KR101381254B1 - A method of geolocationing using tdoa with aoa, and an apparatus of geolocationing using the same - Google Patents

Abstract

The present invention relates to a locating method using an AOA/TDOA combination and a locating apparatus using the same. The locating method comprises (a) setting a location range of a target using an AOA (Angle of Arrival) of each receiver; (b) randomly selecting N locations within the set location range of the target; (c) computing a delay time due to a distance between the receivers at each of the N selected locations and extracting N TDOA (Time Difference of Arrival) pairs at a reference receiver using the computed delay time; (d) comparing the N TDOA pairs with K candidate TDOA pairs to measure error values; (e) selecting M minimum error values from the measure error values and choosing M TDOA pairs having the selected minimum error values; and (f) selecting a location corresponding to the M selected TDOA pairs when repeating steps (b) through (e) reaches a predetermined number of times. According to the present invention, AOA (Angle of Arrival) information is used to minimize pulse ambiguity that may be caused upon using TDOA schemes, thus enhancing locating accuracy. [Reference numerals] (AA) Start; (BB) YES; (CC) NO; (DD) End; (S100) Set target location range using AOA of each receiver; (S200) Select N random locations; (S300) Extract TDOA pair at N random locations; (S400) Compare N TDOA pairs with K candidate TDOA pairs and select M ones; (S500) Select M ones over TDOA having smaller error value; (S600) Repetition count=L; (S700) Reset range from location corresponding to M TDOA pairs; (S800) Select location with respect to TDOA pair having minimum error value

Description

A method of geolocationing using TDOA with AOA, and an apparatus of geolocationing using the same}

The present invention relates to a position estimation method, and more particularly, to a position estimation method applied to the detection of the radar signal source of the electronic warfare support system and a position estimation apparatus using the same.

Electronic warfare support systems, after receiving enemy signals, identify and locate threat emitters to help determine enemy power structures and placement.

The main functions of the electronic warfare support system are the detection of threat source, the type and operation of the threat, the location of the threat source, and the display of threat information to support the situation awareness.

The electronic warfare support system measures the pulse characteristics of the received signal, identifies the rules, correlations, continuity, etc. of pulse trains from the collected data, analyzes the characteristics of the data, and emits the source identification data. Check the signal source by comparing with.

In case of using TDOA (Time Difference of Arrival) between spaced receivers to estimate the location of radar signal source, if the reception delay time of signal according to the spaced distance between receivers is longer than Pulse Repetition Interval (PR) of radar signal pulse, The location estimate may be restricted.

This limitation is more pronounced when PRI is fixed. To obtain TDOA, it is necessary to measure how much delay the pulse reaching one receiver is received by other receivers. It is difficult to find which pulse to compare, which limits the position estimation.

As such, when PRI is fixed, it is difficult to extract a reference pulse by using a pattern of pulse trains or characteristics of each pulse.

KR 10-1075516 B, Oct. 21, 2011, Fig. 1

An object of the present invention relates to a position estimation method and a position estimation apparatus that can improve the accuracy of position estimation by minimizing the pulse ambiguity according to the TDOA (Time Difference of Arrival) method.

A position estimation method according to an aspect of the present invention for achieving the above object comprises the steps of: (a) setting the position range of the target using the Angle of Arrival (AOA) of each receiver; (b) randomly selecting N locations within the set range of the target location; (c) calculating a delay time according to the distance between the receivers at each of the selected N positions, and extracting N TDOA pairs from a reference receiver using the calculated delay time; (d) measuring an error value by comparing the N TDOA pairs with K candidate TDOA pairs; (e) selecting M minimum error values from the measured error values and selecting M TDOA pairs having the selected minimum error value; And (f) selecting a position corresponding to the selected M TDOA pairs when the number of iterations of the control procedure from step (b) to step (e) reaches a predetermined number. It is done.

The receiver may be provided in three or more, and the position range of the target may be set using the maximum and minimum values of the X and Y coordinate values of the intersection points of the line of bearing (LOB) using the AOA of each receiver.

로 표현되고 상기 K개의 후보 TDOA쌍이

로 표현된 경우, 상기 에러값인 Error(n,k)는 수식 1과 같이 나타낼 수 있다. In step (d), N TDOA pairs

And the K candidate TDOA pairs

In this case, Error (n, k), which is the error value, can be expressed as Equation 1.

, Equation 1:

,

,

,

The K candidate TDOA pairs in step (d) may be calculated using pulses in an ambiguity section selected in a received pulse string.

According to another aspect of the present invention, a position estimating apparatus includes a receiver including a plurality of receivers for detecting a radar signal and processing a signal detected from the receiver; And based on the information detected and processed by the receiving unit, characterized in that it comprises a control unit for performing the above-described position estimation method according to an aspect of the present invention.

Accordingly, the present invention sets an approximate position range of a signal source using AOA (Angle of Arrival) information when pulse ambiguity occurs in a position estimation system using TDOA (Time Difference of Arrival), and within the set position range. The accuracy of the position estimation can be improved by minimizing the pulse ambiguity according to the TDOA method by selecting a random position and estimating the position by comparing the possible TDOA pairs in the pulse train received the TDOA pair at the selected position.

