CN106959437B - A kind of external illuminators-based radar object localization method and device based on multiple-input multiple-output - Google Patents
A kind of external illuminators-based radar object localization method and device based on multiple-input multiple-output Download PDFInfo
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Abstract
The invention discloses a kind of external illuminators-based radar object localization method and device based on multiple-input multiple-output, belongs to radar data process field.It seeks estimating two parts with position essence the method includes initial value.In initial value finding process: the target measuring value of selection any amount transmitting-receiving pair first, including bistatic distance and azimuth of target, then target is positioned respectively using the measuring value of each transmitting-receiving pair, then merges the positioning result of multiple transmitting-receivings pair, obtains target position initial value.Finally using the target measuring value of target position initial value and all transmitting-receivings pair, essence estimation in target position is carried out by Newton iteration method.This method can cope with any amount transmitting-receiving in external illuminators-based radar and guarantee positioning accuracy while reducing calculation amount in such a way that closed solutions method for solving and iterative method combine to the target orientation problem of measurement, have application value.
Description
Technical Field
The invention belongs to the field of radar data processing, and particularly relates to an external radiation source radar target positioning method and device based on multiple sending and multiple receiving.
Background
An external radiation source radar (also called a passive radar) is a radar system for detecting a target by using an electromagnetic signal transmitted by a third party, and the external radiation source radar does not transmit a signal, so that the external radiation source radar has the advantages of low cost, good concealment, strong anti-interference capability, good electromagnetic compatibility and the like. However, due to the fact that emission is not controlled, coverage of a simple bistatic geometric structure based on single-transmitting and single-receiving is limited, and variation of a scattering cross section of a target is large, and target detection continuity and stability are insufficient, the external radiation source radar network of a multi-transmitting and multi-receiving distributed system is constructed and is a new solution. The external radiation source radar is used as a multi-sensor networking system, and the key technology is to complete target positioning under the configuration of multiple sending and multiple receiving.
The receiving array of the external radiation source radar is small, and the angle measurement precision is low; therefore, no matter a pure azimuth angle positioning method or a bistatic distance combined azimuth angle positioning method is adopted, the application of the method on the external radiation source radar cannot meet the requirement of positioning accuracy.
The existing method for completing positioning by utilizing bistatic distance is mostly suitable for a multi-transmission single-receiving or single-transmission multi-receiving system, and a target positioning method for randomly transmitting and receiving a number of pairs is not applied to an external radiation source radar network. On one hand, targets in an observation area of the external radiation source radar network can be detected by any number of external radiation source radars, so that a target positioning method under any number of receiving and sending configurations is needed; on the other hand, for single frequency network external radiation source radar data processing, wuhan university is exquisitely outstanding and new to be built, which is equal to the invention patent applied for a single frequency network external radiation source radar system and a corresponding signal processing method filed in 2013 (a single frequency network-based external radiation source radar system and a signal processing method thereof, application No. 201310739890.3, publication No. CN103698759A), wherein regarding a single frequency network deblurring part, a target positioning method under any transceiving number configuration must be used.
Disclosure of Invention
In order to solve the problem of positioning the target of the external radiation source radar under any configuration of receiving and transmitting pairs, the invention provides an effective external radiation source radar target positioning method and device based on multiple sending and multiple receiving.
The technical scheme adopted by the invention is as follows:
a multi-sending and multi-receiving-based external radiation source radar target positioning method comprises the following steps:
step 1: selecting more than two transmit-receive pairs to measure, and positioning the target by using each transmit-receive pair;
step 2: fusing the positioning results obtained by the transceiving of the step 1 to obtain an initial value of the target position;
and step 3: and (4) solving the target position by using the initial value of the target position obtained in the step (2) through a Newton iteration method, and completing target positioning.
