RU2345378C1 - Method of determination of location of radiator and mirror - Google Patents

Abstract

FIELD: physics, radio.

SUBSTANCE: invention concerns resorts of passive radiolocation, in particular, methods of multicast hyperbolic fixing of radiants of radiation, and can be used for the control over travel of radiating objects and mirrors indoors. The pulse electromagnetic VHF signal of a radiator or a mirror is accepted by the receiving system consisting from N (N≥8) software, the moments of arrival of a signal are spotted in, software break into every possible three of software, each of which is used in quality of the three-point hyperbolic system of a fixing with which help primary estimates of the generalised situation of radiant the radiations including them of plane co-ordinates and the moments of radiation are calculated, two maximums of quantities of groupings of these estimates are spotted at distance between them larger, than the erected threshold value, corresponding co-ordinates of points are accepted to estimates of co-ordinate of the first and second radiant of radiation, then by comparison of the calculated moments of radiation of these two radiants, a situation of one of these radiants carry to resultant to estimate of situation of radiator, and another - mirror.

EFFECT: expansion of functionality, consisting in definition situation as radiator, and mirror, increase of accuracy of radiator fixing.

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Description

The invention relates to means of passive radar sources of electromagnetic signals, in particular to methods of multi-point location of sources of pulse signals, and can be used to control the location of the emitter and reflector indoors.

A known method for the location of the emitter on the plane, implemented in [1]. This method is based on the reception of the emitter signal by a receiving system containing N (N≥3) receiving points (PP), calculating the differences in the moments of arrival of the signal in each pair of PP, excluding from consideration each of the differences, the module of which exceeds the estimated propagation time of the signal between the specified pair PP, the use of the remaining differences for hyperbolic determination of primary estimates of the location of the radiation source (POMII), as well as the exclusion from consideration of those POMII that differ significantly from some averaged assessment of the location of the source, and consists in the fact that using the omnidirectional vertical electric antenna of the emitter, the location of which you want to determine, emit a pulsed signal, receive the emitted signal using omnidirectional vertical electric antennas located in N territorially spaced PCs with known coordinates and equipped with a system a single time, measure in each PP the moment of arrival of the emitter signal and transmit the obtained value via the communication line to the processing point, in the works measure the differences in the moments of arrival of the emitter signal in each pair of PPs, compare the module of each received difference with the estimated propagation time of the signal between the corresponding pair of PPs, and if the module of the received difference exceeds this estimated time, exclude this difference from consideration, use each of the remaining differences for calculating the hyperbola — lines of estimating the location of the emitter, take the intersection points of the resulting hyperbolas as an array of POMII, exclude those POMII, distances from the calculation from which, from some average estimate of the emitter’s location, they exceed the set threshold value, the remaining POMII average and determine, thus, the resulting estimate of the emitter’s location.

The disadvantage of this method is that in this method the location of the reflector is not determined, which in the presence of a reflector with unknown coordinates can lead to significant errors in the resulting estimate of the location of the emitter.

таких троек, определении N-1 разностей моментов прихода сигнала соответственно в каждый из периферийных ПП и в центральный ПП, использовании каждой тройки ПП в качестве трехпунктовой гиперболической системы местоопределения, определении массива ПОМИИ с помощью указанных разностей, расчете величины группировки ПОМИИ в каждой из этих же точек и принятии местоположения ПОМИИ с максимальной величиной группировки, за результирующую оценку местоположения излучателя.Closest to the claimed technical solution, adopted as a prototype, is a method for locating the emitter on a plane, implemented in [2]. This method is based on the reception of a signal from an emitter by an N-point receiving system (N≥3), determining the moments of arrival of a signal at the indicated transmitters, splitting the N transmitters into all possible triples of the transmitter with one common central transmitter with the formation

of such triples, determining the N-1 differences in the moments of arrival of the signal respectively in each of the peripheral PPs and the central PP, using each triple of PPs as a three-point hyperbolic positioning system, determining the POMII array using these differences, calculating the size of the POMII grouping in each of the same points and accepting the location of POMI with the maximum value of the grouping, for the resulting assessment of the location of the emitter.

таких троек, 7) используют каждую тройку ПП как трехпунктовую гиперболическую систему местоопределения, для чего в каждой тройке 8) по разности моментов прихода сигнала в каждый из двух периферийных ПП относительно центрального ПП тройки ПП определяют две гиперболы - линии оценок местоположения источника излучения, 9) принимают точки пересечения указанных гипербол за ПОМИИ, 10) вычисляют с использованием всех трехпунктовых систем массив ПОМИИ, 11) вычисляют величину группировки массива ПОМИИ в каждой из точек этого же массива, 12) находят ПОМИИ с максимальной величиной группировки и 13) принимают эту ПОМИИ за результирующую оценку местоположения излучателя.This method consists in the fact that 1) using an omnidirectional vertical electric antenna of the emitter, the coordinates of which are to be determined, emit a pulse signal, 2) receive the emitted signal using N omnidirectional vertical electric antennas located in N territorially spaced PCs whose coordinates are known, equipped with a single time system, moreover, one of the PPs is central, and the rest are peripheral, 3) determine in each PP the moment of arrival of the emitter signal and 4) transmit the received value the communication line to the processing point, while in the processing point 5) determine N-1 differences in the moments of arrival of the signal, respectively, in each of the peripheral PP and the central PP, 6) divide all N PP into all three triples with one common central PP with education

