CN102175991A - Target positioning method based on maximum positioning likelihood sensor configuration - Google Patents
Target positioning method based on maximum positioning likelihood sensor configuration Download PDFInfo
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- CN102175991A CN102175991A CN2011100081645A CN201110008164A CN102175991A CN 102175991 A CN102175991 A CN 102175991A CN 2011100081645 A CN2011100081645 A CN 2011100081645A CN 201110008164 A CN201110008164 A CN 201110008164A CN 102175991 A CN102175991 A CN 102175991A
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Abstract
The invention aims to provide a target positioning method based on maximum positioning likelihood sensor configuration, which comprises the following steps of: observing a target by using all sensors to obtain own observation angles by taking a horizontal direction as a reference line; combining relative position relationships among the sensors by using a direction-finding cross-positioning system control station to obtain the observation angles Theta1 and Theta2 and a corresponding intersection angle beta in triangular positioning systems formed by the pairwise combinations of all the sensors and the target by taking connecting lines of the sensors as the reference lines; calculating likelihood ratios M of all positioning triangles; and selecting the sensor combination with the maximum positioning likelihood ratio, and positioning the target by utilizing a triangular cross-positioning method. In the method, the situation of the whole positioning fuzzy region is checked from a probability perspective without relation with the lengths of the reference lines between every two sensors and a distance between the target and the reference line, so the method is applied to the direction-finding cross-positioning system under the condition of sensor movement, and positioning is rapid and convenient to realize.
Description
Technical field
What the present invention relates to is a kind of object localization method that is applicable under the sensor situation of movement.
Background technology
Direction finding cross bearing system has simply, quick, low to requiring synchronously, detection range far away, be interfered down still can operate as normal advantage, therefore have important use value.Error during the sensor measurement angle on target causes cross bearing system inaccurate to target localization, and the combination of sensor in different positions has very big influence to the bearing accuracy of target.How the fast and reasonable sensors configured is to obtain the first step that best locating effect is cross bearing system location.
At present the collocation method of sensor mainly contains based on the sensor configuration method of location ambiguity district area minimum with based on two kinds of the sensor configuration methods of circular proable error minimum in the direction finding cross bearing system.But all there is certain one-sidedness in these two kinds of collocation methods.Based on the sensor configuration method of location ambiguity district area minimum is the size of simple comparison confusion region area, the probability distribution in this zone is not taken into account.Though the circular proable error of using in the sensor configuration method based on the circular proable error minimum is based on the result that probability distribution draws, but it has just embodied the absolute poly-degree of loosing of 50% observation station in the circular error probability, does not provide the information of this distribution of 50% with respect to overall distribution.These two kinds of sensor configuration methods are all relevant to the distance (deriving by the length of baseline and the view angle of sensor) of baseline with the length or the target of baseline in addition.The base length of fixation of sensor can utilize several different methods such as GPS and the earth standard coordinate point to obtain accurate numerical value.And,, often do not adopt the GPS location for hidden for motor-driven sensor.Because the maneuverability of sensor, the exact value that the method by the earth standard coordinate point obtains base length also be cannot say for sure to demonstrate,prove.Because the base length error in the cross bearing system of motor-driven base station is bigger, thereby also there is very big error in target to the vertical range of baseline, this will cause the inaccurate of confusion region area and circular proable error, finally cause deviation occurring based on least confusion district area with based on the selection of the optimum research station of smallest circle probable error.Thereby the sensor configuration method that is obtained by above two kinds of methods is not suitable for motor-driven sensor cross positioning system.
Summary of the invention
The object of the present invention is to provide the object localization method that is not subjected to system that the length or the target of baseline are estimated to introduce error effect to parallax range based on maximum location likelihood sensor configuration.
The object of the present invention is achieved like this:
The present invention is based on the object localization method of maximum location likelihood sensor configuration, it is characterized in that:
(1) all the sensors is observed target, and obtaining separately, sensor is the view angle of datum line with the horizontal direction;
(2) view angle that step (1) is obtained is sent to direction finding cross bearing system control station, and it is the view angle θ of datum line that direction finding cross bearing system control station obtains in conjunction with the relative position relation of each sensor that all the sensors makes up in the triangle positioning system that forms with target in twos with the sensor line
1, θ
2With the intersection angle β of correspondence, β=θ
2∫ θ
1
(3) calculate the location likelihood ratio M of all cocked hats,
(4) select the sensor combinations of maximum in all location likelihood ratios of step (3) to utilize the triangle Cross Location Method to target localization.
