RU2717231C1 - Difference-ranging method of determining coordinates of a radio-frequency source - Google Patents

Abstract

FIELD: radio equipment.

SUBSTANCE: invention relates to radio engineering and can be used in multi-position radio systems for determining coordinates of a given source of radio emission source (RES) with code and time division of channels. Technical result in range-difference (RD) method is achieved due to determining at preparatory stage centers of elementary volumes of controlled area (X_i, Y_j, Z_k), on which is formed a matrix of coordinates for each item (X_i, Y_j, Z_k) of N measurement bases "peripheral receiving station (PRS), – a central point for receiving and processing (CPRP)" is defined reference values of the signal difference reception time τ_i,j,k,n, forming N reference matrices, elements of each of which is corresponding to coordinates (X_i, Y_j, Z_k) reference value τ_i,j,k,n, and in the process of operation based on the considered set of operations for memorizing and analyzing the received signals, only the given RES radiation is selected, calculating N cross-correlation functions (CCF) for corresponding measurement bases, forming N correlation matrices by replacing elements τ_i,j,k,n of reference matrices with corresponding measured CCF values, summing the obtained correlation matrices, and for most probable location of preset RES, coordinates of point (X_i, Y_j, Z_k) corresponding to maximum value of element of total correlation matrix are received.

EFFECT: technical result is the development of difference-range-finding (RD) method of determining the location of a given RES in space with time or code division of channels, providing high accuracy of their location.

3 cl, 18 dwg, 2 tbl

Description

The invention relates to radio engineering and can be used in multi-position radio systems to determine the coordinates (OK) of the given sources of radio emission (IRI) with code or time division of channels.

A known method of measuring the mutual delay of the MSK signals of packet radio networks in a differential ranging system for positioning (see US Pat. RF No. 2623094, IPC G01S 5/06, publ. 06/22/2017, bull. No. 18). The method involves receiving peripheral reception points (SPT) of the differential ranging system of location (RDSMO) signals of packet radio networks, measuring the time of arrival of signals relative to a single time scale, transmitting measured values via a communication line to a central point of reception and processing (CPPO), where mutual delays are calculated signals τ _{i, n} , and the module of the cross-correlation function (VKF) R (τ) is calculated using partial VKF, thereby achieving improved measurement accuracy τ _{i, n} .

However, the analogue has disadvantages that limit its use. The main one is the lack of accuracy OK IRI. In addition, it is inherent in the complexity of the implementation of the RFP. The method involves the use of a single time on all IFR systems in measuring signal delay. The lack of reference to the measured signal delay values on the IFR to a given source of radio emission when evaluating their coordinates under conditions when several IRIs operate at the same frequency (IRI with time or code separation) leads to errors in evaluating the coordinates of the IRI.

Pat. RF №№2258242, 2309420, 2521084, etc., the effectiveness of which decreases sharply when evaluating the coordinates of the IRI with time or code division of channels. Depending on the duration of the evaluation of the signal delays τ _{i, n} , errors of OK of various nature arise.

The closest in technical essence to the claimed technical solution is the differential-ranging method for determining the coordinates of the source of radio emission (see Pat. No. 2539968, IPC G01S 3/46, publ. 27.01.2015, bull. No. 3).

The prototype method consists in receiving IRI signals with peripheral receiving points spaced out in space, associated with the CPPO command communication lines and analogue signal relay lines, moreover, the command lines of communication with the CPPO on the SPT transmit tuning commands for the frequency of the IRI signal, and received via analogue relay lines IRI RFP signals are transmitted on TSPPO where the measured time difference in reception signal IFR and TSPPO τ _{i, n, i} and n - number TSPPO and RFP, respectively, the delay τ _{i, n} is defined as an argument maximizing fashion I cross-correlation function, and on the basis of their calculation of the Iranian origin.

The prototype provides a reduction in the number of calculations when evaluating the time delays received at the IFR signals of the IRI in the implemented CPPO procedure. In addition, the implementation of the RFP is maximally simplified, which contributes to the widespread use of the prototype method in RDSMO. Each RFP is a set of devices that emit radio signals from IRI against the background of interference, as well as devices that organize analog relay lines.

However, the prototype has a disadvantage limiting its use: insufficient accuracy of determining the coordinates of the IRI, and in some cases it loses its functionality. The cause of OK errors is primarily the multipath propagation of radio waves. As a result, the latter come to the meter from different directions and with different delays. Erroneous determination of coordinates also occurs in those cases when several correspondents (IRI) work with the time or code division of channels, for example, Wi-Fi networks, GSM 2G, UMTS, etc.

Consider the problems that arise in this case on the plane for two IRIs operating at the same frequency with time division.

If the time interval of signal accumulation in the CPPO turns out to be much larger than the data transmission interval in the used communication standard (in time division), the radiation from both IRIs will be present in the accumulated signal. This will lead to errors in the calculation of the TCF and, as a consequence, to errors in the measurement of signal delays τ _{i, n} . The latter leads to errors in determining the location of the IRI. If the signal power of the second IRI at the input of the receive paths of the RFP is higher than the signal power of the desired IRI, the coordinates of the second IRI will be determined with errors in the CPPO. Therefore, this will lead to an erroneous determination of the location of the second IRI instead of the desired one. If a situation arises when the signal power of the second IRI is higher on the IFR part, then the results of determining the coordinates are unpredictable.

Errors of coordinate measurements are also possible in a situation where the time interval of signal accumulation is comparable with the data transmission time in the used communication standard. They arise when the beginning of the intervals of signal accumulation and data transfer is inconsistent. The coordinates of the desired IRI will also be incorrectly determined in the situation with the agreed intervals "accumulation - transmission", but during the second IRI.

With the development of modern technologies, both military and civilian, unmanned aerial vehicles (UAVs) and radio-controlled aircraft models (RUAM) are increasingly being used to perform various tasks. Therefore, the urgent task is to determine the location of UAVs and RUAM from IRI emissions located on their board. If the calculations do not take into account information about the height of the IRI, certain coordinates in latitude and longitude will not correspond to reality. In the difference-ranging method, the location of the IRI coordinates is determined by the intersection of the rotation hyperboloids and the lines formed by their horizontal sections at different heights. The latter will intersect in different places in longitude and latitude. It follows from this that it is necessary to carry out calculations for the entire volume of space in order to obtain the coordinates of the IRI with the smallest errors.