such triples, 7) use each triple of PP as a three-point hyperbolic positioning system, for which in each triple 8) two hyperbolas are determined by the difference in the moments of arrival of a signal into each of two peripheral PP relative to the central PP of the PP three, 9) the lines of estimates of the location of the radiation source, 9) take the intersection points of the indicated hyperbolas as POMI, 10) calculate the POMI array using all three-point systems, 11) calculate the grouping value of the POMI array at each of the points of the same array, 12) find the POM And with a maximum size of groups and 13) take this POMII of the resulting assessment of the emitter location.

The disadvantage of this method is that in this method the presence of a reflector with unknown coordinates can lead to the appearance of a POMII group near the location of the reflector and, as a result, to a significant error in the resulting estimate of the location of the emitter.

The aim of the present invention is to expand the functionality of the method, which consists in determining the location on the plane of both the emitter and the reflector using an N-point (N≥8) hyperbolic positioning system, as well as improving the accuracy of the emitter's location, by calculating a three-dimensional array of primary estimates of generalized locations of radiation sources (POOMI), including, in addition to the coordinates of estimates of the location of sources on the plane, also the moments of their radiation, on the calculation of testing of the indicated array at each of the points of the same array, on determining the average estimate of the location of the first radiation source at the point with the maximum grouping value, and the second at the point with the maximum grouping value of that part of the array whose points are far from the point of the average location estimate of the first radiation source by an amount exceeding the established threshold value, as well as on determining whether each of the two obtained average estimates belongs to the emitter or reflector as a result the comparison of the calculated moments of the radiation from these estimates.

таких троек, определение N-1 разностей моментов прихода сигнала соответственно в каждый из периферийных ПП и в центральный ПП, использование каждой тройки ПП как трехпунктовой гиперболической системы местоопределения, при этом в каждой тройке ПП по разности моментов прихода сигнала в каждый из двух периферийных ПП относительно центрального ПП определение двух гипербол - линий оценок местоположения источника излучения (в каждой трехпунктовой системе номером 1 обозначен центральный ПП, а номерами 2 и 3 - периферийные ПП):This goal is achieved by the fact that in the known method of multi-point determination of the source of radiation of an electromagnetic signal, which includes emitting a pulse signal emitter, receiving the specified signal using a receiving system consisting of N (N≥3) geographically spaced receiving points (PP), the coordinates of which are known, equipped with a single time system, with one of the PPs being central and the remaining N-1s being peripheral, determining at each PP the moment of arrival of the specified signal and transmitting the result ltata in the processing station, wherein a processing station of the partition N for all possible triples PP PP with a common central PP to form

such triples, determining N-1 differences in the moments of arrival of the signal respectively in each of the peripheral PPs and in the central PP, using each triple of PPs as a three-point hyperbolic positioning system, while in each triple of PPs according to the difference in the moments of arrival of the signal in each of the two peripheral PPs with respect to definition of two hyperbolas of the central PP - lines of estimates of the location of the radiation source (in each three-point system, the number 1 designates the central PP, and the numbers 2 and 3 - peripheral PP):

и

- координаты оценок местоположения источника излучения, полученные при использовании m-й тройки ПП, а индекс k представляет собой номер решения системы уравнений (1) на плоскости (k≤2), при этом, после перебора всех трехпунктовых систем, принятие полученного массива точек за массив первичных оценок местоположения источника излучения (ПОМИИ): x_0q, y_0q (q=1÷Q,

a также расчет величины группировки этого массива в каждой из точек этого же массива, нахождение ПОМИИ с максимальной величиной группировки и принятие этой ПОМИИ за усредненную оценку местоположения первого источника излучения, согласно изобретению минимальное количество ПП увеличивают до 8 (N≥8), из указанных N ПП составляют всевозможные тройки ПП, с образованием

таких троек, каждую из которых используют как гиперболическую систему местоопределения, кроме того, при определении каждой ПОМИИ определяют момент излучения полученного источника:

