CN107678022A - The radar Direct Three-dimensional space target positioning method utilized based on multipath - Google Patents

The radar Direct Three-dimensional space target positioning method utilized based on multipath Download PDF

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CN107678022A
CN107678022A CN201710983238.4A CN201710983238A CN107678022A CN 107678022 A CN107678022 A CN 107678022A CN 201710983238 A CN201710983238 A CN 201710983238A CN 107678022 A CN107678022 A CN 107678022A
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CN107678022B (en
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张娟
王梦娜
张林让
刘楠
周宇
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Xidian University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses a kind of radar Direct Three-dimensional space target positioning method utilized based on multipath, mainly solve the problems, such as prior art in a multi-path environment to radar point target position inaccurate.Implementation step is：1. producing transmission signal obtains echo data；2. the ripple that pair echo data handles to obtain different paths reaches the time；3. establish radar target geometry location model；4. obtained different path ripples were brought into the geometry location model of foundation up to the time, simultaneous will obtain intersecting flat circle, 5. according to the multipath signal angle of arrival of point target, the ∠ AQP being made up of radar site Q, point target position A and virtual radar position P are obtained；6. the plane equation of the circle of basis and the angle in step 5, obtain target location.The present invention can effectively utilize multi-path information, and the geometry location model established is simple, and cost is low, improves positioning precision, available for the positioning to low latitude point target.

Description

The radar Direct Three-dimensional space target positioning method utilized based on multipath
Technical field
The invention belongs to Radar Technology field, more particularly to a kind of object localization method, exist available for radar point target Three dimensions is directly positioned.
Background technology
In a multi-path environment, when being positioned using radar to point target, because ground sea and surrounding environment are to electromagnetic wave Reflection, from target return echo-signal pass through different paths reach radar antenna, produce multipath effect.Multipath effect is deposited So that the precision that radar positions to target reduces, or even produces false target.Typically, for compared with big-elevation Point target, multi-path component enter from radar antenna secondary lobe, and now monopulse radar can be with high accuracy positioning.But faced upward for low Angle point target, due to multi-path signal enter and, poor main beam, will appear from larger position error, result even in positioning lose Lose.If now being positioned using traditional matched filtering method, due to being disturbed by multipath signal, radar will be measured multiple by mistake Decoy, so as to can not accurately measure the actual position of target.
Influence for multipath, traditional method mainly suppress multipath signal to obtain the actual position information of target. Such as：By changing antenna Placement Strategy, make direct-path signal and multipath signal almost while reach antenna, or design ground level Antenna, block the multipath signal below antenna.But the use range of these methods has certain limitations, to different paths Ripple has strict requirements up to time precision, is suitable only for postponing shorter multi-path environment.Meanwhile reception antenna is by multipath signal Influence, radar can measure multiple decoys by mistake, and there is the problem of cost is higher, processing is complicated, the scope of application is small.
The content of the invention
It is an object of the invention to the deficiency for above-mentioned existing method, proposes that a kind of radar utilized based on multipath is direct Three dimensional Targets localization method, to avoid the appearance of decoy, the detection accuracy of target actual position is improved, is reduced simultaneously Cost and processing complexity, expand its scope of application.
