is executed, the process moves to step S50. After starting the position locating of the transmission source (step S32), the position locating unit 22 continues the position locating of the transmission source even when it is determined that the arrival direction is not within the predetermined direction range (step S50). In other words, the position locating unit 22 outputs the current locating position of the transmission source instead of the previous locating position of the transmitting source regardless of whether or not the arrival direction is within the predetermined direction range (step S50).

Here, the direction-of-arrival output unit 12 may determine whether or not there is multipath due to a moving object between the transmission source and the antenna. Then, when there is multipath, the direction-of-arrival output unit 12 does not have to output the information of the direction of arrival that gives the maximum intensity to the positioning process of the transmission source. On the other hand, the direction-of-arrival output unit 12 may output the information of the direction of arrival that gives the maximum intensity to the positioning process of the transmission source when there is no multipath. When the position location of the transmission source is to be continued (step S51, YES), the process returns to step S41. When the position location of the transmission source is not continued (step S51, NO), the program of FIG. 10 is terminated.

FIG. 11 shows the MUSIC spectrum. The predetermined intensity threshold is explained using FIG. FIG. 14 shows the positional relationship between an aircraft as a mobile object V and a transmission source T. In FIG. A plurality of antennas A are mounted on the lower part of the fuselage of an aircraft as a mobile body V. As shown in FIG. The presence or absence of multipath due to the main wing and body of the aircraft as the moving object V is determined using ray tracing or the like.

In the upper part of FIG. 12, the aircraft as the moving body V has its main wings tilted from the horizontal plane, and the multipath due to the main wings and the body of the aircraft as the moving body V is between the transmission source T and one antenna A exist. The upper stage of FIG. 11 corresponds to the upper stage of FIG. In the upper part of FIG. 11, the correlation between the received wave of one antenna A and the received wave of the other antenna A is low, the maximum intensity of the MUSIC spectrum is low, and the maximum intensity of the MUSIC spectrum is below the predetermined intensity threshold ( step S24, YES or step S44, YES). Therefore, the condition for outputting direction-of-arrival information is not satisfied (step S25 or step S45). The reason for this is that the deviation of the direction-of-arrival measurement result from the true direction-of-arrival causes the estimated position of the transmission source T to deviate from the true position of the transmission source T when locating the position of the transmission source T continues after the start. .

In the lower part of FIG. 12, the aircraft as the moving object V has its main wings in the horizontal plane, and multipaths due to the main wings and fuselage of the aircraft as the moving object V exist between the transmission source T and both antennas A. do not. The lower stage of FIG. 11 corresponds to the lower stage of FIG. In the lower part of FIG. 11, the correlation between the received wave of one antenna A and the received wave of the other antenna A increases, the maximum intensity of the MUSIC spectrum increases, and the maximum intensity of the MUSIC spectrum becomes larger than the predetermined intensity threshold ( step S24, NO or step S44, NO). Therefore, the condition for outputting direction-of-arrival information is satisfied (step S27 or step S48). The reason for this is that the coincidence of the measured direction of arrival with the true direction of arrival almost causes the estimated position of the transmission source T to deviate from the true position of the transmission source T when the position determination of the transmission source T continues after the start. don't let

FIG. 13 shows a method of setting the predetermined intensity threshold. An aircraft as a moving body V is circling above a certain altitude, and a transmission source T is located on the ground or on the sea outside the circling circle. It is assumed that the farther the moving object V is from the transmission source T, the more likely multipath is caused by the wing and body of the aircraft as the moving object V, and the more the moving object V is closer to the transmission source T, the less likely it is to occur.

In the upper part of FIG. 13, the predetermined intensity threshold is set too low. Then, since the direction-of-arrival information is not thinned out not only when the moving object V approaches the transmission source T but also when it moves away from the transmission source T, the amount of thinning-out in the direction of arrival for which information is not output is small. It is possible to correspond to the momentary movement of T. However, since the direction-of-arrival information is output not only when the moving object V approaches the transmission source T but also when it moves away from the transmission source T, the measurement accuracy of the direction-of-arrival information output is low. Therefore, the positioning accuracy of the transmission source T becomes low.