Advantage of the present invention is: the situation of having examined or check whole location ambiguity district from the probability angle, and and between the two sensors length of baseline and target to the range-independence of baseline, therefore be applicable to the direction finding cross bearing system under the sensor situation of movement, and locate faster.
Description of drawings
Fig. 1 is a process flow diagram of the present invention;
Fig. 2 is two station direction finding cross bearing schematic diagrams of the present invention;
Fig. 3 is a direction finding cross bearing system schematic of the present invention;
Fig. 4 is a likelihood ratio M distribution plan in location in the embodiment 1;
Fig. 5 is the graph of a relation of locating likelihood ratio and view angle in the embodiment 1.
Embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
Embodiment 1:
In conjunction with Fig. 1～5, the present invention is divided into following steps: (1) all the sensors is observed target, and obtaining separately, sensor is the view angle of datum line with the horizontal direction;
(2) view angle that step (1) is obtained is sent to direction finding cross bearing system control station, and it is the view angle θ of datum line that direction finding cross bearing system control station obtains in conjunction with the relative position relation of each sensor that all the sensors makes up in the triangle positioning system that forms with target in twos with the sensor line
1, θ
2With the intersection angle β of correspondence, β=θ
2∫ θ
1
(3) calculate the location likelihood ratio M of all cocked hats,
(4) select the sensor combinations of maximum in all location likelihood ratios of step (3) to utilize the triangle Cross Location Method to target localization.
Rationality of the present invention:
Circular error probability is meant the circle that contains 50% observation station.The intersection region of 4 σ direction finding lines comprises 99.99% observation station about two sensors angle measurement average, and this zone is the location ambiguity district that adopts among the present invention.According to the principle of theory of probability, the circular error probability of most of position correspondence is positioned at the location ambiguity district fully.If the head of a nail by nail of likening to of location ambiguity regional image, obviously promptly the thimble by nail is sharp-pointed more for circular error probability, then the location is accurate more.For this reason, definition location likelihood ratio M=confusion region area S/ probable error area of a circle P.Likelihood ratio M is big more in the location, and the expression bearing accuracy is high more.The expression formula that can draw the location likelihood ratio through theoretical derivation is
θ
1, θ
2Be that the straight line that two research stations are determined with them is the view angle of datum line, β=θ
2∫ θ
1The expression intersection angle.By this expression formula as can be seen, location likelihood ratio M only with θ
1, θ
2Relevant, arrive the range-independence of baseline with base length or target, so can realize the fast and reasonable sensors configured.
Fig. 1 is a process flow diagram of the present invention, and Fig. 2 is two station direction finding cross bearing schematic diagrams of the present invention, and Fig. 3 is a direction finding cross bearing system schematic of the present invention.
The key of direction finding location is how reasonably to select sensor to obtain high bearing accuracy.The positional information of known each research station of direction detecting positioning system control station is selected sensors configured according to the interpretational criteria of measured angle of each sensor and bearing accuracy then.Select two station direction finding cross bearing models for use, that is: in numerous alternative sensor, select the angle measurement data of two sensors to position, for example flow process of the present invention is described below:
1. each alternative sensor is observed target, and obtaining is the view angle of datum line separately with the horizontal direction.Suppose sensor O
1, O
2, O
3The angle that records is respectively
Sensor sends observed reading separately to the control station of direction finding cross bearing system.
2. control station receives the view angle α of sensor, φ, and γ (supposes in conjunction with the relative position relation of each known sensor
), be the view angle of datum line and corresponding intersection angle with the sensor line in the triangle positioning system that calculating sensor makes up in twos with target forms, that is:
3. calculate the location likelihood ratio of all triangle positioning systems:
4. select maximum triangle positioning system of location likelihood ratio and corresponding sensor combinations:
Because
So select sensor O
1, O
2Target is carried out cross bearing.
5. utilize sensor O
1, O
2The triangle positioning system of forming with target T is to target T cross bearing.
Fig. 4 is a likelihood ratio M distribution plan in location in the present embodiment, when having provided two research station coordinates for (50km, 0) and (50km, 0), and the value of each point location likelihood ratio in the observation area.Can see that working as target is positioned at
When neighbouring, M gets maximal value, and bearing accuracy is the highest.Along with impact point and point
The increase of distance, M reduces, and bearing accuracy reduces.Can find simultaneously, if target is certain to the distance of baseline, when
Shi Dingwei likelihood ratio M value is maximum, and bearing accuracy is the highest, and this has illustrated that also bearing accuracy is higher relatively when target T and two sensors are the isosceles triangle distribution.This distribution plan provides convenience for the selection configuration of sensor.