The purpose of the proposed technical solution is to develop a differential-ranging method for determining the coordinates of the IRI in space, which improves the accuracy of the location of a given source of radio emission in a multipath environment and operates on the same frequency of several IRI with time or code division of channels.

где с^* - скорость света, d_n - расстояние между ЦППО и n-м ППП, с заданным шагом Δτ, соответствующим частоте дискретизации сигнала, на основе N эталонных матриц M_n формируют корреляционные матрицы Ф_n путем замены элементов задержки τ_i,j,k,n на соответствующие им измеренные значения ВКФ R_n[τ_i,j,k], значения матриц Ф_n, n = 1, 2, …, N, суммируют по всем N измерительным базам

а за наиболее вероятное расположение ИРИ принимают координаты точки (X_i, Y_j, Z_k), соответствующей максимальному значению элемента матрицы

This goal is achieved by the fact that in the known difference-range measuring method for determining the coordinates of the IRI, based on the reception of signals by spatially spaced peripheral reception points associated with a central point of reception and processing by command communication lines and analogue signal relay lines, moreover, command communication lines with the CPPO on the IFR they transmit tuning commands to the frequency of the IRI signal, and along the analogue relay lines received in the IFR, the IRI signals are transmitted to the CPPO, where the difference in the time of reception of these signals is measured ignalov RFP and TSPPO τ _n, where n ∈ 1, 2, ..., N - number SPT and measuring bases TSPPO - SPT _n, based on which determined IRI coordinates, characterized in that in TSPPO the preparatory phase in the form of a rectangular parallelepiped is set controlled area (CD) and introduce a coordinate system with a origin at one of its vertices, with axes 0x, 0y and 0z, directed along the faces adjacent to the selected vertex, which are denoted by A, B and C, respectively, the RC is divided into elementary volumes with sides a , b and c along the axes 0x, 0y and 0z, respectively, the volume of which is chosen based on the specified accuracy Δd of determining the coordinates of the IRI, the coordinates of the centers of elementary volumes (X _i , Y _j , Z _k ) are determined, on the basis of which a volume coordinate matrix P of dimension A '× B' × C 'is formed, where X _i = a i , i = 1, 2, ..., A / a = A ', Y _j = bj, j = 1, 2, ..., B / b = B', Z _k = ck, k = 1, 2, ..., C / s = C ', for each element (X _i , Y _j , Z _k ) of the coordinate matrix P of all N measuring bases, the reference values of the difference in the time of arrival of the signal to the PSC and SPP _n τ _{i, j, k, n} are determined, form N reference matrices M _n , n = 1, 2, ..., N, the elements of each of which is corresponding to the coordinates (X _i , Y _j , Z _k ) the reference value of the difference in the delay of the arrival of signals τ _{i, j, k, n} for the n-th measurement base of the CPPO - SPP _n , and in the process, to account for the difference in the time of reception of the signal, the cross-correlation function (WPC) of the signals R _n [τ], adopted at the n-th IFR, n = 1, 2, ... N, and at the central control center, for the values of the time shift in the interval

where c ^* is the speed of light, d _n is the distance between the CPPO and the nth SPP, with a given step Δτ corresponding to the sampling frequency of the signal, based on N reference matrices M _n form correlation matrices Ф _n by replacing the delay elements τ _{i, j, k, n} to the corresponding measured values of VKF R _n [τ _{i, j, k} ], the values of the matrices Ф _n , n = 1, 2, ..., N, are summed over all N measuring bases

and for the most likely location of the IRI take the coordinates of the point (X _i , Y _j , Z _k ) corresponding to the maximum value of the matrix element

In this case, the measurement of the difference in the time of reception of the signals of a given IRI on the CPPO and the RFP is carried out in the time interval from the beginning of the preamble to the completion of the data (MAC frame) obtained based on the analysis of the preamble and the header of the current frame.

In addition, use three peripheral reception points located near the borders of the controlled area in the form of an equilateral triangle, in the center of which is located the central point of reception and processing.

Thanks to the new set of essential features due to a more complete consideration of the obtained statistics of the results of spatial measurements in the present method, the accuracy of determining the coordinates of a given IRI in a differential-range measuring method is improved under conditions of several IRI working at the same frequency with time or code division of channels.

The inventive method is illustrated by drawings, in which:

in FIG. 1 shows the structure of the preamble and PLCP header of the transmitted frame in the IEEE 802.11b standard;

in FIG. 2 shows the structure of known MAC frames:

a) CTS MAC frame;

b) PS-Poll MAC frame;

c) CF-End MAC-frame;

d) CF-End + CF-Fck MAC frame;

e) BlockAckRed MAC frame;

in FIG. 3 shows the structure of the Frame Control field of the MAC frame;

in FIG. 4 illustrates the meaning of the Touré and Subtype fields for various frame types;

in FIG. 5 shows a generalized algorithm of the differential-range measuring method for determining the coordinates of the IRI in accordance with the claimed invention;

in FIG. 6 shows a generalized structural diagram of a device that implements this method;

in FIG. 7 - the order of the controlled area:

a) setting the boundaries of the controlled area;

b) the formation of elementary volumes;

c) determination of the coordinates of the centers of elementary volumes;

in FIG. 8 - the order of formation of the coordinate matrix P;

in FIG. 9 - the order of formation of one of N:

a) a reference matrix M _n ;

b) the correlation matrix Φ _n ;

in FIG. 10 is an example of visualization of signal delay values for CPPO and RFP, where the maximum delay is shown in white and the minimum is shown in black;

in FIG. 11 shows the measured value of the VKF for one measuring base;

in FIG. 12 shows the result of visualization of the values of R _n [τ] in a controlled area for one measuring base;

in FIG. 13 shows the values of VKF for three measuring bases;

in FIG. 14 is a visualization of the sum of the projections of the VKF of three measuring bases;

in FIG. 15 shows the relative location of the central control center and the two border crossing points in the Kyrgyz Republic (first, second and third placement options);

in FIG. 16 shows the relative location of the central control center and the three border crossing points in the Kyrgyz Republic (fourth to ninth placement options);

in FIG. Figure 17 shows the normalized histograms with accumulation for the obtained sample of errors:

a) for the fifth variant of placement of the CPPO and the three RFP;

b) for the ninth version of the placement of the CPPO and three PPP;

in FIG. 18 presents the results of modeling the accuracy characteristics of OM IRI for nine options for the location of the central control center and the control point.