In the lower part of FIG. 13, the predetermined intensity threshold is set too high. Then, since the direction-of-arrival information is output only when the moving object V approaches the transmission source T, except when the mobile object V moves away from the transmission source T, the direction-of-arrival measurement accuracy for which the information is output is high. However, since the direction-of-arrival information is not thinned out only when the moving object V approaches the source T except when it moves away from the source T, the amount of direction-of-arrival thinning for which no information is output becomes large. It cannot cope with the momentary movement of T. Therefore, the positioning accuracy of the transmission source T becomes low.

In the middle part of FIG. 13, the predetermined strength threshold is set to an appropriate value. Then, even when the moving object V moves away from the transmission source T/approaches the transmission source T, the direction-of-arrival information is output even in the intermediate state. . Even in the intermediate state between the moving object V moving away from the transmission source T and approaching the transmission source T, the direction-of-arrival information is not thinned out. It is possible to cope with the ever-changing movement of the transmission source T. Therefore, the position location accuracy of the transmission source T is high.

Therefore, as shown in the middle part of FIG. 13, the direction-of-arrival output unit 12 sets a predetermined strength threshold so that the measurement accuracy of the direction-of-arrival for outputting information to the positioning process of the transmission source T is a predetermined measurement accuracy. It is desirable to For example, the predetermined measurement accuracy is a measurement accuracy higher than the measurement accuracy of the direction of arrival when the moving object V moves away from the transmission source T, and also when the moving object V moves away from the transmission source T, it approaches the transmission source T. It can be said that the measurement accuracy is about the same as the measurement accuracy of the direction of arrival when there is no user. In this way, by not making the predetermined intensity threshold for the maximum intensity of the MUSIC spectrum too low, it is possible to improve the accuracy of measuring the direction of arrival, and thus the accuracy of locating the location of the transmission source T. .

Then, as shown in the middle part of FIG. 13, the direction-of-arrival output unit 12 sets a predetermined intensity threshold value so that the amount of decimation in the direction of arrival in which information is not output to the position location processing of the transmission source T is equal to the predetermined decimation amount. It is desirable to For example, the predetermined decimation amount is a decimation amount that decimates the information on the direction of arrival when the moving object V moves away from the transmission source T, and moves closer to the transmission source T even if the moving object V moves away from the transmission source T. It can be assumed that the decimation amount is such that the direction-of-arrival information is not decimated when there is no signal. In this way, by not increasing the predetermined intensity threshold with respect to the maximum intensity of the MUSIC spectrum too much, it is possible to reduce the amount of decimation in the direction of arrival, thereby increasing the accuracy of locating the location of the transmission source T. .

Furthermore, as shown in the middle part of FIG. 13, the direction-of-arrival output unit 12 sets a predetermined intensity threshold value so that the position location accuracy of the transmission source T in the position location processing of the transmission source T becomes a predetermined location accuracy. is desirable. For example, the predetermined orientation accuracy can be assumed to be an orientation accuracy that corresponds to the movement of the transmission source T from moment to moment. In this way, by not setting the predetermined intensity threshold for the maximum intensity of the MUSIC spectrum too low and not too high, it is possible to increase the accuracy of direction-of-arrival measurement, and further reduce the amount of decimation in the direction of arrival. Therefore, the accuracy of locating the location of the transmission source T can be increased.

FIG. 14 shows the position location result of the second embodiment. The aircraft indicated by the triangle mark is equipped with a transmission source positioning system, drops the transmission source indicated by the diamond mark, goes straight immediately after the transmission source is dropped, turns 180° after a while, and after turning 180° Go straight. The source, indicated by the diamond, is substantially fixed at the drop position of the source. A straight line extending from the aircraft indicates the measured direction of arrival of the received wave from the transmission source. The ever-moving circle indicates the location of the transmission source.

Here, the locating position of the transmission source is almost fixed at the drop position of the transmission source immediately after the drop of the transmission source, regardless of whether the aircraft travels straight. In this way, it is possible to reduce the deviation of the determined position of the transmission source from the true position of the transmission source when the position determination of the transmission source is started.

The locating position of the transmission source does not fly discontinuously from immediately after the transmission source is dropped to when it turns 180°. In this way, it is possible to reduce the deviation of the determined position of the transmission source from the true position of the transmission source when the position determination of the transmission source is continued after starting.

The positioning device, the positioning program, and the positioning system of the present disclosure, when the aircraft drops the transmission source, continue the positioning of the transmission source after starting, and the positioning position of the transmission source is the true position of the transmission source. Misalignment can be reduced.