Wherein, the step 1 selects more than two transmit-receive pairs to measure at will, each measure corresponds to one transmit-receive pair, and the number of the transmit-receive pairs specifically satisfies: let the number of transmit-receive pairs be NT-RIf the spatial dimension considered is D, in the two-dimensional case D is 2 and in the three-dimensional case D is 3, then this should be satisfied
NT-R> D (formula 1)
When D is 2, the transmitting station position of the ith transceiving pair isThe receiving station is positioned asThe corresponding measured value is bistatic distance riAnd target azimuth angle thetaiCorresponding measurement error ofAndthe positioning result of the ith transceiving pair is
Wherein dir ═ cos θi,sinθi]T；
The corresponding covariance matrix is
Wherein, sigmaV＝diag(σr 2,σθ 2)；
Fusing the positioning results obtained by the transceiving pairs in the step 1 in the step 2 to obtain an initial value of the target position; the specific implementation process is as follows: after the positioning result of each transceiver pair and the corresponding error covariance matrix in the step 1 are obtained, the error covariance matrix is used as a weight factor of the positioning result of each transceiver pair, and the positioning results of each transceiver pair are fused by a weighted average method based on the error covariance matrix to obtain an initial value of the target position;
suppose that the target positioning result of the ith transceiving pair is xiCorresponding error covariance matrix is PiThen the target position is initially set to
Corresponding error covariance matrix of
And N is the number of the receiving and transmitting pairs participating in positioning.
Obtaining a target position by an iteration method by using the initial value of the target position obtained in the step 2 in the step 3, and completing target positioning; the specific implementation mode is as follows: assuming the target position is x, the maximum likelihood solution of the target position is
Solving the (formula 6) by a Newton iteration method, wherein the specific steps are as follows:
step 4.1: selecting initial data: initial value x of target position0The termination condition epsilon is more than 0, and k is equal to 0;
step 4.2: calculating gradient vectorAnd calculateIf it isStopping iteration and outputting x(k)If not, the next step is carried out;
step 4.3: constructing Newton directions, calculatingIn the Newton direction of
Step 4.4: according to x(k+1)＝x(k)+p(k)Calculating x(k+1)As the next iteration point, let k be k +1, go to step 2;
the gradient vector and the black Seal matrix required in the Newton iteration method are as follows:
can be expressed as
Wherein
Hessian matrix is represented as
Wherein
And finally obtaining the accurate target position through multiple iterations.
An external radiation source radar target positioning device based on multiple sending and multiple receiving comprises:
the receiving and transmitting pair obtaining unit is used for randomly selecting more than two receiving and transmitting pair measurements and respectively positioning the target by utilizing each receiving and transmitting pair measurement;
a target position initial value obtaining unit, configured to fuse positioning results obtained by each transceiver pair in the transceiver pair obtaining unit to obtain a target position initial value;
and the target positioning unit is used for solving the target position by a Newton iteration method by using the initial value of the target position obtained by the initial value of the target position obtaining unit so as to complete target positioning.
The receiving and transmitting pair obtaining unit randomly selects more than two receiving and transmitting pair measurements, wherein each measurement corresponds to one receiving and transmitting pair, and the number of the receiving and transmitting pairs specifically meets the following requirements: let the number of transmit-receive pairs be NT-RIf the spatial dimension considered is D, in the two-dimensional case D is 2 and in the three-dimensional case D is 3, then this should be satisfied
NT-R> D (formula 9)
When D is 2, the transmitting station position of the ith transceiving pair isThe receiving station is positioned asThe corresponding measured value is bistatic distance riAnd target azimuth angle thetaiCorresponding measurement error ofAndthe positioning result of the ith transceiving pair is
Wherein dir ═ cos θi,sinθi]T；
The corresponding covariance matrix is
Wherein, sigmaV＝diag(σr 2,σθ 2)；
The target position initial value acquisition unit fuses positioning results obtained by each receiving and transmitting pair to obtain a target position initial value; the specific implementation process is as follows: after the positioning result of each transceiving pair in the transceiving pair acquisition unit and the corresponding error covariance matrix are obtained, the error covariance matrix is used as a weight factor of the positioning result of each transceiving pair, and the positioning results of each transceiving pair are fused by a weighted average method based on the error covariance matrix to obtain an initial value of the target position;
suppose that the target positioning result of the ith transceiving pair is xiCorresponding error covariance matrix is PiThen the target position is initially set to
Corresponding error covariance matrix of
And N is the number of the receiving and transmitting pairs participating in positioning.