The proposed method is considered on the example of widely used Wi-Fi networks. It is known that in the IEEE 802.11b standard (see Appendix D (informational). IEEE 802.11a, b, g, n standard. Wi-Fi wireless data networks. Electronic resource. HTTP: //ab57.ru/soft/wifidoc .pdf. Date of access 01/23/2019) in DSSS mode at the beginning of each sent data frame contains a preamble and a PLCP header modulated by DBPSK modulation (see Fig. 6). In the preamble, in the SFD field there is a frame start indicator in the form 0xF3A0. The PLCP header contains information about the modulation method of the data itself (MAX frame) and its length. The Signal field contains information about the type of digital modulation of the MAC frame. The value 0x0A corresponds to DBPSK, and 0x14 corresponds to DQPSK modulation. Having performed the appropriate type of demodulation at the beginning of the MAC frame, the address of the user (IRI device) is determined. If the MAC address of the detected frame matches the MAC address of the specified IRI, the location of which must be determined, then the time interval used for transmission from the preamble to the completion of the data (MAC frame) is advisable to use for location.

The implementation of the proposed method is illustrated as follows (see Fig. 5, 6). At the preparatory stage, the controlled area (CD) is set in the central control center in the form of a rectangular parallelepiped (see Fig. 7). A coordinate system is introduced with a start at one of the vertices, with the axes 0x, 0y and 0z directed along the faces of the box adjacent to the selected vertex. The latter are denoted by A, B and C, respectively. The controlled area is divided into elementary volumes (see Fig. 7, 8) with sides a , b and c along the axes 0x, 0y and 0z, respectively. The sizes of elementary volumes are selected based on a given accuracy Δd of determining the coordinates of the IRI. Next, the coordinates of the centers of elementary volumes (X _i , Y _i , Z _i ) are determined (see FIG. 7c), on the basis of which a volume coordinate matrix P of dimension A ′ × B ′ × C ′ is formed (see FIG. 8), X _i = a i, i = 1, 2, ..., A / a = A ', Y _j = bj, j = 1, 2, ..., B / b = B', Z _k = ck, k = 1, 2 , ..., C / s = C '.

For each element of the coordinate matrix P of all N measuring bases, the reference values of the time of signal arrival at the CPPO and the nth, n = 1, 2, ..., N, SPP τ _{i, j, k, n are} determined.

where c ^* is the speed of light, (X ₀ , Y ₀ , Z ₀ ) are the coordinates of the CPPO, (X _n , Y _n , Z _n ) are the coordinates of the nth SPP, n = 1, 2, ..., N are the numbers of the SPP . For this purpose, at the preparatory stage, the coordinates of the CPPO and the RFP are set.

At the next stage, N three-dimensional reference matrices M _n , n = 1, 2, ..., N are formed, the elements of each of which are the reference values of the signal arrival delay difference τ _{i, j, k} corresponding to the coordinates (X _i , Y _i , Z _{i , n} for the nth measuring base of the CPPO-PPP _n (see Fig. 9).

длительность интервала анализа Δt и его начало t', частоту сигнала ƒ_н.An example of the visualization of delay values for the PSC and one IFR is shown in FIG. 10. In this case, the maximum delay is shown in white and the minimum is shown in black. Next, set the MAC address of the user

the duration of the analysis interval Δt and its beginning t ', the signal frequency ƒ _n .

The generalized block diagram of a device that implements this method (see Fig. 6) contains three IFRs (n ∈ 1, 2, and 3) and one CPPO (n ∈ 4). Each RFI signal with time or code division in general terms represents a set of series-connected signal reception paths of the IRI signals of the said classes and paths that implement analog radiation relaying. The CPPO contains a radio transmitter designed to implement a command line of communication, a set of N + 1 paths for receiving radio signals (of which Intermissions are intended for receiving relayed IFP signals) and a central processing point consisting of a control unit, an analysis path, N + 1 analog-digital converters (ADC), N + 1 memory blocks, a calculator, a block for generating matrices of reference values M _n , a block for generating a matrix of coordinates P, a block for generating correlation matrices Ф _n , an adder and a decision block. At the same time, all the RFPs are tuned to a given frequency of the signal, the value of which comes through the command communication channels from the CPPO.

The signals of the IRI, received at the CPPO and SPP are of the form

respectively.

The latter from the outputs of the receiving paths of the SPT are fed to the inputs of the corresponding paths of the analog relay and then radiated into the air.

At the central control center, these emissions are received using the corresponding N receiving paths and are stored for a predetermined time Δt. At the same time, they receive signals from this IRI to their own N + 1-th receiving path during the same time interval Δt during which they are analyzed.

To do this, the signals received in the N + 1-th receiving path of the CPPO using the ADC and demodulator (remove DBPSK modulation) turn the analog signal x ₄ (t) into a bit sequence a ₄ (t). Based on it, a preamble and a PLCP header are searched (see FIG. 1). In the preamble, the SFD field contains the value 0xF3A0, which serves as an indicator of the beginning of the frame. The PLCP header in the Signal field contains information about the method for digitally modulating the data itself (MAC frame). The value 0x0A corresponds to DBPSK modulation, and 0x14-DQPSK modulation. In addition, the PLCP header contains information about the length of the data in the MAC frame.

Various types of MAC frames are known: CTS - FIG. 2a, PS-Poll - FIG. 2b, CF-End - FIG. 2c, CF-End + CF-Ack - FIG. 2d, Block Ack Req - FIG. 2d In addition to the above, there are other types of MAC frames, but they do not contain information about the MAC addresses of the transmitting device. Therefore, their use is difficult to locate the IRI.