для вычисления которого в m-й

трехпунктовой системе из момента прихода сигнала в первый ПП вычитают время распространения сигнала от вычисленного местоположения источника излучения до первого ПП:where t _1m , t _2m and t _3m are the moments of arrival of the signal; x _1m , y _1m ; x _2m , y _2m and x _3m , y _3m are the coordinates of the corresponding PP in the mth triple of the PP; c = 3 · 10 ⁸ m / s - the propagation velocity of the electromagnetic signal (speed of light);

and

- the coordinates of the estimates of the location of the radiation source obtained using the m-th triple of PP, and the index k represents the solution number of the system of equations (1) on the plane (k≤2), while, after enumerating all three-point systems, taking the resulting array of points for array of primary estimates of the location of the radiation source (POMII): x _0q , y _0q (q = 1 ÷ Q,

as well as calculating the magnitude of the grouping of this array at each point of the same array, finding POMI with the maximum grouping value and taking this POMI as an average estimate of the location of the first radiation source, according to the invention, the minimum number of PPs is increased to 8 (N≥8), of these N PP are all kinds of triples of PP, with the formation of

such triples, each of which is used as a hyperbolic positioning system, in addition, when determining each POMII, the moment of radiation of the received source is determined:

to calculate which in the mth

three-point system from the moment of arrival of the signal in the first PP subtract the propagation time of the signal from the calculated location of the radiation source to the first PP:

при этом в качестве величины группировки указанного массива в каждой точке этого же массива используют значение A_q, определяемое как:whence, after enumerating all three-point systems, an array of three-dimensional primary estimates of the generalized locations of radiation sources (POOMII) is obtained: x _0q , y _0q , z _0q (q = 1 ÷ Q), where x _0q and y _0q, respectively, _x- and y-coordinates q- th POOMII, z _0q = c · t _0q , t _0q is the corresponding initial estimate of the radiation moment, and Q is the total number of POMMI

at the same time, as the grouping value of the specified array at each point of the same array, use the value of A _q , defined as:

- обобщенное расстояние между n-й и q-й ПООМИИ, а параметр R выбирают порядка ожидаемой шумовой погрешности ПООМИИ, при этом координаты: x_0q1, y_0q1, z_0q1 (q1:max(A_q)), где z_0q1=c·t_0q1, принимают за координаты усредненной оценки обобщенного местоположения первого источника излучения, a t_0q1 - за его момент излучения, затем из массива ПООМИИ образуют второй массив ПООМИИ, обобщенное расстояние точек которого от точки с координатами x_0q1, y_0q1, z_0q1: r_nq1 превышает наперед заданную пороговую величину R_К:Where

is the generalized distance between the nth and qth POOMII, and the parameter R is chosen on the order of the expected noise error of the POOMII, with the coordinates: x _0q1 , y _0q1 , z _0q1 (q1: max (A _q )), where z _0q1 = c · T _0q1 , taken as the coordinates of the averaged estimate of the generalized location of the first radiation source, at _0q1 - as its moment of radiation, then from the array of POOMII form the second array of POOMI, the generalized distance of the points of which from the point with coordinates x _0q1 , y _0q1 , z _0q1 : r _nq1 exceeds the predetermined threshold value R _K :

причем R_к по величине устанавливают порядка

где R_ио - минимальное ожидаемое расстояние между излучателем и отражателем на плоскости, находят в этом массиве точку с максимальной величиной группировки Max(A_q(q∈:Q2)): x_0q2, y_0q2, z_0q2 (z_0q2=c·t_0q2), где Q2 - объем нового массива ПООМИИ, принимают указанную точку за усредненную оценку обобщенного местоположения второго источника излучения, a t_0q2 - за его момент излучения, сравнивают между собой по величине моменты излучения t_0q1 и t_0q2 и принимают усредненную оценку местоположения источника излучения с более ранним моментом излучения за результирующую оценку местоположения излучателя, а с более поздним - отражателя.Where

and R _to the largest establish order

where R _io is the minimum expected distance between the emitter and the reflector on the plane, find a point in this array with the maximum value of the grouping Max (A _q (q∈: Q2)): x _0q2 , y _0q2 , z _0q2 (z _0q2 = c _0q2 ), where Q2 is the volume of the new POWMI array, take this point for the average estimate of the generalized location of the second radiation source, at _0q2 - for its radiation moment, the radiation moments t _0q1 and t _0q2 are compared with each other in magnitude and take the average estimate of the location of the radiation source with an earlier moment of radiation for the resulting an estimate of the location of the emitter, and with a later one, the reflector.

New in the proposed method of multi-point location of the emitter of the electromagnetic signal and the reflector compared to the prototype is the formation from N PP of all kinds of three-point hyperbolic positioning systems, the calculation, at each POMI, also the moment of its radiation, the formation, thus, of the POMMI array in the three-dimensional space of signs: x, y, z, where x, y are the coordinates of the source on the plane, z = c · t, t is the moment of radiation of the source, while determining the magnitude of the grouping of the POWMI array at each point of the same mass ba, in addition, the adoption of the coordinates of POOMII with the maximum value of the grouping, for the average estimate of the coordinates of the first radiation source, then the formation of the second array of POOMII by excluding from the first array of POMMI those points that supposedly belong to the first radiation source, and in the second array of POMMI determine the point with the maximum value of the grouping and take this point as an average estimate of the generalized location of the second radiation source, then compare the estimates of the moments of radiation, respectively vuyuschie these two average estimates, and the result of this comparison, take one of them for the emitter, and the other - for the reflector.

