CN108020830A - Frequency Hopping Ranging Method and System Based on Time-Frequency Matrix - Google Patents
Frequency Hopping Ranging Method and System Based on Time-Frequency Matrix Download PDFInfo
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- CN108020830A CN108020830A CN201711263740.4A CN201711263740A CN108020830A CN 108020830 A CN108020830 A CN 108020830A CN 201711263740 A CN201711263740 A CN 201711263740A CN 108020830 A CN108020830 A CN 108020830A
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- 238000005070 sampling Methods 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000007476 Maximum Likelihood Methods 0.000 claims description 2
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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
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- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
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Abstract
The invention discloses a frequency hopping ranging method and a frequency hopping ranging system based on a time-frequency matrix. The system comprises at least one node (1) to be positioned and a plurality of anchor nodes (2), wherein the anchor nodes (2) are connected with the node (1) to be positioned through wireless frequency hopping signals. The method comprises the following steps: (10) determining a time-frequency matrix: before sending a signal, determining a time frequency matrix between an anchor node (2) and a node (1) to be positioned; (20) sending a two-tone signal: the anchor node (2) sends a two-tone signal at each hop of the frequency hopping signal according to the time-frequency matrix; (30) estimating the phase difference of the two tones: a node (1) to be positioned estimates the phase difference of the two-tone signal; (40) estimating a pseudo range: and (5) equating the pseudo range estimation to a single-tone frequency estimation problem to obtain an estimated value of the pseudo range. The method and the system have the advantages of large coverage area and strong anti-interference capability.
Description
Technical field
The invention belongs to pseudo range measurement technical field of navigating, particularly a kind of coverage is big, the base of strong antijamming capability
In the frequency hopping distance measuring method and system of time-frequency matrix.
Background technology
Global Navigation Satellite System is capable of providing the positioning, navigation and time service service of global range, has become modern society
One critical infrastructures of meeting, it is all indispensable for civil field and military field.But navigation satellite signal is faint,
It is highly prone to disturb.
In the case of being disturbed in Global Navigation Satellite System, there is provided positioning, navigation and time service service, it is a variety of
Backup positioning, navigation and time service (APNT) system are studied and develop.For example, proposed to improve the reliability of aerial navigation
A variety of APNT systems, including a variety of distance-measuring equipments (DME) structure DME/DME networks, the polygon positioning of passive wide area, pseudo satellite, pseudolite and
L-band numeral aviation communication system 1 (LDACS1) etc..These systems are improved on the basis of existing equipment, can quickly be realized
The structure of system.But these systems mainly face the problem of two aspects：When since frequency spectrum resource is nervous, these systems
The frequency spectrum used exists there are overlapping, between system to be interfered with each other；Second, the antijamming capability of these systems in itself does not obtain
Prove.
Frequency Hopping Signal is a kind of radio signal having compared with strong anti-interference ability.Although current spectral resource is nervous,
It is, or there are some discrete unused frequency spectrums that it is larger anti-interference that Frequency Hopping Signal can utilize discrete frequency spectrum realize
Gain.Frequency Hopping Signal is currently used primarily in military antijam communication, its instant bandwidth is narrow, single-hop residence time is short, is difficult to
Navigational range.
Radio interference range-measurement system realizes ranging by measuring phase on multiple frequency points, low to instant bandwidth requirement,
Ranging can be implemented in combination with Frequency Hopping Signal.But radio interference range-measurement system during one-shot measurement, it is necessary to four nodes
Participate in, measurement process is complicated.Double-tone distance measuring method improves radio interference ranging, can send one in a node
A node realizes the resolving of pseudorange, still, pact of its range accuracy and non-fuzzy distance by double-tone interval in the case of receiving
Beam.Double-tone interval is smaller, and non-fuzzy distance is bigger, and the scope that distance measuring method can cover is bigger, and still, range accuracy is with double
The reduction at sound interval and reduce.Therefore, double-tone ranging is not used to large-scale ranging.