All frames at their beginning have a Frame Control field (see Fig. 3), which contains information about the type of this frame — these are the Tour and Subtype fields. The meaning of these fields for each frame is shown in FIG. 4. The TA field of the frames contains the MAC address of the transmitting device. To obtain the named data, you must first perform digital demodulation of the MAC frame in accordance with the contents of the Signal field in the PLCP header.

устройства, участок сигнала с границами от начала преамбулы PLCP t^*до конца МАС-фрейма t₁ используют для нахождения взаимнокорреляционной функции Ф принятого сигнала R_n[τ]. При этом свертка принятых ЦППО и ППП сигналов R_n может осуществляться как в аналоговом, так и в дискретном виде. В случае использования дискретных сверток (предлагаемый вариант устройства) запомненные сигналы от ППП дополнительно оцифровывают.If the MAC address G of the detected frame coincides with the specified address

devices, a signal portion with boundaries from the beginning of the PLCP preamble t ^* to the end of the MAC frame t _{1 is} used to find the cross-correlation function Φ of the received signal R _n [τ]. In this case, the convolution of the received CPPO and RFP signals R _n can be carried out both in analog and in discrete form. In the case of using discrete convolution (the proposed version of the device), the stored signals from the SPT are additionally digitized.

Additional synchronization when measuring τ _{n is} not required due to the fact that the processing of all N + 1 signals is carried out in one place. Finding delays τ _n with the subsequent determination of the coordinates of the IRI is performed in accordance with the prototype method.

где с^* - скорость света,

- расстояние между ЦППО и n-м ППП с заданным шагом τ₀ по формуле:The calculation of the VKF signals R _n [τ], adopted by the n-th measuring base, n = 1, 2,, N, is carried out for the values of the time shift

where c ^* is the speed of light,

- the distance between the CPPO and the n-th PPP with a given step τ ₀ according to the formula:

- сигнал, принятый на ЦППО и сопряженный с ним сигнал, u_n(t),

- сигнал, принятый на n-м ППП и сопряженный с ним сигнал. На фиг. 9б приведено значение ВКФ для одной измерительной базы.where τ is the time shift between the signals (delay), u ₄ (t),

- the signal received at the CPPO and the associated signal, u _n (t),

- the signal received at the nth IFR and its associated signal. In FIG. 9b shows the value of VKF for one measuring base.

After that, the obtained values of each calculated VKF R _n [τ] are projected onto the elements of the corresponding nth reference matrix M _n (elementary volumes of the search zone). In the matrix M _n, each element τ _{i, j, k, n} corresponds to a certain coordinate point [X _i , Y _j , Z _k ). Using the previously obtained values of τ _{i, j, k, n} for each point (X _i , Y _j , Z _k ) of the controlled area, calculate the values of R _n [τ _{i, j, k} ] in accordance with (3) and, therefore, the corresponding this point. The named operation corresponds to the formation of the corresponding (from the set in N) correlation matrix Φ _n .

The formation of N correlation matrices Ф _{n is} carried out by projecting the obtained values of the VKF R _n [τ _{i, j, k} ] in the corresponding places of the reference matrix M _n , and therefore, at the corresponding points (X _i , Y _j , Z _k ).

За наиболее вероятное местоположение заданного ИРИ принимают координаты точки (X_i, Y_j, Z_k), соответствующее максимальному значению элемента матрицы

At the next stage, the values of R _n [τ] are summed over all N measuring bases:

The coordinates of the point (X _i , Y _j , Z _k ) corresponding to the maximum value of the matrix element are taken as the most probable location of the given IRI

Such an approach to the OK of a given IRI provides an increase in the accuracy of measurements performed in space. It is known that in the correlation functions R [τ] there are side maxima from the reflected signals, sometimes with a maximum value (see Fig. 11, 13). The latter have a location on the time axis that does not correspond to the position of the IRI. In known methods and devices, this leads to errors in coordinate measurements. In the proposed method, the value of the VKF R [τ _{i, j, k} ] takes the maximum value (global maximum) due to the fact that at the point (X _i , Y _j , Z _k ) it is equal to the sum of the correlation values corresponding to the location of the true local maxima R _n [τ] of all three measuring bases. In turn, the local maxima obtained from the reflected signals of all three measuring bases will be randomly distributed. Their summation does not give a global maximum VKF (see Fig. 14). In FIG. 13 shows VKF for three measurement bases operating on Wi-Fi signals. On the first and third graph of the VKF, side peaks from the reflected signals are clearly visible, and on the third graph, the side peak is higher than the true one corresponding to the true position of the IRI. In FIG. Figure 14 shows the visualization of the sum of the projections of the VKF on the controlled area. The intersection of three lines formed by the true peaks of the VKF is observed. Side peaks did not introduce errors in determining the location of the IRI.

The accuracy characteristics of OK IRI in space depend on the number of SPP N and the geometry of their relative position. The simulation of OK systems using two and three IFRs, CPPOs with their different relative positions was performed (see Figs. 15 and 16). In this case, the CPPO and the PPP are located inside a circle with a radius of 100 m. The calculations were performed for the RC in the form of a cylinder with a height of 100 meters, the basis of which is the aforementioned circle.

For the aforementioned options for the placement of the central control center and the control panel (see Fig. 15 and 16) for each measuring base at each point of the Kyrgyz Republic with a step of 3 meters:

the coordinates of each point in the controlled space are determined (X _i , Y _j , Z _k );

calculated reference values of the difference of the signal arrival time (delay) τ _{i, j, k, n} between the CPPO and the SPP _n , n = 1, 2, 3;

random error introduced in the interval [-10 ns; 10 ns] in the received reference delay;

VKF values for the received delays are calculated;

the coordinates of the IRI are determined on the basis of the obtained values of the VKF in the proposed method;

an error was found in OK IRI as the distance between a point with exact (reference) coordinates and calculated coordinates.