To achieve the above object, technical scheme includes as follows：
(1) radar emission signal s is obtainedt(t) echo data sr(t) ripple for, obtaining different paths reaches time τA、τB、 τAB, wherein, τATime, τ are reached for the ripple of direct waveBTime, τ are reached for the ripple of second order multipathABThe ripple of single order multipath reaches the time：
(2) radar target geometry location model is established：
Coordinate system 2a) is established, defines a monostatic radar position Q and point target position A in a coordinate system：
Q=[Rx,Ry,Rz], A=[Ax,Ay,Az]；
2b) in a coordinate system to point target reflecting surface information initializing, according to symmetrical position of the radar site on reflecting surface Put, obtain the location point P of virtual radar：
P=[Dx,Dy,Dz]；
2c) according to monostatic radar position Q, point target position A, the position P of virtual radar and point target reflecting surface information, Founding mathematical models expression formula：
Wherein, first expression formula is with Q=[Rx,Ry,Rz] point for the centre of sphere ball, be direct-path signal geometrical model；
Second expression formula is with Q=[Rx,Ry,Rz], P=[Dx,Dy,Dz] point for focus rotational ellipsoid, be single order The geometrical model of multipath signal, this geometrical model are established by rotary shaft of y-axis；
3rd expression formula is with P=[Dx,Dy,Dz] be the centre of sphere ball, be second order multipath geometrical model；
C is the spread speed of electromagnetic wave in space, [Tx,Ty,Tz] it is the target location to be measured；
(3) the different path ripples obtained in step (1) are reached into time τA、τB、τABBring the mathematical modulo established in step (2) into In type, simultaneous will be obtained by the geometrical model spheroid of direct-path signal, the geometrical model rotational ellipsoid of single order multipath and second order The flat circle that multipath geometrical model spheroid three is intersected；
(4) according to the multipath signal angle of arrival of point target, obtain by radar site Q, point target position A and virtual radar Position P composition ∠ AQP；
(5) size of the disk equation in step (3) and angle ∠ AQP in step (4), obtains target location.
The present invention compared with prior art, has advantages below：
1st, the test position degree of accuracy is high.
In a multi-path environment, traditional matched filtering method will be disturbed by multipath signal, and when being reached to each path ripple Between accuracy requirement it is higher, can not accurately measure the position of target.The present invention is when being reached to each path ripple by institute's established model Between and multipath angle information comprehensive descision, therefore, to the ripple of each path echo-signal up to time accuracy insensitive, Ke Yizhun Really measure target position information.
2nd, model is simple, cost is low.
To weaken the influence that position to target of multipath effect, conventional method be take suppression multipath effect method, it is necessary to Multiple reception antennas carry out reception signal, and complicated to reception signal Processing Algorithm.The present invention is to utilize multi-path information, establishes thunder Up to target geometry location model, mathematical modeling is obtained with geometry location model up to the time according to the ripple in each path, by mathematical modeling The actual position of target is obtained, model is simple, and cost is relatively low.
3rd, the present invention utilizes point target multi-path information to point target Direct Three-dimensional space orientation.
Brief description of the drawings
Fig. 1 is the implementation process figure of the present invention；
Fig. 2 is radar target geometry location schematic diagram under multi-path environment；
Fig. 3 is under the target and ambient parameter of setting, and it is the positioning knot under horizontality to obtain reflecting surface with the present invention Fruit is schemed；
Fig. 4 is under the target and ambient parameter of setting, and it is the positioning knot under heeling condition to obtain reflecting surface with the present invention Fruit is schemed.
Embodiment
Reference picture 1, step is as follows for of the invention realizing：
Step 1：Obtain radar return data.
According to radar emission signal st(t) it is s, to obtain echo datar(t)：
WhereinFor convolution symbol, hk(t) it is direct wave transmission receptance function, hk' (t) rings for multi-path channel transmission Function is answered, n (t) is receiver noise signal, can regard white Gaussian noise signal as.
Step 2：The ripple that different paths are obtained according to echo data reaches the time.
To the echo data s receivedr(t) matched filtering is carried out, the ripple for obtaining different paths reaches time τA、τB、τAB, its In, τATime, τ are reached for the ripple of direct waveBTime, τ are reached for the ripple of second order multipathABThe ripple of single order multipath reaches the time.
Step 3：Establish radar target geometry location model.