In short, problem existing in the prior art is：A wide range of navigational range antijamming capability is weak.
The content of the invention
It is an object of the invention to provide a kind of frequency hopping distance measuring method based on time-frequency matrix, coverage are big, anti-interference
Ability is strong.
Another object of the present invention is to provide, a kind of coverage is big, the jump based on time-frequency matrix of strong antijamming capability
Frequency range-measurement system.
The technical solution for realizing the object of the invention is：
A kind of frequency hopping distance measuring method based on time-frequency matrix, for multiple anchor nodes 2 at least one node 1 to be positioned
Pseudo range measurement, include the following steps：
(10) time-frequency matrix is determined：Before sending signal, temporal frequency matrix is determined between anchor node 2 and node to be positioned 1；
(20) two-tone signal is sent：Anchor node 2 sends two-tone signal according to each jump of the time-frequency matrix in Frequency Hopping Signal；
(30) double-tone phase difference is estimated：By signal down coversion, signal sampling, the Frequency Estimation based on priori, estimate
Count the phase difference of two-tone signal；
(40) pseudorange is estimated：Node 1 to be positioned is according to time-frequency matrix computations temporal frequency difference vector TFDV, calculating time
Phase difference vector T PDV, establish relation between TFDV and TPDV, and pseudorange estimation then is equivalent to monotony frequency estimation problem, is obtained
To the estimate of pseudorange.
The technical solution for realizing another object of the present invention is：
A kind of frequency hopping range-measurement system based on time-frequency matrix, including at least one node to be positioned 1 and multiple anchor nodes 2,
It is connected between the multiple anchor node 2 and node 1 to be positioned by wireless Frequency Hopping Signal；
The anchor node 2, for sending two-tone signal in each jump of Frequency Hopping Signal, difference, which is jumped, sends different double-tone letters
Number, these signals form temporal frequency matrix；
The node to be positioned 1, for receiving two-tone signal, estimates the pseudorange between anchor node and node to be positioned；It is undetermined
Two-tone signal after over-sampling, using the priori of two-tone signal, is estimated the frequency of two-tone signal by position node 1, using estimating
Count obtained double-tone frequency and further estimate double-tone phase difference；Node 1 to be positioned obtains double in every a line of temporal frequency matrix
Voice frequency is poor and corresponding double-tone phase difference；Double-tone difference on the frequency of the time-frequency matrix per a line is regarded as measurement by node 1 to be positioned
Frequency point, the double-tone phase difference estimated regard measurement phase as, and the Frequency Estimation that pseudorange estimation problem is regarded as to tone signal is asked
Topic obtains the estimate of pseudorange.
Compared with prior art, the present invention its remarkable advantage is：
1st, strong antijamming capability：The present invention realizes large-scale pseudo range measurement using Frequency Hopping Signal so that navigation system has
There is stronger antijamming capability；
2nd, coverage is big：The present invention builds temporal frequency matrix on Frequency Hopping Signal, and joint multi-hop signal realizes pseudorange
Resolve, can either realize a wide range of ranging, there is the range accuracy that can keep higher.
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Brief description of the drawings
Fig. 1 is the main flow chart of the frequency hopping distance measuring method of the invention based on time-frequency matrix.
Fig. 2 is the flow chart that time-frequency matrix step is determined in Fig. 1.
Fig. 3 is time-frequency matrix schematic diagram.
Fig. 4 is the flow chart that two-tone signal step is sent in Fig. 1.
Fig. 5 is the flow chart that double-tone phase difference step is estimated in Fig. 1.
Fig. 6 is the flow chart of the pseudorange estimating step based on priori in Fig. 4.
Fig. 7 is the pseudorange flow chart of steps estimated in Fig. 1 between node and anchor node to be positioned.
Fig. 8 is the structure diagram of the frequency hopping range-measurement system of the invention based on time-frequency matrix.
In figure, 1 node to be positioned, 2 anchor nodes.