After that, normalized histograms are constructed for the obtained sample of errors with dividing the number line into the intervals Δ a _i = a _i - a _i-1 , where i ∈ E, i≥0, a _i = i. In FIG. Figures 17a and b show histograms with accumulation for the fifth and ninth variants of the placement of the CPPO, respectively, and the three RFPs. The simulation results for all nine options are summarized in a table (see Fig. 18). From FIG. 17a it follows that in the fifth variant of the arrangement of elements of the IRI IR system, 80% of the points from the simulation region have an error within 42 m, while the latter is 8 m (see 17 c) in the ninth variant. The simulation results (see Fig. 18) indicate that the best accuracy characteristics in the proposed method are achieved when:

the presence of three IFR;

the ninth variant of the placement of the CPPO and the PPP.

Thus, in the proposed method, the following sequence of operations takes place.

At the preparatory stage:

1. Assignment of the controlled area to the central control center in the form of a rectangular parallelepiped and the introduction of a coordinate system with a origin at one of its vertices with axes 0x, 0y and 0z directed along the faces adjacent to the selected vertex, which are denoted by A, B and C, respectively (see Fig. 7a).

2. Placement of three peripheral reception points near the borders of the Kyrgyz Republic in the form of an equilateral triangle, in the center of which there is a central control center.

3. The RCs are divided into elementary volumes with sides a , b, and c along the axes 0x, 0y, and 0z, respectively, the volume of which is selected on the basis of a given accuracy Δd for determining the coordinates of the IRI (see Fig. 7b).

4. Determine the coordinates of the centers of elementary volumes (X _i , Y _j , Z _k ) (see Fig. 7B).

5. Based on the coordinates (X _i , Y _j , Z _k ), a coordinate matrix P of dimension A '× B' × C 'is formed, where X _i = a i, i = 1, 2, ..., A / a = A' , Y _i = bj, j = 1, 2, ..., B / b = B ', Z _k = ck, k = 1, 2, ..., C / s = C' (see Fig. 8).

6. For each element (X _i , Y _j , Z _k ) _k ) of the matrix P and all N measuring bases, the reference values of the difference in the time of arrival of the signal at the PSCO and SPP _k τ _{i, j, k, n are} determined.

7. Form N reference matrices M _n , n = 1, 2, ..., N, the elements of each of which is the reference value of the difference in the delay of the arrival of the signal τ _{i, j, k, n} corresponding to the coordinates (X _i , Y _j , Z _k for the n-th measuring base of the CPPO - PPP _n , (see Fig. 9).

In progress:

1. The accumulation of signals in the CPPO for a certain period of time Δt from all the RFP and the CPPO.

2. Demodulation of the accumulated signal received by the CPU itself and modulated by DBPSK modulation. The result is an array of bits.

3. Search in the array of bits of the SFD code - values 0xF3A0 (1111001110100000 ₂ ).

4. Read PLCP header - the next 48 bits after the SFD code.

5. Determination of the modulation method of the MAC frame: in the Signal field of the PLCP header: the value 0x0A (00001010 ₂ ) corresponds to DBPSK modulation, 0x14 (00010100 ₂ ) - DQPSK modulation.

6. Determination of the length of the MAC frame - Length field of the PLCP header.

7. Demodulation of the MAC frame.

8. Determination of the MAC address of the device.

9. If the MAC address of the device corresponds to the MAC address of the device to be searched, then a part of the signal corresponding to the beginning of the PLCP preamble and the end of the MAC frame is selected, otherwise, starting from the end of the current frame, the next frame is searched (point 3).

где d_n - расстояние между ЦППО и n-м ППП, с заданным шагом Δτ (см. фиг. 10).10. Calculation of the cross-correlation function of the signals R _n [τ] received at the nth SPP, n = 1, 2, ..., N, and at the CPPO for the values of the time shift in the interval

where d _n is the distance between the CPPO and the nth SPP, with a given step Δτ (see Fig. 10).

11. The formation of N correlation matrices Ф _n by replacing the delay elements τ _{i, j, k, n} matrices M _n with the corresponding measured values of the TCF R _n [τ _{i, j, k} ].

12. The summation of the matrices Ф _n for all N measuring bases (see Fig. 14)

матрицы

13. Taking for the most probable location of the given IRI a point with coordinates (X _i , Y _j , Z _k ) corresponding to the maximum value of the element

matrices

A positive effect in increasing the accuracy of determining coordinates in the entire volume of the RC is achieved by taking into account all the statistics obtained for measuring spatial information parameters (values of cross-correlation functions), and not their discrete values.

где d_n - расстояние между ЦППО и n-м ППП, с заданным шагом Δτ, группа из N+1 входов вычислителя 15 соединена с информационными выходами соответствующих N+1 блоков памяти 13.1-13.N+1, блок управления 11, предназначенный для задания длительности интервала анализа Δt и его начала t', тракт анализа 12, предназначенный для определения начала очередного фрейма t^*, его длительности

вида модуляции МАС-фрейма и его демодуляции, определения адреса текущего пользователя Г, второй вход которого является вторым установочным входом ЦПО 3 и третьей входной шиной 21 ЦППО 2, предназначенной для задания адреса пользователя

первый информационный вход тракта анализа 12 соединен с выходом N+1-го аналого-цифрового преобразователя 9.N+1, а выход объединен с первыми входами управления N+1 блоков памяти 13.1-13.N+1 и вторым входом блока управления 11, первый вход которого является первым установочным входом ЦПО 3 и второй входной шиной 10 ЦППО 2, предназначенной для задания интервала анализа Δt и его начала t', а выход соединен со вторыми входами управления блоков памяти 13.1-13.N+1 и третьим входом тракта анализа 12, четвертая входная шина 22 ЦППО 2, предназначена для задания координат ППП 1.1-1.N и ЦППО 2 {X, Y, Z}_N+1, соединена с N+2 входом вычислителя 15 и является третьим установочным входом ЦПО 3, последовательно соединенные блок формирования матрицы координат Р 18, предназначенный для определения координат центров элементарных участков (X_i, Y_j, Z_k) контролируемого района и формирования на их основе матрицы координат Р, блок формирования матриц эталонных значений M_n 17, предназначенный для вычислений задержек прихода сигнала