In addition, the present invention is simpler to implement than a position estimation method for solving a nonlinear equation using a TDOA pair, and the computation time can be reduced, so that the present invention can be directly applied to an electronic sensing system or a communication system for estimating a position using TDOA.

1 is a flow chart for explaining a position estimation method according to an embodiment of the present invention.
2 is a conceptual diagram illustrating range setting and location selection using AOA information in a location estimation method according to an embodiment of the present invention.
3 is a conceptual diagram illustrating the selection of an ambiguity section in a pulse train measured in a position estimation method according to an embodiment of the present invention.
4 is a flowchart illustrating a method of extracting K candidate TDOA pairs in a location estimation method according to an embodiment of the present invention.
5 is a conceptual view illustrating a range reset and random position selection process in a position estimation method according to an embodiment of the present invention.
6 is a block diagram of a position estimating apparatus according to another embodiment of the present invention.

Hereinafter, a position estimation method and a position estimation apparatus using the same will be described with reference to the accompanying drawings.

1 is a flowchart illustrating a position estimation method according to an embodiment of the present invention. Referring to FIG. 1, the position estimation method according to the present embodiment includes a target position range setting step (S100) and a random position selection step ( S200), TDOA pair extraction step (S300), TDOA pair comparison and error value measurement step (S400), TDOA pair selection step having a small error value (S500), repetition frequency comparison step (S600), range reset step (S700) And TDOA pair location selection step (S800) may be included.

Target position range setting step (S100) is a step of setting the position range of the target using the Angle of Arrival (AOA) of each receiver. 2 is a conceptual diagram of range setting and random position selection using AOA information.

As shown in FIG. 2, the target position range setting step (S100) is performed in the form of a triangle when an approximate target range is estimated as an intersection of a line of bearing (LOB) using an AOA of each receiver when there are three receivers. Can be set.

At this time, the range is set in the form of a rectangle using the maximum and minimum values of the X and Y coordinate values of each intersection point.

In FIG. 2, only three receivers have been described as an example. However, four or more receivers may be used. In this case, an approximate target range may be set in the form of a polygon. In this case, as shown in FIG. 2, the rectangular range may be set using the maximum and minimum values of the X and Y coordinate values of each intersection point.

The random position selecting step (S200) is a step of randomly selecting a predetermined number (N) positions as shown in A of FIG. 2 within the range of the rectangle set in step S100.

The TDOA pair extracting step (S300) calculates delay time according to the distance between each receiver at each randomly selected N positions in step S200, and extracts N TDOA pairs from the reference receiver using the calculated delay time. It's a step.

Comparing the TDOA pair and measuring an error value (S400) is a step of measuring an error value by comparing the N TDOA pairs and the K candidate TDOA pairs extracted by the step S300. 3 is a conceptual diagram of selecting an ambiguity section in a measured pulse train, and FIG. 4 is a flowchart of extracting K TDOA pairs in the ambiguity section.

과 후술하는 도 3과 4에서와 같이 모호구간 내의 펄스들로 구한 K개의 후보 TDOA쌍,

에 대해서는 수학식 1을 이용하여 에러값을 산출할 수 있다.Specifically, comparing the TDOA pairs and measuring the error value (S400) is the N TDOA pairs obtained from a random position,

And K candidate TDOA pairs obtained from the pulses in the ambiguity section as shown in FIGS.

For Equation 1, an error value may be calculated.

[Equation 1]

,

,

The calculation method of the K TDOA pairs obtained by the pulses in the above-described ambiguous section will be described with reference to FIGS. 3 and 4. 3 is a conceptual diagram of selecting an ambiguity section in a measured pulse train, and FIG. 4 is a flowchart of extracting K TDOA pairs in the ambiguity section.

Referring to FIG. 4, in order to calculate K TDOA pairs, the received pulse train is first sorted based on a reference starting point (T0 of FIG. 3) (S410), and a reference pulse (T1 of FIG. 3) is selected (S420). .

Next, as shown in FIG. 3, the ambiguity section in the pulse string is selected (S430), and the K candidate TDOA pairs are extracted using the pulses in the selected ambiguity section (S440).

)에서 M개의 최소 에러값을 선택하고 도 2의 B와 같이 M개의 최소 에러값을 갖는 M개의 TDOA쌍을 선정하는 단계이다.The TDOA pair selection step (S500) having the minimum error value is an error value obtained by Equation (1).

In step 1), M minimum error values are selected and M TDOA pairs having M minimum error values are selected as shown in B of FIG. 2.

The iteration count comparison step (S600) is a step of determining how many times to repeat the step of selecting M TDOA pairs such as step S500 at the N positions selected in step S200.

As a result of the determination in step S600, when it is determined that the number of repetitions has not reached the preset number (L), the range reset step (S700) is performed.

The range resetting step S700 is performed again from step S200 to step S500, and again, selecting M TDOA pairs at N random positions as shown in FIG. 5. Therefore, the larger the L value, the longer the calculation time, but the improved accuracy can be expected.