Embodiment
As shown in Figure 1, the frequency hopping distance measuring method based on time-frequency matrix of the invention, for multiple anchor nodes 2 at least one
The pseudo range measurement of a node to be positioned 1, includes the following steps：
(10) time-frequency matrix is determined：Before sending signal, temporal frequency matrix is determined between anchor node 2 and node to be positioned 1；
As shown in Fig. 2, the step of determining time-frequency matrix includes：
(11) time-frequency matrix line number is determined：It is M to determine time-frequency matrix line number, and time-frequency matrix line number is bigger, and range performance is got over
Good, time of measuring is longer；
(12) non-fuzzy distance is determined：Determine non-fuzzy distance UMR so that UMR is more than node to be positioned (1) and anchor node
(2) possible ultimate range between；
(13) frequency unit determines：According to MUR, frequency unit f is determinedmin=c/MUR；
(14) the 1st sound baseband frequencies determine：Determine that time-frequency matrix the 1st arranges the baseband frequency f of the 1st row11, f11It is fminIt is whole
Several times, the 1st sound baseband frequency and f of other rows in time-frequency matrix11It is identical；
(15) the 2nd sound baseband frequency of first trip determines：Determine the 2nd sound baseband frequency f of the 1st row of time-frequency matrix12=f11+ MFI,
MFI=1/Tr, TrFor Frequency Hopping Signal single-hop residence time；
(16) the 2nd sound baseband frequency of tail row determines：Determine the 2nd sound baseband frequency f of time-frequency matrix M rowsM2=Bi, BiTo jump
Frequency signal transient bandwidth；
(17) its 2nd sound baseband frequency of row determines：The 2nd row of time-frequency matrix is determined to the 2nd sound baseband frequency of M-1 rows, with
Machine generates two smaller prime number ps1、p2So that f22=f12+fmin×p1, f32=f22+fmin×p2, the 2nd voice frequency f of other jumpsi2(i
=4 ..., M-1) value is in f32-fminAnd fM2-fminInterior random generation, forms the time-frequency matrix TFM of M × 2：
(20) two-tone signal is sent：Anchor node 2 sends two-tone signal in each jump of Frequency Hopping Signal；
Include as shown in figure 4, described (20) send two-tone signal step：
(21) double-tone baseband signal produces：Anchor node 2 according to pre-determined time-frequency matrix Frequency Hopping Signal each jump
Two-tone signal is arranged in base band, frequency is respectively fi1And fi2, double-tone baseband signal initial phase is identical, is denoted asBaseband signal
It is represented by：
Wherein, time differences of the Δ t between node 1 to be positioned and anchor node 2；
(22) signal up-conversion：Baseband signal is f by frequencyc1, carrier wave up-conversion that first phase is θ is to carrier signal：
Wherein, a is signal amplitude.
(30) double-tone phase difference is estimated：By signal down coversion, signal sampling, the Frequency Estimation based on priori, estimate
Count the phase difference of two-tone signal；
As shown in figure 5, described (30) estimation double-tone phase difference step includes：
(31) signal down coversion：For each jump Frequency Hopping Signal, node 1 to be positioned receives signal and is f through overfrequencyc2、
First phase is the carrier down-conversion of η to baseband signal：
fO=fc1+fD-fc2
Wherein, the attenuation coefficient of factor beta representation signal, fDFor Doppler frequency shift, fOFor node 1 to be positioned and anchor node 2 it
Between carrier frequency is inconsistent and Doppler frequency shift caused by frequency shift (FS), w (t) is average white complex gaussian noise, αikIt is undetermined
Phase of the position node 1 when the i-th row of time-frequency matrix receives measuring signal, d is between node 1 to be positioned and anchor node 2
Distance, c are the light velocity.At this moment, the phase of double-tone is subjected to difference, the influence of first phase can be eliminated, the phase difference for obtaining double-tone is：
Wherein, pseudoranges of the d ' between node 1 to be positioned and anchor node 2, d '=d+ Δs tc.