Reference picture 2, a monostatic radar and point target is defined respectively at Q points and A points, the reflecting surface of initialized target Information, it is assumed that the reflecting surface of target is mirror-reflection, and radar is obtained on the symmetrical virtual thunder of reflecting surface according to reflecting surface information The position P reached, time τ is reached according to radar site Q, the position P of virtual radar and different paths rippleA、τB、τAB, establish radar Target geometry location model, step are as follows：
3a) establish coordinate system；
A monostatic radar position Q and point target position A 3b) is defined in a coordinate system：
Q=[Rx,Ry,Rz], A=[Ax,Ay,Az]；
The target reflecting surface angle of pitch and azimuth 3c) are set to target reflecting surface information initializing in a coordinate system, according to Symmetric position of the radar site on target reflecting surface, obtain the location point P of virtual radar：
P=[Dx,Dy,Dz]；
3d) reference picture 2, reflected according to monostatic radar position Q, point target position A, the position P of virtual radar and target Relation between face can obtain：
For direct wave delay, τA, its geometric graph is the solid line ball using QA length as radius using Q points as the centre of sphere；
For single order multidiameter delay τAB, due to QA+AB+BQ=QA+AB+BP=QA+AP, i.e. QA+AP can regard biradical as Ground radar, i.e. signal are issued to target from true radar Q, then are received by virtual radar P, and its geometric graph is ellipse by focus of Q, P The rotational ellipsoid that circle rotates around y-axis；
For second order multidiameter delay τB, its geometric graph is the solid line ball using AP length as radius using P points as the centre of sphere；
By τ aboveA、τAB、τBThe geometric graph of composition, founding mathematical models expression formula：
Wherein, first expression formula is with Q=[Rx,Ry,Rz] point for the centre of sphere ball, be direct-path signal geometrical model；
Second expression formula is with Q=[Rx,Ry,Rz], P=[Dx,Dy,Dz] ellipse for focus is put around y-axis rotation ellipsoid Body, is the geometrical model of single order multipath signal, and this geometrical model is established by rotary shaft of y-axis；
3rd expression formula is with P=[Dx,Dy,Dz] be the centre of sphere ball, be second order multipath geometrical model；
C is the spread speed of electromagnetic wave in space, [Tx,Ty,Tz] it is the target location to be measured.
Step 4：Build flat circle.
The different path ripples obtained in step (2) are reached into time τA、τB、τABBring the mathematical modeling established in step (3) into In, obtain step 3d) in the ＞ of ＜ 1 ＞, ＜ 2, ＜ 3 ＞, tri- expression formulas, 3 ＞ of simultaneous ＜ 1 ＞, ＜ 2 ＞, ＜, tri- expression formulas will Obtain by the geometry mould of the geometrical model spheroid of direct-path signal, the geometrical model rotational ellipsoid of single order multipath and second order multipath The flat circle that type spheroid three is intersected：
The equation of this flat circle is Tx 2+Tz 2=R2, R is the radius of flat circle, and R size is when being reached by the ripple in different paths Between τA、τB、τABDetermine.
Step 5：According to the multipath signal angle of arrival of point target, obtain by radar site Q, point target position A and virtual The ∠ AQP of radar site P compositions.
Step 6：Determine target location coordinate.
6a) the disk equation T in step (4)x 2+Tz 2=R2With the size of ∠ AQP in step (4), a mistake is obtained Radar points Q and angle are the ray of ∠ AQP sizes, thus ray and disk equation Tx 2+Tz 2=R2Intersection point obtain the x of target Axial coordinate TxWith z-axis coordinate Tz；
6b) by step 3d) in the ＞ of formula ＜ 1 and the ＞ of formula ＜ 3 obtain target location [Tx,Ty,Tz]：
6b1) according to ∠ AQP sizes, obtain one cross radar points Q and angle be ∠ AQP sizes ray, thus ray with Disk equation Tx 2+Tz 2=R2Intersection point obtain the x-axis coordinate T of targetxWith z-axis coordinate Tz；
6b2) by step 3d) in direct-path signal the ＞ of geometrical model spheroid equation ＜ 1 and second order multipath geometrical model ball The ＞ of body equation ＜ 3 carry out simultaneous solution, determine TyCoordinate, complete the positioning to target location.
The effect of the present invention can pass through following emulation further checking.
1. experiment condition：
If radar parameter is identical, reflecting surface parameter is different,
The coordinate system built up in reference picture 2, the coordinate vector for defining radar are Q=[0, -5000,0] m, it is assumed that target Coordinate vector is A=[3000, -4000,5000] m.
2. experiment content and result：
Experiment 1, be horizontality in reflecting surface, the ripple in each path up to the time be τA=3.9441e-05s, τB= 7.1492e-05s、τABUnder conditions of=4.0825e-05s, low latitude point target is positioned with the inventive method, as a result as schemed Shown in 3.