Figure 1 shows an example of a controlled territory with an area of 10 × 10 m ² , where it is indicated: And - emitter, O - reflector PP1 ÷ PP12 - receiving points. The arrows indicate the signal propagation path from the emitter to each SP.

Figure 2 shows an example of an array of POMII with coordinates: x _0q , y _0q (q = 1 ÷ Q) for the location of I, O and 12 PP shown in Fig. 1.

In the calculations it was found: the standard deviation of the error in estimating the moment of arrival of the signal at each receiver: σ _t = 0.2 ns, R = 0.2 m (2), R _k = 1 m (3), the number of POMI was Q = 183.

On the graph, arrows indicate the POMII groups formed by each of the sources: 1 - the emitter and 2 - the reflector.

Figure 3 shows an example of an array of three-dimensional POMMI: x _0q , y _0q , z _0q (q = 1 ÷ Q), where z _0q = c · t _0q , z ₀ = c · t ₀ , at ₀ is the moment of radiation of the signal by the emitter corresponding to the two-dimensional array of POMII shown in figure 2. The z _0q values _are indicated by vertical columns along the z axis.

Figure 4 shows the values of the groupings of the POOMII array calculated by formula (3) at the points of the same array: A _q (q = 1 ÷ Q) as functions of x, y, corresponding to Fig. 3.

The essence of the proposed method is based on the reception of signals from the emitter and reflector, the location of which is to be determined, a multi-point hyperbolic positioning system, the calculation of an array of three-dimensional POMMI, including, in addition to the coordinates of the sources on the plane, the moments of their radiation, on the calculation of the magnitude of the grouping of the specified array at each point of the same array, on determining the average estimate of the generalized location of the first source at a point with a maximum grouping value, and the second full-time student - at the point with the maximum grouping value in that part of the array, the points of which are separated from the average estimate point of the generalized location of the first source by an amount exceeding the set threshold value, and also on determining whether each of the two received average estimates belongs to the emitter or reflector based on the comparison result calculated emission moments of these estimates.

таких троек, определяются N-1 разность моментов прихода сигнала соответственно в каждый из периферийных ПП и в центральный ПП, каждая тройка ПП используется как трехпунктовая гиперболическая система местоопределения, в которой по разности моментов прихода сигнала в каждый из двух периферийных ПП относительно центрального ПП этой тройки ПП определяются две гиперболы - линии местоположения оценок источника излучения (в каждой из указанных трехпунктовых систем номером 1 обозначен центральный ПП, а номерами 2 и 3 - периферийные):The location of the emitter and reflector is as follows. As in the known method [2], the radiation source is determined using the N-point receiving system (N≥3), in which the PPs are geographically spaced and their coordinates are known. In each PP equipped with a single time system, the moment of arrival of the radiation source signal, which is transmitted through the communication line to the processing point, is determined. At the processing point, all N PPs are divided into various triples of PP with one common central PP with the formation

of such triples, the N-1 difference in the moments of arrival of the signal is determined respectively in each of the peripheral PPs and in the central PP, each triple of PPs is used as a three-point hyperbolic positioning system in which, by the difference of the moments of arrival of the signal in each of the two peripheral PPs relative to the central PP of this triple PP determines two hyperbolas - the location line of the estimates of the radiation source (in each of the three-point systems indicated, the central PP is designated by number 1, and the peripheral ones by numbers 2 and 3):

и

- координаты оценок местоположения источника излучения, полученные при использовании m-й тройки ПП, а индекс k представляет собой номер решения системы уравнений (1) - номер точки пересечения этой пары гипербол, количество точек пересечения не превышает двух, откуда k может принимать значение либо 0, либо 1, либо 1 и 2. (Значение k=0 означает отсутствие решения системы уравнений (1), что может быть в случае погрешностей в оценках моментов прихода сигнала источника излучения в тройку ПП, при этом либо хотя бы одно из равенств в (1) не выполняется ни при каких x_0m и y_0m, либо эти гиперболы не пересекаются). В результате перебора всех трехпунктовых систем образуется массив ПОМИИ: x_0q, y_0q (q=1÷Q,