(32) signal sampling：Node 1 to be positioned to the baseband signal of reception and is f by sample frequencysAnalog-to-digital conversion
Device is changed, and obtained sample number is the sample vector r of Npk；
(33) Frequency Estimation based on priori：Node 1 to be positioned is used based on priori according to sample vector
Frequency estimating methods obtain the Frequency Estimation of double-tone；
As shown in fig. 6, the frequency estimating methods step of (33) based on priori includes：
(331) frequency is just estimated：Each jump for Frequency Hopping Signal, is obtained using conventional high resolution frequency method of estimation
To the f ' according to a preliminary estimate of double-tone frequencyik；
(332) averaged frequency offset is calculated：According to the priori f of double-tone baseband signalik, the frequency on each sound is inclined
Pipette averagely, obtain the frequency shift (FS) of double-tone:
(333) double-tone frequency is calculated：The frequency shift (FS) of double-tone is added on two-tone signal and obtains final double-tone frequency and estimates
Meter:
f″ik=fO+fik,1≤k≤2
(34) phase difference estimation：The double-tone frequency that node (1) to be positioned is obtained using estimation, makes x=β a [exp (j αi1),
exp(jαi2)]T, Apk=[Φ (f "i1/fs)Φ(f”i2/fs)], Φ (f)=[1, exp (j2 π f) ..., exp (j2 π (N-1) f)
]T, obtain least squares estimator：
Node (1) to be positioned obtains the estimate of double-tone phase difference according to least squares estimator：
[A] hereinTRepresent vector A transposition, [A]*Represent vector A conjugate transpositions,Represent the generalized inverse matrix of A,
[A]iRepresent i-th of element of vector A.
(40) pseudorange is estimated：Pseudorange estimation is equivalent to monotony frequency estimation problem, obtains the estimate of pseudorange.
As shown in fig. 7, (40) the pseudorange estimating step includes：
(41) temporal frequency difference vector is calculated：The frequency of the two-tone signal of every a line of time-frequency matrix is made the difference, is obtained
Temporal frequency difference vector：
TFDV=[Δ f1,Δf2,......,Δfi,Δfi+1,......,ΔfM],Δfi＜ Δs fi+1
(42) time phase difference vector is calculated：By the estimation of every a line two-tone signal phase difference in temporal frequency matrix
It is worth arranged in sequence, obtains time phase difference vector：
TPDV=[Δ α1,Δα2,......,Δαi,Δαi+1,......,ΔαM]
(43) relation between establishment TFDV and TPDV：Regard each element in TFDV as measurement frequency, TPDV is seen
Into the phase obtained in this measurement series frequency, obtain；
Wherein, pseudoranges of the d ' between node 1 to be positioned and anchor node 2, d '=d+ Δs tc, d is node 1 to be positioned and anchor
The distance between node 2, time differences of the Δ t between node 1 to be positioned and anchor node 2.
(44) pseudorange is estimated：Pseudorange is resolved and is equivalent to monotony frequency estimation, wherein, the d ' frequencies of equal value with tone signal
Rate, and Δ fi/ c can be equivalent to the discrete sampling time, and the maximum-likelihood estimator of pseudorange d ' is：
As shown in figure 8, the frequency hopping range-measurement system of the invention based on time-frequency matrix,
Including at least one node 1 to be positioned and multiple anchor nodes 2, between the multiple anchor node 2 and node to be positioned 1
It is connected by wireless Frequency Hopping Signal；
The anchor node 2, for sending two-tone signal in each jump of Frequency Hopping Signal, difference, which is jumped, sends different double-tone letters
Number, these signals form temporal frequency matrix；
The node to be positioned 1, for receiving two-tone signal, estimates the pseudorange between anchor node and node to be positioned；It is undetermined
Two-tone signal after over-sampling, using the priori of two-tone signal, is estimated the frequency of two-tone signal by position node 1, using estimating
Count obtained double-tone frequency and further estimate double-tone phase difference；Node 1 to be positioned obtains double in every a line of temporal frequency matrix
Voice frequency is poor and corresponding double-tone phase difference；Double-tone difference on the frequency of the time-frequency matrix per a line is regarded as measurement by node 1 to be positioned
Frequency point, the double-tone phase difference estimated regard measurement phase as, and the Frequency Estimation that pseudorange estimation problem is regarded as to tone signal is asked
Topic obtains the estimate of pseudorange.