The target positioning unit is specifically implemented by the following steps: assuming the target position is x, the maximum likelihood solution of the target position is
Solving the (formula 14) by a Newton iteration method, wherein the specific steps are as follows:
step 4.1: selecting initial data: initial value x of target position0The termination condition epsilon is more than 0, and k is equal to 0;
step 4.2: calculating gradient vectorAnd calculateIf it isStopping iteration and outputting x(k)If not, the next step is carried out;
step 4.3: constructing Newton directions, calculatingIn the Newton direction of
Step 4.4: according to x(k+1)＝x(k)+p(k)Calculating x(k+1)As the next iteration point, let k be k +1, go to step 2;
the gradient vector and the black Seal matrix required in the Newton iteration method are as follows:
can be expressed as
Wherein
Hessian matrix is represented as
Wherein
And finally obtaining the accurate target position through multiple iterations.
Has the advantages that:
the external radiation source radar target positioning method and device based on multiple sending and multiple receiving provided by the invention have the advantages that: for a positioning equation, a closed-form solution is combined with an iteration method to ensure positioning accuracy; the method can solve the problem of target positioning under any configuration of the number of the receiving and transmitting pairs, and is suitable for target positioning under any condition that the measurement number is more than 3.
Drawings
Fig. 1 is a flowchart of an external radiation source radar target positioning method based on multiple sending and multiple receiving according to an embodiment of the present invention.
Fig. 2 is a structural diagram of an external radiation source radar target positioning device based on multiple sending and multiple receiving according to an embodiment of the present invention.
FIG. 1a is a simulation result of an embodiment of the present invention-X coordinate estimated RMS contour.
FIG. 1b is a diagram of a simulation result-X coordinate CRB contour according to an embodiment of the present invention.
FIG. 2a is a simulation result of an embodiment of the present invention-Y coordinate estimated RMS contour.
FIG. 2b is a simulation result-Y coordinate CRB contour line according to an embodiment of the present invention.
Detailed Description
In order to facilitate the understanding and implementation of the present invention for those of ordinary skill in the art, the present invention is further described in detail with reference to the accompanying drawings and examples, it is to be understood that the embodiments described herein are merely illustrative and explanatory of the present invention and are not restrictive thereof.
Example 1
As shown in fig. 1, the method for positioning an external radiation source radar target based on multiple-sending and multiple-receiving includes the following steps:
step 1: selecting more than two transmit-receive pairs to measure, and positioning the target by using each transmit-receive pair;
step 2: fusing the positioning results obtained by the receiving and sending pairs in the step 1 to obtain an initial value of the target position;
and step 3: and (4) solving the target position by using the initial value of the target position obtained in the step (2) through a Newton iteration method, and completing target positioning.
Wherein, the step 1 selects more than two transmit-receive pairs to measure at will, each measure corresponds to one transmit-receive pair, and the number of the transmit-receive pairs specifically satisfies: let the number of transmit-receive pairs be NT-RIf the spatial dimension considered is D, in the two-dimensional case D is 2 and in the three-dimensional case D is 3, then this should be satisfied
NT-R> D (formula 1)
When D is 2, the transmitting station position of the ith transceiving pair isThe receiving station is positioned asThe corresponding measured value is bistatic distance riAnd target azimuth angle thetaiCorresponding measurement error ofAndthe positioning result of the ith transceiving pair is
Wherein dir ═ cos θi,sinθi]T；
The corresponding covariance matrix is
Wherein, sigmaV＝diag(σr 2,σθ 2)；
Fusing the positioning results obtained by the transceiving pairs in the step 1 in the step 2 to obtain an initial value of the target position; the specific implementation process is as follows: after the positioning result of each transceiver pair and the corresponding error covariance matrix in the step 1 are obtained, the error covariance matrix is used as a weight factor of the positioning result of each transceiver pair, and the positioning results of each transceiver pair are fused by a weighted average method based on the error covariance matrix to obtain an initial value of the target position;
suppose that the target positioning result of the ith transceiving pair is xiCorresponding error covariance matrix is PiThen the target position is initially set to
Corresponding error covariance matrix of
And N is the number of the receiving and transmitting pairs participating in positioning.