для n-й измерительной базы ЦППО 2 - ППП_n 1.n, n = 1, 2, …, N, соответствующей каждой координате (X_i, Y_j, Z_k), и формирования на их основе N эталонных матриц M_n, блок формирования корреляционных матриц Ф_n 16, предназначенный для формирования N корреляционных матриц Ф_n, элементами которых являются значения ВКФ R_n[τ_i,j,k], соответствующие задержкам

сигнала в элементах матриц эталонных значений M_n, сумматор 19 и блок принятия решения 20, предназначенный для определения элемента матрицы

с максимальным значением функции корреляции

величина которой соответствует наиболее вероятному местоположению ИРИ с координатами (X_i, Y_j, Z_k), выход которого является выходом ЦПО 3 и выходной шиной 24 ЦППО 2, пятая входная шина 23 которого предназначена для задания границ контролируемого района с помощью координат точек (X, Y, Z)_A, (X, Y, Z)_B, (X, Y, Z)_C, (X, Y, Z)_D и размеров элементарных объемов а, b и с соединена с информационным входом блока формирования матрицы координат Р 18 и является четвертым входом ЦПО 3, генератор тактовых импульсов 14, выход которого соединен с входами синхронизации N+1 аналого-цифровых преобразователей 9.1-9.N+1, блока управления 11, тракта анализа 12, блока формирования матриц эталонных значений M_n 17, блока формирования матрицы координат Р 18, блока формирования корреляционных матриц Ф_n 16, сумматора 19, блока принятия решения 20 и вычислителя 15, информационный выход которого соединен со вторым информационным входом блока формирования корреляционной матрицы Ф_n 16.The claimed device for determining the coordinates of the IRI based on the differential-ranging method (see Fig. 6) contains N peripheral reception points 1.1-1.N and a central reception and processing point 2, each RFP 1.1-1.N consists of a series-connected reception path of radio signals 4 and a radio signal relay path 5, and CPPO 2 comprises a radio transmitter 7 for implementing a command communication line, N + 1 paths for receiving radio signals 8.1-8.N + 1 and a central processing station 3, N + 1 of inputs of which are connected to the outputs of the corresponding tracts pr the volume of the radio signals 8.1-8.N + 1, and the output is the output bus 24 of the CPU 2, the first input bus 6 of which is the control input of the radio transmitter 7 and is connected to the control inputs of the paths of receiving radio signals 8.1-8.N + 1, designed to set the tuning frequency ƒ _{n of the} paths for receiving radio signals 8.1-8.N + 1 of the CPPO and indirectly through a radio station, 7 paths of receiving radio signals 4.1-4.N of the RFP. CPPO is made containing N + 1 analog-to-digital converters 9.1-9.N + 1, the inputs of which are connected to the outputs of the corresponding paths for receiving radio signals 8.1-8.N + 1, N + 1 memory blocks 13.1-13.N + 1, information inputs which are connected to the outputs of the corresponding analog-to-digital converters 9.1-9.N + 1, calculator 15, designed to find the cross-correlation function of the signals R _n [τ] received at the nth IFR 1.n, n = 1, 2, ..., N, and on CPPO 2, for the values of the time shift in the interval

where d _n is the distance between the CPPO and the nth SPP, with a given step Δτ, a group of N + 1 inputs of the calculator 15 is connected to the information outputs of the corresponding N + 1 memory blocks 13.1-13.N + 1, the control unit 11, intended for setting the duration of the analysis interval Δt and its beginning t ', analysis path 12, designed to determine the beginning of the next frame t ^* , its duration

the type of modulation of the MAC frame and its demodulation, determining the address of the current user G, the second input of which is the second installation input of the CPU 3 and the third input bus 21 of the CPU 2, designed to set the user address

the first information input of the analysis path 12 is connected to the output of the N + 1-th analog-to-digital converter 9.N + 1, and the output is combined with the first control inputs N + 1 of the memory blocks 13.1-13.N + 1 and the second input of the control unit 11, the first input of which is the first installation input of the CPU 3 and the second input bus 10 of the CPU 2, designed to set the analysis interval Δt and its beginning t ', and the output is connected to the second control inputs of the memory blocks 13.1-13.N + 1 and the third input of the analysis path 12, the fourth input bus 22 TsPPO 2, is intended for setting coordinates P TSPPO 1.1-1.N and n 2 _{{X, Y, Z} N} + _1, is connected to N + 2 input calculator 15 and the third mounting ATEC input 3 connected in series forming unit matrix coordinates P 18 for detecting coordinates of the centers elementary sections (X _i , Y _j , Z _k ) of the controlled area and the formation of the coordinate matrix P based on them, the block for generating the matrix of reference values M _n 17 intended for calculating the signal arrival delays

for the n-th measuring base of CPPO 2 - RFP _n 1.n, n = 1, 2, ..., N, corresponding to each coordinate (X _i , Y _j , Z _k ), and the formation on their basis of N reference matrices M _n , block for the formation of correlation matrices Ф _n 16, intended for the formation of N correlation matrices Ф _n , whose elements are the values of VKF R _n [τ _{i, j, k} ] corresponding to delays

the signal in the matrix elements of the reference values M _n , the adder 19 and the decision block 20, designed to determine the matrix element

with the maximum value of the correlation function

the value of which corresponds to the most probable location of the IRI with coordinates (X _i , Y _j , Z _k ), the output of which is the output of the CPO 3 and the output bus 24 of the CPPO 2, the fifth input bus 23 of which is designed to set the boundaries of the controlled area using the coordinates of the points (X , Y, Z) _A , (X, Y, Z) _B , (X, Y, Z) _C , (X, Y, Z) _D and the sizes of elementary volumes a , b and c are connected to the information input of the coordinate matrix forming unit P 18 and is the fourth input of the CPU 3, the clock 14, the output of which is connected to the synchronization inputs N + 1 analog -DIGITAL converters 9.1-9.N + 1, 11, path analysis control unit 12, the reference matrix generation unit M _n values of 17, forming unit coordinates of the matrix P 18, the block forming correlation matrices F _n 16, adder 19, decision block 20 and a calculator 15, the information output of which is connected to the second information input of the correlation matrix forming unit Ф _n 16.