P: Positioning system V: Moving body T: Transmission source D: Left and right direction ranges R1, R2, R3; Moving body position A: Antenna 1: Direction of arrival measuring device 2: Positioning device 11: Spectrum calculator 12: Direction of arrival Output unit 21: Arrival direction determination unit 22: Position location unit

Claims (7)

Acquisition of information on the direction of arrival of a received wave from a transmission source, and whether the direction of arrival is present or not within a predetermined direction range around the left-right direction with respect to the direction of movement of a mobile body equipped with an antenna for receiving the received wave. a direction-of-arrival determination unit that determines whether there is a direction of arrival and determines whether the direction of arrival does not change or changes with the movement of the mobile object;
Using the motion model of the transmission source and the survey equation of the transmission source as the state equation and the observation equation of the state space model, respectively, the above-mentioned In locating the position of the transmission source, when it is determined that the direction of arrival does not exist within the predetermined direction range and that the direction of arrival does not change with the movement of the mobile body, the position of the transmission source is determined. When it is determined that the arrival direction is within the predetermined direction range without starting the position determination , and when it is determined that the arrival direction changes with the movement of the moving body , the position determination of the transmission source is performed. a starting position locator;
A position locating device comprising: The direction-of-arrival determination unit determines whether the moving object is moving away from the transmission source or the moving object is approaching the transmission source based on the direction-of-arrival information,
The position locating unit does not start locating the position of the transmission source when it is determined that the moving object is moving away from the transmission source even though the direction of arrival is within the range of the predetermined direction. 2. The position of claim 1, wherein when it is determined that the direction of arrival is within range and the moving object is approaching the transmission source, positioning of the transmission source is started. orientation device. The direction-of-arrival determination unit determines whether or not the moving object is circling the transmission source based on the direction-of-arrival information,
The position locating unit starts position locating of the transmission source when it is determined that the direction of arrival is within the predetermined direction range and the moving object is turning around the transmission source. 3. The position locating device according to claim 1 or 2, wherein The position locating unit continues the position locating of the transmission source even when it is determined that the arrival direction is not within the predetermined direction range after starting the position locating of the transmission source, A position locating device according to any one of claims 1 to 3. In the preceding positioning of the transmission source, before the positioning of the transmission source converges to a predetermined degree, the position locating section is configured to, when starting the positioning of the subsequent transmission source, move within the predetermined direction range. It is determined that there is the direction of arrival as a starting condition, and in subsequent positioning of the transmission source, position positioning of the preceding transmission source after the determined position of the transmission source converges to the predetermined extent. is completed, in the previous positioning of the transmission source, the positioning of the transmission source from the start to the end is adopted, and in the subsequent positioning of the transmission source, from the convergence to the end Adopting a fixed position of said transmission source
The position locating device according to any one of claims 1 to 4, characterized in that: Acquisition of information on the direction of arrival of a received wave from a transmission source, and whether the direction of arrival is present or not within a predetermined direction range around the left-right direction with respect to the direction of movement of a mobile body equipped with an antenna for receiving the received wave. a direction-of-arrival determination step of determining whether there is a direction of arrival and determining whether the direction of arrival does not change or changes with the movement of the moving body;
Using the motion model of the transmission source and the survey equation of the transmission source as the state equation and the observation equation of the state space model, respectively, the above-mentioned In locating the position of the transmission source, when it is determined that the direction of arrival does not exist within the predetermined direction range and that the direction of arrival does not change with the movement of the mobile body, the position of the transmission source is determined. When it is determined that the arrival direction is within the predetermined direction range without starting the position determination , and when it is determined that the arrival direction changes with the movement of the moving body , the position determination of the transmission source is performed. a localization step to start;
A position location program for causing a computer to execute in order. a position locating device according to any one of claims 1 to 5;
(1) obtaining the received wave and calculating the spectrum of the direction of arrival of the received wave using a signal subspace method; (2) extracting the maximum intensity of the spectrum, wherein the maximum intensity is equal to or less than a predetermined intensity threshold; , the information on the direction of arrival that gives the maximum intensity is not output to the position location processing of the transmission source , and the position of the previous transmission source is used as the location location of the current transmission source for the location location processing of the transmission source. When the maximum intensity is greater than the predetermined intensity threshold , the information of the direction of arrival that gives the maximum intensity is output to the position location processing of the transmission source , and the previous position location processing of the transmission source is performed. a direction-of-arrival measuring device that outputs the current determined position of the transmission source instead of the determined position of the transmission source ;
A position location system comprising:

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