Obtaining a target position by an iteration method by using the initial value of the target position obtained in the step 2 in the step 3, and completing target positioning; the specific implementation mode is as follows: assuming the target position is x, the maximum likelihood solution of the target position is
Solving the (formula 6) by a Newton iteration method, wherein the specific steps are as follows:
step 4.1: selecting initial data: initial value x of target position0The termination condition epsilon is more than 0, and k is equal to 0;
step 4.2: calculating gradient vectorAnd calculateIf it isStopping iteration and outputting x(k)If not, the next step is carried out;
step 4.3: constructing Newton directions; computingIn the Newton direction of
Step 4.4: according to x(k+1)＝x(k)+p(k)Calculating x(k+1)As the next iteration point, let k be k +1, go to step 2;
the gradient vector and the black Seal matrix required in the Newton iteration method are as follows:
can be expressed as
Wherein
Hessian matrix is represented as
Wherein
And finally obtaining the accurate target position through multiple iterations.
In this embodiment, the scenes of the external radiation source radar transmitting station and the receiving station include 2 transmitting stations and 2 receiving stations, the receiving station 1 forms two transceiving pairs with the transmitting station 1 and the transmitting station 2 respectively to receive the target echo, and the receiving station 2 forms a transceiving pair with only the transmitting station 1 to receive the target echo. Therefore, the scene only comprises 3 transmitting-receiving pairs, and 3 measurement information can be obtained. Consider the two-dimensional case, i.e., the spatial dimension D-2. In addition, the measurements include bistatic distance and azimuth information.
After acquiring the measurement information generated by simulation, 3 positions and error covariance matrixes of the same target are obtained for the 3 measurement information at each moment through (formula 2) and (formula 3), and the step 1 is completed; based on the error covariance matrix, obtaining 3 target position initial values after position fusion according to the formula (4), and completing the step 2; and (3) obtaining an initial value of the target position, and completing the step (3) after the ending condition is met by multiple iterations according to the formulas described by the (formula 6), (formula 7) and (formula 8) and the steps of the Newton iteration method under the condition that the positions of the transmitting station and the receiving station and the measurement information are known, so as to obtain the accurate position of the target.
The effect of the present invention can be verified by the following example simulation experiment.
In the simulation, the coordinates of the transmitting station are as follows: tx1(-20,0) km, Tx2(20,0) km, receiving station coordinates are: rx1(0,20) km, Rx2(0, -20) km, with a bistatic range accuracy of 30m and an azimuth accuracy of 3 deg., X and Y are each simulated over [ -39.5,40.5] km, an interval of 5km, and 500 Monte Carlo simulations per coordinate position. The simulation results and cramer-Circle (CRB) are shown in fig. 1a, 1b, 2a, and 2b, and it can be seen that the precision of the simulated RMS (Root Mean Square) is close to that of CRB, thereby verifying the correctness of the present invention.
The method comprises two parts of target position initial value calculation and target position fine estimation. In the process of solving the target initial value: firstly, selecting target measurement values of any number of transceiving pairs, including bistatic distances and target azimuth angles, then respectively positioning the target by using the measurement values of each transceiving pair, and then fusing the positioning results of the plurality of transceiving pairs to obtain a target position initial value. And finally, carrying out accurate estimation on the target position by using the initial value of the target position and the target measurement values of all the receiving and transmitting pairs through a Newton iteration method. The method can solve the problem of positioning the measured target by any number of receiving and transmitting pairs in the external radiation source radar, reduces the calculated amount and simultaneously ensures the positioning accuracy by combining a closed solution solving method and an iteration method, and has popularization and application values. It should be noted that the present invention is applicable to positioning of targets in any case where the number of measurements is greater than 2 in a two-dimensional case, and is applicable to positioning of targets in any case where the number of measurements is greater than 3 in a three-dimensional case.
Example 2
The present embodiment is an apparatus embodiment, and belongs to the same technical concept as the method embodiment 1, and please refer to the method embodiment for the content that is not described in detail in the present embodiment.
As shown in fig. 2, the device for locating an external radiation source radar target based on multiple-sending and multiple-receiving according to the present invention includes:
the receiving and transmitting pair obtaining unit is used for randomly selecting more than two receiving and transmitting pair measurements and respectively positioning the target by utilizing each receiving and transmitting pair measurement;
a target position initial value obtaining unit, configured to fuse positioning results obtained by each transceiver pair in the transceiver pair obtaining unit to obtain a target position initial value;
and the target positioning unit is used for solving the target position by a Newton iteration method by using the initial value of the target position obtained by the initial value of the target position obtaining unit so as to complete target positioning.