координаты которого необходимо определить.The operation of the device (see Fig. 5 and 6) is as follows. At the preparatory stage, the structure of the meter is set: the number of IFRs 1 N, N = 3, their relative position and coordinates (X, Y, Z) _{N are} determined. The coordinates of the CPPO (X, Y, Z) _{N + 1 are} determined. On bus 22, the obtained data is entered into the calculator 15 of the CPU 3. On the second input bus of the CPU 10, the analysis interval Δt (the time interval for which the IRI signals are stored in blocks 13.1-13.4 at the same time) and its beginning t 'are set. On the first input bus of the CPPO 6, the frequency value ƒ _{n is} supplied to configure the receiving paths 8.1 - 8.4 of the CPPO 2. Indirectly through the radio station 7 using the frequency code N (ƒ _н ), the receiving paths 4.1 - 4.3 of the IFR are tuned 1. Third input bus 21 CPPO 2 is used to set the user MAC address

whose coordinates must be determined.

Y_j = bj, j = 1, 2, …, B/b = B' Z_k = ck, k = 1, 2, …, C/c = С' (см. фиг. 8).In the form of a rectangular parallelepiped, a controlled area is defined in which the search for and location of a given IRI will be carried out. This operation is carried out by the command received on the fifth input bus 23 of the CPPO 2. The boundaries of the region are set by the coordinates of four points (X, Y, Z) _A , (X, Y, Z) _B , (X, Y, Z) _C and (X , Y, Z) _D. The boundaries along the axis 0x, 0y, and 0z are denoted by A, B, and C, respectively (see Fig. 7a). CRs are divided into elementary volumes with sides a , b, and c, the values of which are also set on bus 23. This operation is performed by block 18. Then, using block 18, the centers of elementary volumes are determined (see Fig. 7b, c). Based on the obtained coordinates (X _i , Y _j , Z _k ) using block 18, a coordinate matrix of dimension A '× B' × C 'is formed, where X _i = a i, i = 1, 2, ...,

Y _j = bj, j = 1, 2, ..., B / b = B 'Z _k = ck, k = 1, 2, ..., C / c = C' (see Fig. 8).

For each element (X _i , Y _j , Z _k ) of the matrix P and all N measuring bases, in accordance with (1) in block 17, the reference values of the difference in the time of arrival of the signal to the CPPO and the SPP _n , n = 1, 2, ..., N. Based on the obtained data, K matrices of reference values M _{n are formed} by replacing the elements (X _i , Y _j, Z _k ) of the coordinate matrix P with the corresponding values of the reference delays τ _{i, j, k, n} .

Each SRI 1.1-1.3 of the IRI signals represents a set of series-connected radio signal reception paths 4.n and a radio signal relay path 5.n, n = 1, 2 or 3. Paths 4.n are tuned to a given frequency ƒ _n by the command N (ƒ _n ) coming from CPPO 2 via command radio link. The central point of reception and processing 2 contains a radio transmitter 7, designed to implement a command line, a combination of N + 1 (four) paths of receiving radio signals 8.1-8.4 and a central processing point 3 (see Fig. 6), consisting of: control unit 11, analysis path 12, analog-to-digital converters 9.1-9.4, memory blocks 13.1-13.4, calculator 15, correlation matrix generation unit Ф _n 16, reference value matrix generation unit M _n 17, coordinate matrix generation unit Р 18, adder 19, acceptance unit 20 solutions and a pulse generator 14.

The signals of the IRI, received at TsPPO 2 and PPP 1.1-1.3 and having the form (2) from the outputs of the paths 8.1-8.4 are fed to the inputs of the corresponding ADCs 9.1-9.4. The digitized signal streams a ₁ (t), a ₂ (t), a ₃ (t) and a ₄ (t) from the outputs of blocks 9.1-9.4 then follow to the information inputs of the corresponding memory blocks 13.1-13.4. The operation of simultaneous recording of signals in blocks 13.1-13.4 is carried out at the command of the control unit 11 at time t ', which is fed to their second control inputs. For this, a rectangular pulse of a given duration Δt is formed at the output of block 11. The value of Δt is selected from the calculation:

where t _pr is the duration of the PLCP preamble 144 bits, t _zag is the duration of the PLCP header 48 bits, t _cp is the average duration of the MAC file. For the time interval Δt, it is necessary to detect and analyze the integral radiation of one of the users of the Wi-Fi system.

(длину), вид модуляции МАС-фрейма и его демодуляция, определение адреса текущего пользователя Г, сравнение его с заданным на подготовительном этапе работы устройства адресом

При положительном решении выдает временной интервал

измерения пространственных параметров заданного

ИРИ,

который начинается с момента t*. Здесь

- длительность МАС-фрейма

абонента. Однако при определении значения

следует учитывать задержки сигнала ИРИ в точках его приема на ЦППО 2 и ППП 1.n. В противном случае это может привести к погрешностям измерения задержек сигналов. Поэтому временной интервал

целесообразно сократить и начать с заголовка фрейма.The IRI signals received directly to the CPPO 2 by the path 8.4x ₄ (t) and converted to digital form x ' ₄ (t) by the block 9.4, go to the input of the analysis path 12. Its operation starts at time t' with the arrival of the control signal of block 11 on his third entrance. The functions of the path 12 include determining the beginning of the next frame t ^* , its duration

(length), the type of modulation of the MAC frame and its demodulation, determining the address of the current user G, comparing it with the address specified at the preparatory stage of the device

If the decision is positive, it gives out a time interval

measuring the spatial parameters of a given

IRI

which starts at time t *. Here

- duration of the MAC frame

subscriber. However, when determining the value

it is necessary to take into account the delay of the IRI signal at the points of its reception at CPPO 2 and IFR 1.n. Otherwise, this can lead to measurement errors of signal delays. Therefore the time interval

it is advisable to shorten and start with the frame header.

абонента трактом 12 формируется управляющий сигнал, поступающий на первые входы управления блоков памяти 13.1-13.4. В результате содержимое последних начиная с момента t^* и до окончания

фрейма t₁ поступает на соответствующие входы вычислителя 15.After making a decision on detecting a given signal

subscriber path 12 is formed by the control signal supplied to the first control inputs of the memory blocks 13.1-13.4. As a result, the contents of the latter from the moment t ^* to the end

frame t ₁ arrives at the corresponding inputs of the calculator 15.