Полученный массив используется для определения величины группировки A_q (q=1÷Q) этого массива в каждой из Q точек этого же массива.where t _1m , t _2m and t _3m are the moments of arrival of the signal, ax _1m , y _1m ; x _2m , y _2m and x _3m ; y _3m — coordinates of the corresponding SPs, in the m-th triple PP, s = 3 · 10 ⁸ m / s — propagation speed of the electromagnetic signal (speed of light),

and

- the coordinates of the estimates of the location of the radiation source obtained using the m-th triple of PP, and the index k represents the solution number of the system of equations (1) - the number of the intersection point of this pair of hyperbolas, the number of intersection points does not exceed two, from where k can take the value either 0 , or 1, or 1 and 2. (The value k = 0 means that there is no solution to the system of equations (1), which may be in the case of errors in the estimates of the moments of arrival of the signal from the radiation source to the three PPs, while either at least one of the equalities in ( 1) is not performed at which x _0m and y _0m , or these hyperbolas do not intersect). As a result of enumerating all three-point systems, an array of POMII is formed: x _0q , y _0q (q = 1 ÷ Q,

The resulting array is used to determine the value of the grouping A _q (q = 1 ÷ Q) of this array in each of the Q points of the same array.

An array point with a maximum grouping value Max (A _q , (q = 1 ÷ Q)) is taken as an average estimate of the location of the first radiation source.

трехпунктовых систем, а не только на те тройки, в которые входит один общий - центральный ПП. В каждой из трехпунктовых систем один ПП (обозначается номером 1) используется как центральный ПП в тройке, а два остальные (с номерами 2 и 3) - как периферийные, при этом используется группировка оценок местоположения каждого источника (излучатель и отражатель) в окрестности истинного местоположения соответствующего источника. Так как трехпунктовая гиперболическая система местоопределения дает не более одной правильной оценки местоположения источника излучения, для образования массива оценок каждого из источников необходимо, чтобы количество ПП, принимающих сигнал от каждого из источников, было не менее четырех, откуда требуемое общее количество ПП для раздельного местоопределения излучателя и отражателя должно быть не менее восьми (N≥8).In contrast to [2], this application also determines the location of the reflector in the case when some PPs receive the signal directly from the emitter, and others, due to the overlap of the direct signal propagation path from the emitter to the PP, after reflection from the reflector, as shown in figure 1. This happens, for example, when determining the moment of arrival of the signal in the SP by exceeding the envelope of the signal at the set threshold level, while even partially overlapping the direct path of the signal from the emitter to the SP, the received signal of the emitter may turn out to be smaller than the threshold level in amplitude, and the reflector signal is greater than the threshold level. To solve this problem, N PPs are divided into various triples of PPs with the formation

three-point systems, and not just those triples, which include one common - central software. In each of the three-point systems, one PP (indicated by number 1) is used as the central PP in the triple, and the other two (with numbers 2 and 3) are used as peripheral ones, and a group of estimates of the location of each source (emitter and reflector) in the vicinity of the true location is used appropriate source. Since the three-point hyperbolic positioning system gives no more than one correct estimate of the location of the radiation source, for the formation of an array of estimates of each source it is necessary that the number of transmitters receiving a signal from each of the sources be at least four, from where the required total number of transmitters for separate location of the emitter and the reflector must be at least eight (N≥8).

At each POMI, the moment of its emission is also estimated as the difference between the moment of arrival of the signal at the central point of the three points and the propagation time of the signal from the calculated source location to the center point:

): Q - точек в трехмерном пространстве признаков x, y, z (z=c·t), в каждой из точек этого массива вычисляется величина группировки этого же массива A_q, (q=1÷Q), в качестве которой используется величина, пропорциональная плотности вероятности нахождения источника в указанной точке [3]:Thus, after enumerating all three-point systems, an POOMII array is formed: x _0q , y _0q , z _0q , where z _0q = c · t _0q (q = 1 ÷ Q,

): Q - points in the three-dimensional space of signs x, y, z (z = c · t), at each of the points of this array, the grouping value of the same array A _q , (q = 1 ÷ Q) is calculated, which is used as proportional to the probability density of the source at the specified point [3]:

- обобщенное расстояние между n-й и q-й трехмерными ПООМИИ, а параметр R выбирают порядка ожидаемой шумовой погрешности ПООМИИ, координаты точки x_0q1, y_0q1, z_0q1 (z_0q1=c·t_0q1), (q1:Max(Aq,(q=1÷Q))), соответствующей максимуму A_q (q=1÷Q), принимают в качестве усредненной оценки обобщенного местоположения первого источника излучения, затем из исходного массива ПООМИИ образуют второй массив ПООМИИ, точки которого отстоят от точки с координатами x_0q1, y_0q1, z_0q1 (z_0q1=c·t_0q1) на величину, большую наперед заданного порогового значения R_к:Where

is the generalized distance between the nth and qth three-dimensional POOMII, and the parameter R is selected on the order of the expected noise error of the POOMII, the coordinates of the point x _0q1 , y _0q1 , z _0q1 (z _0q1 = c · t _0q1 ), (q1: Max (Aq , (q = 1 ÷ Q))), corresponding to the maximum A _q (q = 1 ÷ Q), is taken as an average estimate of the generalized location of the first radiation source, then from the initial POMMI array, the second POMMI array is formed, the points of which are separated from the point with coordinates x _0q1 , y _0q1 , z _0q1 (z _0q1 = c · t _0q1 ) by an amount greater than the predetermined threshold value R _k :