Claims (7)
1. a kind of frequency hopping distance measuring method based on time-frequency matrix, for multiple anchor nodes (2) at least one node to be positioned
(1) pseudo range measurement, it is characterised in that include the following steps：
(10) time-frequency matrix is determined：Before sending signal, temporal frequency matrix is determined between anchor node (2) and node to be positioned (1)；
(20) two-tone signal is sent：Anchor node (2) sends two-tone signal according to each jump of the time-frequency matrix in Frequency Hopping Signal；
(30) double-tone phase difference is estimated：Node (1) to be positioned passes through signal down coversion, signal sampling, the frequency based on priori
Rate is estimated, estimates the phase difference of two-tone signal；
(40) pseudorange is estimated：Node (1) to be positioned is according to time-frequency matrix computations temporal frequency difference vector TFDV, calculating time phase
Potential difference divides vector T PDV, establishes relation between TFDV and TPDV, and pseudorange estimation then is equivalent to monotony frequency estimation problem, is obtained
The estimate of pseudorange.
2. frequency hopping distance measuring method according to claim 1, it is characterised in that (10) determine time-frequency matrix step bag
Include：
(11) time-frequency matrix line number is determined：It is M to determine time-frequency matrix line number, and time-frequency matrix line number is bigger, and range performance is better, is surveyed
It is longer to measure the time；
(12) non-fuzzy distance is determined：Determine non-fuzzy distance UMR so that UMR is more than node to be positioned (1) and anchor node (2)
Between possible ultimate range；
(13) frequency unit determines：According to MUR, frequency unit f is determinedmin=c/MUR；
(14) the 1st sound baseband frequencies determine：Determine that time-frequency matrix the 1st arranges the baseband frequency f of the 1st row11, f11It is fminIntegral multiple,
The 1st sound baseband frequency and f of other rows in time-frequency matrix11It is identical；
(15) the 2nd sound baseband frequency of first trip determines：Determine the 2nd sound baseband frequency f of the 1st row of time-frequency matrix12=f11+ MFI, MFI=
1/Tr, TrFor Frequency Hopping Signal single-hop residence time；
(16) the 2nd sound baseband frequency of tail row determines：Determine the 2nd sound baseband frequency f of time-frequency matrix M rowsM2=Bi, BiBelieve for frequency hopping
Number instant bandwidth；
(17) its 2nd sound baseband frequency of row determines：The 2nd row of time-frequency matrix is determined to the 2nd sound baseband frequency of M-1 rows, it is random raw
Into two smaller prime number ps1、p2So that f22=f12+fmin×p1, f32=f22+fmin×p2, the 2nd voice frequency f of other jumpsi2(i=
4 ..., M-1) value is in f32-fminAnd fM2-fminInterior random generation, forms the time-frequency matrix TFM of M × 2：
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3. frequency hopping distance measuring method according to claim 1, it is characterised in that described (20) send two-tone signal step bag
Include：
(21) double-tone baseband signal produces：Anchor node (2) arranges two-tone signal in a base band according to pre-determined time-frequency matrix,
Double-tone baseband signal initial phase is identical；
(22) signal up-conversion：Baseband signal passes through carrier wave up-conversion to carrier signal；
(23) two-tone signal is sent：Carrier signal is sent by antenna.