Fig. 5 is the graph of a relation of locating likelihood ratio and view angle in the present embodiment, can see and working as
The time, location likelihood ratio maximum, promptly bearing accuracy is the highest.
Claims (1)
1. based on the object localization method of maximum location likelihood sensor configuration, it is characterized in that:
(1) all the sensors is observed target, and obtaining separately, sensor is the view angle of datum line with the horizontal direction;
(2) view angle that step (1) is obtained is sent to direction finding cross bearing system control station, and it is the view angle θ of datum line that direction finding cross bearing system control station obtains in conjunction with the relative position relation of each sensor that all the sensors makes up in the triangle positioning system that forms with target in twos with the sensor line
1, θ
2With the intersection angle β of correspondence, β=θ
2-θ
1
(3) calculate the location likelihood ratio M of all cocked hats,
(4) select the sensor combinations of maximum in all location likelihood ratios of step (3) to utilize the triangle Cross Location Method to target localization.
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| CN2011100081645A CN102175991B (en) | 2011-01-16 | 2011-01-16 | Target positioning method based on maximum positioning likelihood sensor configuration |
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Cited By (9)
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| CN102508197A (en) * | 2011-09-29 | 2012-06-20 | 哈尔滨工程大学 | Passive target positioning method based on channel capacity |
| CN102589548A (en) * | 2011-12-22 | 2012-07-18 | 中国人民解放军海军航空工程学院 | Two-station direction finding cross-localization tracing algorithm based on large circle on earth surface |
| CN103616664A (en) * | 2013-12-12 | 2014-03-05 | 中国航天科工信息技术研究院 | Passive cross location method and passive cross location system for non-parameter probability density estimation |
| CN104076351A (en) * | 2014-06-30 | 2014-10-01 | 电子科技大学 | Phase-coherent accumulation detection method for high-speed high maneuvering target |
| CN104076348A (en) * | 2014-07-09 | 2014-10-01 | 中国船舶重工集团公司第七二四研究所 | Radar beyond visual range base line passive cooperative localization method |
| CN104977559A (en) * | 2014-04-04 | 2015-10-14 | 上海机电工程研究所 | Target positioning method in interference environment |
| CN105487048A (en) * | 2015-11-02 | 2016-04-13 | 中国人民解放军国防科学技术大学 | Two-station bearings-only localization fuzzy region method based on confidence ellipse |
| CN110567489A (en) * | 2019-08-29 | 2019-12-13 | 湖北工业大学 | Method and system for acquiring dynamic error of angle intersection measurement system |
| WO2021062618A1 (en) * | 2019-09-30 | 2021-04-08 | 上海成业智能科技股份有限公司 | Container positioning method, system and storage medium |
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| CN102508197A (en) * | 2011-09-29 | 2012-06-20 | 哈尔滨工程大学 | Passive target positioning method based on channel capacity |
| CN102589548A (en) * | 2011-12-22 | 2012-07-18 | 中国人民解放军海军航空工程学院 | Two-station direction finding cross-localization tracing algorithm based on large circle on earth surface |
| CN103616664A (en) * | 2013-12-12 | 2014-03-05 | 中国航天科工信息技术研究院 | Passive cross location method and passive cross location system for non-parameter probability density estimation |
| CN103616664B (en) * | 2013-12-12 | 2016-03-02 | 中国航天科工信息技术研究院 | A kind of Passive cross-localization method and system without ginseng Multilayer networks |
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| CN104076348A (en) * | 2014-07-09 | 2014-10-01 | 中国船舶重工集团公司第七二四研究所 | Radar beyond visual range base line passive cooperative localization method |
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| CN105487048B (en) * | 2015-11-02 | 2018-02-02 | 中国人民解放军国防科学技术大学 | The two station bearing-only location confusion region methods based on fiducial confidence ellipse |
| CN110567489A (en) * | 2019-08-29 | 2019-12-13 | 湖北工业大学 | Method and system for acquiring dynamic error of angle intersection measurement system |
| WO2021062618A1 (en) * | 2019-09-30 | 2021-04-08 | 上海成业智能科技股份有限公司 | Container positioning method, system and storage medium |
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Application publication date: 20110907 Assignee: Institute for Engineering Technology Design, College of Shipbuilding Engineering Assignor: Harbin Engineering Univ. Contract record no.: 2014230000201 Denomination of invention: Target positioning method based on maximum positioning likelihood sensor configuration Granted publication date: 20121031 License type: Exclusive License Record date: 20140515 |
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