в этом массиве, объемом Q2, определяют точку с максимальной величиной группировки (q2:Max(A_q(q∈Q2))): x_0q2, y_0q2, z_0q2 (z_0q2=c·t_0q2) и принимают координаты этой точки в качестве усредненной оценки координат второго источника излучения.Where

in this array, with volume Q2, determine the point with the maximum value of the grouping (q2: Max (A _q (q∈Q2))): x _0q2 , y _0q2 , z _0q2 (z _0q2 = c · t _0q2 ) and take the coordinates of this point as an average estimate of the coordinates of the second radiation source.

равняется

где R_ио - расстояние между излучателем и отражателем на плоскости, значение R_к выбирается порядка половины ожидаемой величины

:

а так как значение R_ио заранее не известно, в качестве R_ио используется минимальное ожидаемое расстояние между излучателем и отражателем на плоскости.Given that in three-dimensional space x, y, z the distance between the emitter and the reflector

equals

where R _io - the distance between the emitter and the reflector on the plane, the value of R _to is selected about half of the expected value

:

and since the value of R _io is not known in advance, the minimum expected distance between the emitter and the reflector on the plane is used as R _io .

The resulting radiation moments t _0q1 and t _{0q2 are} compared with each other in magnitude and, taking into account the fact that the moment of reflection of the signal from the reflector is delayed in time relative to the moment of radiation of the signal by the emitter, the radiation source with an earlier calculated moment of radiation is taken as the emitter, and with later - for the reflector.

Figure 1 ÷ 4 are graphs illustrating the proposed method.

Figure 1 shows an example of a controlled territory with an area of 10 × 10 m ² , on which a radiator (I) and a reflector (O) are located at a distance of 3 m from each other diagonally symmetrically with respect to the center, and 12 PP (PP1 ÷ PP12) with an approximately constant step.

The case is considered when the signal arrives at 6 PP (PP1 ÷ PP6) directly from the emitter, and in the remaining 6 PP (PP7 ÷ PP12) after reflection from the reflector, while the PP receiving the signal from each of two sources (emitter and reflector) are located near the corresponding source. The arrows on the graph indicate the signal propagation paths from the emitter to each SP. (In order not to clutter up the picture, the processing point is not specified, it can, for example, be combined with one of the software).

Figure 2 shows an example of an array of POMII: x _0q , y _0q (q = 1 ÷ Q) on the x, y plane, calculated for the case shown in figure 1.

In the calculations, it was found: the standard deviation of the error in estimating the moment of arrival of the signal at each receiver: σ _t = 0.2 ns, R = 0.2 m - formula (3), R _k = 1 m - formula (4), array of POMII (and, accordingly, POOMII) amounted to: Q = 183.

The arrows in the graph indicate the POMII groupings obtained as a result of the calculation, concentrated near the true locations of each of the sources: 1 - the emitter and 2 - the reflector, while the difference between the resulting estimates of the location of each of the radiation sources from the true location of the corresponding source did not exceed 10 cm.

On the graph, some POMIs are located at points far from the true positions of the sources; these estimates are, as a rule, either the second solutions of Eq. (1) or the cross errors caused by the fact that in some three-point hyperbolic positioning systems the signals arrive at different PP systems from different sources (in one PP from the emitter, and in the other two from the reflector, or vice versa).

Figure 3 shows an example of an array of three-dimensional POMMI: x _0q , y _0q , z _0q (q = 1 ÷ Q), where z _0q = c · t _0q , corresponding to the two-dimensional array shown in _figure 2. The values of the calculated values of the moments of radiation t _{0q are} indicated by vertical columns along the z axis, in the form z = c · t. On the z axis, the value of z ₀ is: z ₀ = c · t ₀ , where t ₀ is the moment of emission of the signal by the emitter, so the value z = z ₀ corresponds to the moment of emission of the signal by the emitter, az = z ₀ +3 m - the moment of reflection of the signal reflector.

Figure 4 shows the values of groupings of the POMII array calculated by formula (3): A _q (q = 1 ÷ Q) as a function of x, y. The graph shows that near the true location of each of the sources, the values of A _q have relative maxima.