As a result of the determination in step S600, when it is determined that the number of repetitions is equal to the preset number (L), the TDOA pair position selection step S800 is performed.

If the TDOA pair position selection step (S800) matches the value set in the repetition frequency, the step of completing the position estimation for the radar signal source is completed by selecting a position corresponding to the TDOA pair having the minimum error value.

Hereinafter, a position estimation apparatus according to an embodiment of the present invention will be described with reference to FIG. 6. 6 is a functional block diagram of a position estimating apparatus according to an embodiment of the present invention.

The position estimating apparatus 1 according to the present embodiment is a device applied to the radar signal detecting apparatus for detecting and identifying a radar signal, and may operate using the position estimating method according to the above-described embodiment.

As shown in FIG. 6, the position estimating apparatus 1 according to the present exemplary embodiment may include a receiver 10 for detecting a radar signal and a controller 20 for performing the above-described position estimation method.

The receiver 10 includes a plurality of receivers for detecting the radar signal, and processes the signal sensed by the receiver and transmits the signal to the controller 20.

The controller 20 may be divided into a random position selection module 22, a TDOA pair extraction module 24, an error value measurement module 25, a TDOA pair selection module 26, and a TDOA pair position selection module 28. . The functional division is a convenience division, and the control unit 20 according to the present embodiment may be implemented with various functional blocks.

The random positioning module 22 sets the position range of the target by using the Angle of Arrival (AOA) of each receiver.

That is, the random positioning module 22 may estimate the approximate target range as the intersection of a line of bearing (LOB) using the AOA of each receiver when there are three receivers. Here, the range type of the target may be set using the maximum and minimum values (see FIG. 2) of the X and Y coordinate values of each intersection point.

The random position selecting module 22 randomly selects N positions (A in FIG. 2) within the set target range.

The TDOA pair extraction module 24 calculates a delay time according to the distance between each receiver at each of N positions selected by the random positioning module 22, and uses the calculated delay times for N TDOAs in the reference receiver. Extract the pair.

The error value measurement module 25 compares the N TDOA pairs and the K candidate TDOA pairs extracted by the TDOA pair extraction module 24 to measure error values. The error value measuring module 25 selects an ambiguity section in the received pulse string and extracts K candidate TDOA pairs using pulses in the selected ambiguity section.

The TDOA pair selection module 26 selects M minimum error values from the error values measured by the error value measurement module 25 and selects M TDOA pairs having the selected minimum error value.

The TDOA pair position selection module 28 corresponds to a position corresponding to the TDOA pair having the minimum error value when the number of repetitions of the control operation for selecting M TDOA pairs from the N random positions reaches a preset number (L). Select to complete the performance of location estimation.

As described above, the position estimation method and the position estimation apparatus according to the present embodiment use the AOA (Angle of Arrival) information when the pulse ambiguity occurs in the position estimation system using a time difference of arrival (TDOA). Location estimation by minimizing the pulse ambiguity according to the TDOA method by setting the range, selecting a random location within the set location range, and estimating the location by comparing the possible TDOA pairs in the received pulse strings. Can improve the accuracy.

In addition, the position estimating method and the position estimating apparatus 1 according to the present embodiment are simpler to implement than the position estimating method for solving a nonlinear equation using a conventional TDOA pair, and can reduce the computation time.

The position estimation method and the position estimation device 1 using the same according to an embodiment of the present invention are not limited to the configuration and method of the embodiments described above, and all or part of the embodiments are selectively combined according to the needs of the user. Can be.

1: Positioning device
10: Receiver
20:
22: Random Positioning Module
24: TDOA Pair Extraction Module
25: Error value measuring module
26: TDOA Pair Selection Module
28: TDOA Pair Position Selection Module

Claims (5)

(a) setting a position range of a target using an Angle of Arrival (AOA) of each receiver;
(b) randomly selecting N locations within the set range of the target location;
(c) calculating a delay time according to the distance between the receivers at each of the selected N positions, and extracting N TDOA pairs from a reference receiver using the calculated delay time;
(d) measuring an error value by comparing the N TDOA pairs with K candidate TDOA pairs;
(e) selecting M minimum error values from the measured error values and selecting M TDOA pairs having the selected minimum error value; And
(f) selecting positions corresponding to the selected M TDOA pairs when the number of iterations of the control procedure from step (b) to step (e) reaches a predetermined number of times. Position estimation method. The method of claim 1,
The receiver is provided with three or more, the position range of the target is characterized in that the position is set using the maximum, minimum of the X, Y coordinate value of the intersection of the line of bearing (LOB) using the AOA of each receiver Estimation method The method of claim 1,
In step (d), N TDOA pairs

And the K candidate TDOA pairs

In this case, the error value Error (n, k) is expressed by Equation 1, characterized in that
Equation 1:

,

,

The method of claim 3,
And the K candidate TDOA pairs in step (d) are calculated using pulses in an ambiguity section selected in a received pulse string. A receiver including a plurality of receivers for detecting a radar signal and processing a signal detected from the receiver; And
And a controller for performing the position estimation method according to any one of claims 1 to 4, based on the information detected and processed by the receiver.

Images