Experiment 2, is heeling condition, its azimuth angle alpha=30 ° and angle of pitch β=45 ° in reflecting surface, when the ripple in each path reaches Between be τA=4.6361e-05s, τB=8.7261e-05s, τABUnder conditions of=6.6811e-05s, with the inventive method to low Null point target is positioned, as a result as shown in Figure 4.
From figs. 3 and 4 it can be seen that the target location result of the inventive method emulation and target position set in experiment Putting difference is about：[2.0326,-1.5583,3.0546]m；For target range radar more than 10km, this error is relatively It is small.Prove that very high precision is located to target under low elevation angle multi-path environment in the inventive method.
The present invention can not only position to the radar point target under multi-path environment, and easily be realized in engineering.

Claims (3)

  1. A kind of 1. radar Direct Three-dimensional space target positioning method utilized based on multipath, it is characterised in that including：
    (1) radar emission signal s is obtainedt(t) echo data sr(t) ripple for, obtaining different paths reaches time τA、τB、τAB, its In, τATime, τ are reached for the ripple of direct waveBTime, τ are reached for the ripple of second order multipathABThe ripple of single order multipath reaches the time：
    (2) radar target geometry location model is established：
    Coordinate system 2a) is established, defines a monostatic radar position Q and point target position A in a coordinate system：
    Q=[Rx,Ry,Rz], A=[Ax,Ay,Az]；
    2b) point target reflecting surface information initializing according to symmetric position of the radar site on reflecting surface, is obtained in a coordinate system To the location point P of virtual radar：
    P=[Dx,Dy,Dz]；
    2c) according to monostatic radar position Q, point target position A, the position P of virtual radar and point target reflecting surface information, establish Mathematical modeling expression formula：
    <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>T</mi> <mi>x</mi> </msub> <mo>-</mo> <msub> <mi>R</mi> <mi>x</mi> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>T</mi> <mi>y</mi> </msub> <mo>-</mo> <msub> <mi>R</mi> <mi>y</mi> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>T</mi> <mi>z</mi> </msub> <mo>-</mo> <msub> <mi>R</mi> <mi>z</mi> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>=</mo> <mfrac> <mrow> <msup> <msub> <mi>&amp;tau;</mi> <mi>A</mi> </msub> <mn>2</mn> </msup> <msup> <mi>c</mi> <mn>2</mn> </msup> </mrow> <mn>4</mn> </mfrac> </mrow> </mtd> <mtd> <mrow> <mo>&lt;</mo> <mn>1</mn> <mo>&gt;</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mrow> <mn>4</mn> <msup> <msub> <mi>T</mi> <mi>y</mi> </msub> <mn>2</mn> </msup> </mrow> <mrow> <msup> <msub> <mi>&amp;tau;</mi> <mrow> <mi>A</mi> <mi>B</mi> </mrow> </msub> <mn>2</mn> </msup> <msup> <mi>c</mi> <mn>2</mn> </msup> </mrow> </mfrac> <mo>+</mo> <mfrac> <mrow> <mn>4</mn> <mrow> <mo>(</mo> <msup> <msub> <mi>T</mi> <mi>x</mi> </msub> <mn>2</mn> </msup> <mo>+</mo> <msup> <msub> <mi>T</mi> <mi>z</mi> </msub> <mn>2</mn> </msup> <mo>)</mo> </mrow> </mrow> <mrow> <mo>(</mo> <msup> <msub> <mi>&amp;tau;</mi> <mrow> <mi>A</mi> <mi>B</mi> </mrow> </msub> <mn>2</mn> </msup> <msup> <mi>c</mi> <mn>2</mn> </msup> <mo>-</mo> <mn>4</mn> <msup> <msub> <mi>R</mi> <mi>y</mi> </msub> <mn>2</mn> </msup> <mo>)</mo> </mrow> </mfrac> <mo>=</mo> <mn>1</mn> </mrow> </mtd> <mtd> <mrow> <mo>&lt;</mo> <mn>2</mn> <mo>&gt;</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>T</mi> <mi>x</mi> </msub> <mo>-</mo> <msub> <mi>D</mi> <mi>x</mi> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>T</mi> <mi>y</mi> </msub> <mo>-</mo> <msub> <mi>D</mi> <mi>y</mi> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>T</mi> <mi>z</mi> </msub> <mo>-</mo> <msub> <mi>D</mi> <mi>z</mi> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>=</mo> <mfrac> <mrow> <msup> <msub> <mi>&amp;tau;</mi> <mi>B</mi> </msub> <mn>2</mn> </msup> <msup> <mi>c</mi> <mn>2</mn> </msup> </mrow> <mn>4</mn> </mfrac> </mrow> </mtd> <mtd> <mrow> <mo>&lt;</mo> <mn>3</mn> <mo>&gt;</mo> </mrow> </mtd> </mtr> </mtable> </mfenced>