таких троек, при этом для каждой тройки ПП л) определяют две разности моментов прихода сигнала в каждый из двух произвольно выбранных ПП относительно третьего ПП, м) каждую из полученных разностей используют для определения гиперболы оценок местоположения источника излучения, н) точки пересечения полученной при этом пары гипербол определяют как ПОМИИ на плоскости, о) для каждой полученной ПОМИИ вычисляют момент излучения источника, п) после перебора всех троек ПП получают трехмерный массив ПООМИИ, каждый элемент которого описывается двумя координатам на плоскости x, y и координатой z=c·t, где t - момент излучения, р) вычисляют величину группировки массива ПООМИИ в каждой из точек этого же массива, с) определяют точку массива с максимальной величиной группировки и т) принимают координаты этой точки за координаты усредненной оценки обобщенного местоположения первого источника излучения, у) определяют обобщенные расстояния между каждой из точек массива и точкой усредненной оценки обобщенного местоположения первого источника излучения, ф) определяют второй массив точек ПООМИИ, исключая из первого массива точек те точки, обобщенное расстояние которых в пространстве x, y, z до усредненной оценки обобщенного местоположения первого источника излучения меньше наперед заданной величины, х) определяют точку второго массива ПООМИИ с максимальной величиной группировки и ц) принимают координаты этой точки за координаты усредненной оценки обобщенного местоположения второго источника излучения, ч) сравнивают вычисленные моменты излучения первого и второго из полученной, таким образом, пары источников, ш) усредненную оценку обобщенного местоположения источника излучения с более ранним моментом излучения принимают за результирующую оценку обобщенного местоположения излучателя, а с более поздним - отражателя. При реализации предлагаемого способа устанавливается:The proposed location method includes the following sequence of operations: a) a pulsed microwave electromagnetic signal of duration T = 20 ns with a rectangular envelope and quasiperiodic filling with a period of 0.25 ns, using a vertical electric antenna, 5 cm high, is emitted using an emitter whose coordinates are unknown b) reflect the specified signal using a reflector whose coordinates are unknown, c) receive the emitted signals from the emitter and reflector using vertical electric antennas, heights 5 cm each, with a system consisting of at least eight (N≥8) geographically spaced PPs whose coordinates are known, each of which has a single time system with an acceptable discrepancy of time scales between PPs Δt≤0.02 ns, and each PP accepts the signal of either the emitter or the reflector, in this case, in each DI, successively d) amplify the received signal, e) filter in the frequency band 2 ÷ 6 GHz with a band-pass filter, e) detect two-way, g) compare with a predetermined threshold level, h) determine the moment of arrival the signal as the moment of the first exceeding the threshold level by the signal, i) transmit the obtained value via the communication line to the processing point, where k) divide all the PP into all three triples of the PP, with the formation

such triples, while for each triple of PPs, l) two differences of the moments of arrival of the signal in each of two arbitrarily selected PPs relative to the third PP are determined, m) each of the differences obtained is used to determine the hyperbola of the estimates of the location of the radiation source, n) the intersection point of the resulting pairs of hyperbolas are defined as POMI on the plane, o) for each POMI obtained, the moment of radiation of the source is calculated, p) after enumerating all triples of the PP, a three-dimensional array of POMMI is obtained, each element of which is described by two to the coordinates on the x, y plane and the coordinate z = c · t, where t is the moment of radiation, p) calculate the grouping value of the POWMI array at each of the points in the same array, c) determine the point of the array with the maximum grouping value, and t) take the coordinates this point for the coordinates of the average estimate of the generalized location of the first radiation source, y) determine the generalized distance between each of the points in the array and the point of the average estimate of the generalized location of the first radiation source, f) determine the second array of POEMI points, excluding from the first array of points those points whose generalized distance in the space x, y, z to the average estimate of the generalized location of the first radiation source is less than a predetermined value, x) determine the point of the second POWMI array with the maximum grouping value and c) take the coordinates of this point for the coordinates of the average estimate of the generalized location of the second radiation source, h) compare the calculated moments of radiation of the first and second of the pair of sources thus obtained, w) the averaged estimate The generalized location of the radiation source with an earlier moment of radiation is taken as the resulting estimate of the generalized location of the emitter, and with a later one - of the reflector. When implementing the proposed method is installed:

- the number of PP N≥8,

- electric antenna of the emitter - vertical whip, 5 cm long,

- the electric antenna of each of the PP is a vertical pin, 5 cm long,

- the duration of the emitter signal is 20 ns,

- the envelope of the radiated signal is rectangular,

- fill frequency of the envelope of the emitted sigal 4 GHz,

- filters in software - bandpass with a passband (2 ÷ 6) GHz,

- the permissible discrepancy of the scales of uniform time between the software 0.02 ns,

- the range of the range of the method is 30 m,

- the value of the parameter R in the formula (3) used in the calculation of the graphs in figure 2 ÷ 4, R = 0.2 m,

- the value of the parameter R _k in the formula (4) used in the calculation of the graphs in figure 2 ÷ 4, R _k = 1 m,

- standard deviation of the error in estimating the moment of arrival of the signal in each PP used in the calculation of the graphs in figure 2 ÷ 4, σ _t = 0.2 ns.