The receiving and transmitting pair obtaining unit randomly selects more than two receiving and transmitting pair measurements, wherein each measurement corresponds to one receiving and transmitting pair, and the number of the receiving and transmitting pairs specifically meets the following requirements: let the number of transmit-receive pairs be NT-RIf the spatial dimension considered is D, in the two-dimensional case D is 2 and in the three-dimensional case D is 3, then this should be satisfied
NT-R> D (formula 9)
When D is 2, the transmitting station position of the ith transceiving pair isThe receiving station is positioned asThe corresponding measured value is bistatic distance riAnd target azimuth angle thetaiCorresponding measurement error ofAndthe positioning result of the ith transceiving pair is
Wherein dir ═ cos θi,sinθi]T；
The corresponding covariance matrix is
Wherein, sigmaV＝diag(σr 2,σθ 2)；
The target position initial value acquisition unit fuses positioning results obtained by each receiving and transmitting pair to obtain a target position initial value; the specific implementation process is as follows: after the positioning result of each transceiving pair in the transceiving pair acquisition unit and the corresponding error covariance matrix are obtained, the error covariance matrix is used as a weight factor of the positioning result of each transceiving pair, and the positioning results of each transceiving pair are fused by a weighted average method based on the error covariance matrix to obtain an initial value of the target position;
suppose that the target positioning result of the ith transceiving pair is xiCorresponding error covariance matrix is PiThen the target position is initially set to
Corresponding error covariance matrix of
And N is the number of the receiving and transmitting pairs participating in positioning.
The target positioning unit is specifically implemented by the following steps: assuming the target position is x, the maximum likelihood solution of the target position is
Solving the (formula 14) by a Newton iteration method, wherein the specific steps are as follows:
step 4.1: selecting initial data: initial value x of target position0The termination condition epsilon is more than 0, and k is equal to 0;
step 4.2: calculating gradient vectorAnd calculateIf it isStopping iteration and outputting x(k)If not, the next step is carried out;
step 4.3: constructing Newton directions, calculatingIn the Newton direction of
Step 4.4: according to x(k+1)＝x(k)+p(k)Calculating x(k+1)As the next iteration point, let k be k +1, go to step 2;
the gradient vector and the black Seal matrix required in the Newton iteration method are as follows:
can be expressed as
Wherein
Hessian matrix is represented as
Wherein
And finally obtaining the accurate target position through multiple iterations.
It should be understood that parts of the specification not set forth in detail are well within the prior art.
It should be understood that the above-mentioned embodiments are described in some detail, and not intended to limit the scope of the invention, and those skilled in the art will be able to make alterations and modifications without departing from the scope of the invention as defined by the appended claims.
Claims (2)
1. A multi-sending and multi-receiving based external radiation source radar target positioning method is characterized by comprising the following steps:
step 1: selecting more than two transmit-receive pairs to measure, and positioning the target by using each transmit-receive pair;
step 2: fusing the positioning results obtained by the transceiving of the step 1 to obtain an initial value of the target position;
and step 3: obtaining a target position by using the initial value of the target position obtained in the step 2 through a Newton iteration method, and completing target positioning;
wherein, the step 1 selects more than two transmit-receive pairs to measure at will, each measure corresponds to one transmit-receive pair, and the number of the transmit-receive pairs specifically satisfies: let the number of transmit-receive pairs be NT-RIf the spatial dimension considered is D, in the two-dimensional case D is 2 and in the three-dimensional case D is 3, then this should be satisfied
NT-R> D (formula 1)
When D is 2, the transmitting station position of the ith transceiving pair isThe receiving station is positioned asThe corresponding measured value is bistatic distance riAnd target azimuth angle thetaiCorresponding measurement error ofAndthe positioning result of the ith transceiving pair is
Wherein dir ═ cos θi,sinθi]T；
The corresponding covariance matrix is
Wherein,
fusing the positioning results obtained by the transceiving pairs in the step 1 in the step 2 to obtain an initial value of the target position; the specific implementation process is as follows: after the positioning result of each transceiver pair and the corresponding error covariance matrix in the step 1 are obtained, the error covariance matrix is used as a weight factor of the positioning result of each transceiver pair, and the positioning results of each transceiver pair are fused by a weighted average method based on the error covariance matrix to obtain an initial value of the target position;
suppose that the target positioning result of the ith transceiving pair is xiThe corresponding covariance matrix is PiThen the target position is initially set to
Corresponding error covariance matrix of
Wherein N is the number of the receiving and transmitting pairs participating in positioning;
in the step 3, the target position is obtained by using the initial value of the target position obtained in the step 2 through a Newton iteration method, and target positioning is completed; the specific implementation mode is as follows: assuming the target position is x, the maximum likelihood solution of the target position is
Solving the (formula 6) by a Newton iteration method, wherein the specific steps are as follows:
step 4.1: selecting initial data: initial value x of target position0The termination condition epsilon is more than 0, and k is equal to 0;
step 4.2: calculating gradient vectorAnd calculateIf it isStopping iteration and outputting x(k)If not, the next step is carried out;
step 4.3: constructing Newton directions, calculatingIn the Newton direction of
Step 4.4: according to x(k+1)＝x(k)+p(k)Calculating x(k+1)As the next iteration point, let k be k +1, go to step 2;
the gradient vector and the black Seal matrix required in the Newton iteration method are as follows:
is represented by a gradient vector of
Wherein
Hessian matrix is represented as
Wherein
And finally obtaining the accurate target position through multiple iterations.