4. frequency hopping distance measuring method according to claim 1, it is characterised in that described (30) estimate double-tone phase difference step bag
Include：
(31) signal down coversion：For each jump Frequency Hopping Signal, node (1) to be positioned receive signal and according to carrier down-conversion extremely
Baseband signal；
(32) signal sampling：Node (1) to be positioned samples the baseband signal of reception by analog-digital converter, obtain sample to
Amount；
(33) Frequency Estimation based on priori：Node (1) to be positioned uses the frequency based on priori according to sample vector
Rate method of estimation obtains the Frequency Estimation of double-tone；
(34) phase difference estimation：The double-tone frequency that node (1) to be positioned is obtained using estimation, is obtained using least squares estimate
The estimate of the phase difference of each jump of double-tone.
5. estimation double-tone phase difference according to claim 4, it is characterised in that the frequency of (33) based on priori
Estimating step includes：
(331) frequency is just estimated：Each jump for Frequency Hopping Signal, is obtained double using conventional high resolution frequency method of estimation
The f ' according to a preliminary estimate of voice frequencyik；
(332) averaged frequency offset is calculated：According to the priori f of double-tone baseband signalik, the frequency shift (FS) on each sound is taken
It is average, obtain the frequency shift (FS) of double-tone:
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(333) double-tone frequency is calculated：The frequency shift (FS) of double-tone is added on two-tone signal and obtains final double-tone Frequency Estimation:
f″ik=fO+fik,1≤k≤2。
6. frequency hopping distance measuring method according to claim 1, it is characterised in that (40) the pseudorange estimating step includes：
(41) temporal frequency difference vector is calculated：The frequency of the two-tone signal of every a line of time-frequency matrix is made the difference, obtains the time
Frequency differential vector：
TFDV=[Δ f1,Δf2,......,Δfi,Δfi+1,......,ΔfM],Δfi＜ Δs fi+1；
(42) time phase difference vector is calculated：It will be pressed in temporal frequency matrix per the estimate of a line two-tone signal phase difference
Sequence arranges, and obtains time phase difference vector：
TPDV=[Δ α1,Δα2,......,Δαi,Δαi+1,......,ΔαM]；
(43) relation between establishment TFDV and TPDV：Regard each element in TFDV as measurement frequency, TPDV is regarded as
The phase obtained in this measurement series frequency, obtains；
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Wherein, pseudoranges of the d ' between node to be positioned (1) and anchor node (2), d '=d+ Δs t, d for node to be positioned (1) with
The distance between anchor node (2), time differences of the Δ t between node to be positioned (1) and anchor node (2)；
(44) pseudorange is estimated：Pseudorange is resolved and is equivalent to monotony frequency estimation, wherein, the d ' frequencies of equal value with tone signal, and
Δfi/ c can be equivalent to the discrete sampling time, and the maximum-likelihood estimator of pseudorange d ' is：
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A kind of 7. frequency hopping range-measurement system based on time-frequency matrix, it is characterised in that
Including at least one node (1) to be positioned and multiple anchor nodes (2), the multiple anchor node (2) and node to be positioned (1)
Between be connected by wireless Frequency Hopping Signal；
The anchor node (2), for sending two-tone signal in each jump of Frequency Hopping Signal, difference, which is jumped, sends different double-tone letters
Number, these signals form temporal frequency matrix；
The node to be positioned (1), for receiving two-tone signal, estimates the pseudorange between anchor node and node to be positioned；It is to be positioned
Two-tone signal after over-sampling, using the priori of two-tone signal, is estimated the frequency of two-tone signal by node (1), using estimating
Count obtained double-tone frequency and further estimate double-tone phase difference；Node (1) to be positioned obtains in every a line of temporal frequency matrix
Double-tone difference on the frequency and corresponding double-tone phase difference；Node (1) to be positioned regards double-tone difference on the frequency of the time-frequency matrix per a line as
Measurement frequency point, the double-tone phase difference estimated regard measurement phase as, and the frequency that pseudorange estimation problem is regarded as to tone signal is estimated
Meter problem obtains the estimate of pseudorange.
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| WO2024044992A1 (en) * | 2022-08-30 | 2024-03-07 | 华为技术有限公司 | Measurement signal processing method and apparatus |
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