абонентом в рамках интервала времени Δt не обнаружен, трактом 12 формируется управляющий сигнал, поступающий на первые входы управления блоков памяти 13.1-13.4, который обнуляет их содержимое. Кроме того, этот сигнал поступает на второй вход блока управления 11. В результате блоком 11 формируется новый управляющий сигнал длительностью Δt, в результате появления которого начинается новый цикл работы устройства по записи очередной выборки сигналов ИРИ в блоки 13.1-13.4 и их анализ.Otherwise, when the frame with the given

the subscriber within the time interval Δt is not detected, path 12 generates a control signal supplied to the first control inputs of the memory blocks 13.1-13.4, which resets their contents. In addition, this signal is fed to the second input of the control unit 11. As a result, block 11 generates a new control signal of duration Δt, as a result of which a new cycle of the device begins to record the next sample of IRI signals in blocks 13.1-13.4 and their analysis.

The calculator 15 is designed to calculate N cross-correlation functions R _n [τ]. For this, additionally, along the fourth input bus 22, block 15 receives the coordinates of the location of the IFR 1.n (X, Y, Z) _n , n = 1, 2, 3; the coordinates of the CPPO 2 (X, Y, Z) ₄ , the value of the correlation step Δτ corresponding to the sampling frequency. In block 15, the value of the boundaries of the time shift τ is additionally calculated when finding the VKF for each measuring base, the distance between the CPPO 2 and the SPP 1.nd _n . The obtained values of the VKF R _n [τ] are fed to the second input of the correlation matrix generation unit Ф _n 16. The first input of block 16 receives the values of N matrices of reference values M _n 17. The function of block 16 includes the formation of N correlation matrices Ф _n by replacing delay elements τ _{i, j, k, n} matrices M _n to the corresponding measured values of the VKF R _n [τ] coming from the output of block 15.

Полученное в результате выполнения этой операции значение матрицы

поступают на вход блока 20. В функцию последнего входит определение элемента матрицы

с максимальным значением R'[τ_i,j,k] и формирование на своем выходе соответствующих координат (X_i, Y_j, Z_k) как arg max R'[τ_i,j,k].The values N of the correlation matrices Φ _n generated by block 16 are input to the adder 19. The function of block 19 includes the operation of summing

The value of the matrix obtained as a result of this operation

arrive at the input of block 20. The function of the latter includes determining the element of the matrix

with the maximum value of R '[τ _{i, j, k} ] and the formation at its output of the corresponding coordinates (X _i , Y _j , Z _k ) as arg max R' [τ _{i, j, k} ].

The synchronism of the elements of the device provide the pulses of the clock generator 14.

Claims (3)

1. Difference-range measuring method for determining the coordinates of a radio emission source (IRI), based on the reception of signals by spatially separated peripheral reception points (SPP) with known coordinates associated with the central point of reception and processing (CPPO) command lines of communication and lines of analog signal relay, The command lines for communication with the CPPO to the SPT transmit the tuning commands to the frequency of the IRI signal, and along the analog relay lines the signals received in the SPP of the IRI are transmitted to the CPPO, where the time difference is measured no reception of these signals in the RFP and TPSC τ _n , where n ∈ 1, 2, ..., N are the numbers of the RFP and measuring bases of the TsPPO - RFP _n , based on which the coordinates of the IRI are determined, characterized in that on the TsPPO at the preparatory stage in the form the rectangular parallelepiped is set to the controlled area (RC) and a coordinate system is introduced with the origin at one of its vertices, with axes 0x, 0y and 0z directed along the faces adjacent to the selected vertex, which are denoted by A, B and C, respectively, the RC is divided by elementary volumes with sides a, b and c along the axes 0x, 0y and 0z, respectively, m which are selected according to the defined accuracy Δd determining IRI coordinates define the coordinates of the elementary volumes points _{(X i, Y j, Z} k), on the basis of which form a bulk matrix coordinates P of dimension A '× B' × C ', wherein X _i = ai, i = 1, 2, ..., A / a = A ', Y _j = bj, j = 1, 2, ..., B / b = B', Z _k = ck, k = 1, 2, ..., C / s = C ', for each element (X _i , Y _j , Z _k ) of the coordinate matrix P of all N measuring bases, the reference values of the difference in the time of arrival of the signal to the PSC and the SPP _n τ _{i, j, k, n} are determined, form N reference matrix M _{n, n} = 1, 2, ..., N, each of which elements is appropriate oordinatam _{(X i, Y j, Z} k) the reference signals the arrival delay difference value τ _{i, j, k, n} for the n-th measuring base TSPPO - SPT _n, and during operation to account for the difference signal reception time calculated cross-correlation function (WKF) of the signals R _n [τ] received at the nth IFR, n = 1, 2, ..., N, and at the CPPO, for the values of the time shift in the interval τ ∈ (-c ^{* -1} d _n , c ^{* -1} d _n ), where c ^* is the speed of light, d _n is the distance between the CPPO and the nth SPP, with a given step Δτ corresponding to the sampling frequency of the signal, based on N reference matrices M _n form correlation matrices Ф _n put we replace the delay elements τ _{i, j, k, n} with the corresponding measured values of the VKF R _n [τ _{i, j, k} ] the values of the matrices Ф _n , n = 1, 2, ..., N, are summed over all N measuring bases

and for the most likely location of the IRI, take the coordinates of the point (X _i , Y _j , Z _k ) corresponding to the maximum value of the matrix element

2. The method according to p. 1, characterized in that the measurement of the difference in the time of reception of the signals of a given IRI on the CPPO and the SPT is carried out in the time interval from the beginning of the preamble to the completion of the MAC frame data obtained based on the analysis of the preamble and the header of the current frame. 3. The method according to p. 1, characterized in that they use three peripheral reception points located near the borders of the controlled area in the form of an equilateral triangle, in the center of which there is a central reception and processing point.

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