The proposed method allows to determine, in addition to the location of the emitter, also the location of the reflector due to 1) determination in addition to the POMII (emitter and reflector) also estimates of the moments of their radiation with the formation of the POMMI array, 2) the calculation of the groupings of the POMMI array in the three-dimensional space of signs (coordinates of the radiation sources on the plane and the corresponding radiation moments) at the same points and 3) determination of two points whose distance between them exceeds the set value, with maxima of the groupings, 4) alignment radiation sources couple moments calculated, and 5) the adoption of the radiation source with an earlier moment of emission of the emitter, and with a later - for the reflector.

The technical result of using the proposed method in comparison with the prototype is the location of both the emitter and the reflector, which can be used in rooms, for example in warehouses, to improve the accuracy of the location of emitting objects when controlling their unauthorized movement.

Literature

1. Erickson B.J., Anderson N.R. Multipath Tolerant Location System and Method Therefor. Patent USA No. 5.534.876, July 9, 1996. C1. 342-387.

2. Kuwahara M. et al. Position Calculation Method and Position Calculation Apparatus. Patent USA No. 6.671.649, December 30, 2003. C1. 702-150.

3. Yepanechnikov V.A. Nonparametric estimation of multidimensional probability density. // Theory of probability and its application. T.XIV. No. 1. S.156-162. 1969.

Claims (1)

A method for determining the location of the emitter and the reflector, which consists in the fact that using the emitter emit a pulse signal, receive the specified signal using a receiving system consisting of geographically spaced receiving points (PP), the coordinates of which are known, equipped with a single time system, one of the PP is central, and the remaining N-1s are peripheral, determine in each PC the moment of arrival of the specified signal and transmit the obtained value to the processing point, characterized in that the pulse signal reflected by the emitter and reflected by a reflector with unknown coordinates located on the same plane as the emitter, and the receiving points also accept the appropriate PP of the receiving system, the number of PP N≥8, while in the processing point of these N≥8 PP are all possible triples of PP with education

of such triples, each triple of PPs is used as a hyperbolic positioning system, for which the differences in the moments of arrival of the signal are determined respectively in each of the peripheral PPs and in the central PP of the indicated triple of PP, two hyperbolas are determined from the received pair of differences - lines of estimates of the location of the radiation source, in each m three-point system

number 1 indicates the central software, and numbers 2 and 3 - peripheral software:

where t _1m , t _2m and t _3m are the moments of arrival of the signal; x _1m , y _1m ; x _2m , y _2m and x _3m , y _3m are the coordinates of the corresponding PP in the mth triple of the PP; c = 3 · 10 ⁸ m / s - the propagation velocity of the electromagnetic signal (speed of light);

and

the coordinates of the estimates of the location of the radiation source obtained using the m-th triple PP, and the index k represents the solution number of the specified system of equations (k≤2), in addition, determine the estimate of the moment of radiation of the source:

to calculate which, from the moment the signal arrives at the first PP of the specified three-point system, the signal propagation time is subtracted from the calculated location of the radiation source to the first PP:

whence, after enumerating all three-point systems, an array of three-dimensional primary estimates of the generalized locations of radiation sources (POOMII) is obtained: x _0q , y _oq , z _0q (q = 1 ÷ Q), where x _0q and y _0q, respectively, _x- and y-coordinates q- th POOMII, z _0q = c · t _0q , t _0q is the corresponding initial estimate of the radiation moment, and Q is the total number of POMMI

, calculate the grouping values of this array at each of the points in the same array, and the value of A _q , defined as:

Where

is the generalized distance between the nth and qth POOMII, and the parameter R is chosen on the order of the expected noise error of the POOMII, while the coordinates of the point with the maximum grouping value: x _0q1 , y _0q1 , z _0q1 (q1: max (A _q )), where z _0q1 = c · t _0q1 is taken as the coordinates of the averaged estimate of the generalized location of the first radiation source, at _0q1 - as its moment of radiation, then from the array of POMMI the second array of POMMI, the generalized distance of the points of which from the point with coordinates x _0q1 , y _1q1 z _0q1 : r _nq1 exceeds the predetermined threshold value R _k :

Where

and R _to the largest establish order

where R _io is the minimum expected distance between the emitter and the reflector on the plane, find a point in this array with the maximum value of the grouping Max (A _q (q∈: Q ₂ )): x _0q2 , y _0q2 , z _0q2 (z _0q2 = c t _0q2 ), where Q ₂ is the volume of the new POWMI array, take this point for the average estimate of the generalized location of the second radiation source, at _0q2 - for its radiation moment, the radiation moments t _0q1 and t _{0q2 are} compared with each other in magnitude, and the average estimate locations of the radiation source with an earlier moment of radiation beyond the resulting I estimate the location of the emitter, and with a later one, the reflector.

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