2. An external radiation source radar target positioning device based on multiple sending and multiple receiving is characterized by comprising:
the receiving and transmitting pair obtaining unit is used for randomly selecting more than two receiving and transmitting pair measurements and respectively positioning the target by utilizing each receiving and transmitting pair measurement;
a target position initial value obtaining unit, configured to fuse positioning results obtained by each transceiver pair in the transceiver pair obtaining unit to obtain a target position initial value;
the target positioning unit is used for solving a target position by a Newton iteration method by using the initial value of the target position obtained by the initial value of the target position obtaining unit to complete target positioning;
the receiving and sending pair obtaining unit randomly selects more than two receiving and sending pair measurements, wherein each measurement corresponds to one receiving and sending pair, and the number of the receiving and sending pairs specifically meets the following requirements: let the number of transmit-receive pairs be NT-RIf the spatial dimension considered is D, in the two-dimensional case D is 2 and in the three-dimensional case D is 3, then this should be satisfied
NT-R> D (formula 9)
When D is 2, the transmitting station position of the ith transceiving pair isThe receiving station is positioned asThe corresponding measured value is bistatic distance riAnd target azimuth angle thetaiCorresponding measurement error ofAndthe positioning result of the ith transceiving pair is
Wherein dir ═ cos θi,sinθi]T；
The corresponding covariance matrix is
Wherein, sigmaV＝diag(σr 2,σθ 2)；
The target position initial value acquisition unit fuses positioning results obtained by each receiving and transmitting pair to obtain a target position initial value; the specific implementation process is as follows: after the positioning result of each transceiving pair in the transceiving pair acquisition unit and the corresponding error covariance matrix are obtained, the error covariance matrix is used as a weight factor of the positioning result of each transceiving pair, and the positioning results of each transceiving pair are fused by a weighted average method based on the error covariance matrix to obtain an initial value of the target position;
suppose that the target positioning result of the ith transceiving pair is xiThe corresponding covariance matrix is PiThen the target position is initially set to
Corresponding error covariance matrix of
Wherein N is the number of the receiving and transmitting pairs participating in positioning;
the target positioning unit is specifically implemented by the following steps: assuming the target position is x, the maximum likelihood solution of the target position is
Solving the (formula 14) by a Newton iteration method, wherein the specific steps are as follows:
step 4.1: selecting initial data: initial value x of target position0The termination condition epsilon is more than 0, and k is equal to 0;
step 4.2: calculating gradient vectorAnd calculateIf it isStopping iteration and outputting x(k)If not, the next step is carried out;
step 4.3: constructing Newton directions, calculatingIn the Newton direction of
Step 4.4: according to x(k+1)＝x(k)+p(k)Calculating x(k+1)As the next iteration point, let k be k +1, go to step 2;
the gradient vector and the black Seal matrix required in the Newton iteration method are as follows:
is represented by a gradient vector of
Wherein
Hessian matrix is represented as
Wherein
And finally obtaining the accurate target position through multiple iterations.
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| CN110940976B (en) * | 2019-11-18 | 2022-03-08 | 杭州电子科技大学 | Error correction-based multi-station multi-external radiation source radar moving target positioning method |
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