    Wherein, first expression formula is with Q=[Rx,Ry,Rz] point for the centre of sphere ball, be direct-path signal geometrical model；
    Second expression formula is with Q=[Rx,Ry,Rz], P=[Dx,Dy,Dz] point for focus rotational ellipsoid, be single order multipath The geometrical model of signal, this geometrical model are established by rotary shaft of y-axis；
    3rd expression formula is with P=[Dx,Dy,Dz] be the centre of sphere ball, be second order multipath geometrical model；
    C is the spread speed of electromagnetic wave in space, [Tx,Ty,Tz] it is the target location to be measured；
    (3) the different path ripples obtained in step (1) are reached into time τA、τB、τABBring into the mathematical modeling established in step (2), Simultaneous will obtain several by the geometrical model spheroid of direct-path signal, the geometrical model rotational ellipsoid of single order multipath and second order multipath The flat circle what model spheroid three is intersected；
    (4) according to the multipath signal angle of arrival of point target, obtain by radar site Q, point target position A and virtual radar position Put the ∠ AQP of P compositions；
    (5) size of the disk equation in step (3) and angle ∠ AQP in step (4), obtains target location.
  2. 2. according to the method for claim 1, wherein the flat circle that the step (3) obtains, its plane equation is Tx 2+Tz 2= R2, R is the radius of flat circle, and R size is to reach time τ by the ripple in different pathsA、τB、τABDetermine.
  3. 3. method according to claim 1 or 2, wherein the step (5) realizes that step is as follows：
    5a) according to ∠ AQP sizes, obtain one cross radar points Q and angle be ∠ AQP sizes ray, thus ray and circle are flat Face equation Tx 2+Tz 2=R2Intersection point obtain the x-axis coordinate T of targetxWith z coordinate Tz；
    5b) ＞ of geometrical model spheroid equation ＜ 1 of the direct-path signal and ＞ of second order multipath geometrical model spheroid equation ＜ 3 are carried out Simultaneous, determine TyCoordinate, complete the positioning to target location.
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CN109085572A (en) * 2018-09-05 2018-12-25 西安电子科技大学昆山创新研究院 The motion target tracking method of millimetre-wave radar is utilized in tunnel based on multipath
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CN112817015A (en) * 2021-01-04 2021-05-18 上海交通大学 Method and system for estimating position of reflecting surface by utilizing GNSS multipath reflection signals
CN113534225A (en) * 2021-07-15 2021-10-22 西安电子科技大学 Method for positioning target at indoor and outdoor joint of Beidou and ultra wide band based on multipath utilization
CN113532437A (en) * 2021-07-15 2021-10-22 西安电子科技大学 Ultra-wideband indoor target positioning method based on multipath utilization
CN113534219A (en) * 2021-07-15 2021-10-22 西安电子科技大学 Beidou positioning outdoor target method based on multipath utilization
CN113534225B (en) * 2021-07-15 2023-03-10 西安电子科技大学 Method for positioning target at indoor and outdoor joint of Beidou and ultra wide band based on multipath utilization
CN113534219B (en) * 2021-07-15 2023-06-30 西安电子科技大学 Beidou positioning outdoor target method based on multipath utilization

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