CN108828513B - Signal source positioning method based on intersection of electric wave propagation attenuation equal differential lines of multiple monitoring points - Google Patents
Signal source positioning method based on intersection of electric wave propagation attenuation equal differential lines of multiple monitoring points Download PDFInfo
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- CN108828513B CN108828513B CN201810342088.3A CN201810342088A CN108828513B CN 108828513 B CN108828513 B CN 108828513B CN 201810342088 A CN201810342088 A CN 201810342088A CN 108828513 B CN108828513 B CN 108828513B
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/04—Position of source determined by a plurality of spaced direction-finders
Abstract
The invention discloses a signal source positioning method based on intersection of electric wave propagation attenuation equal differential lines of multiple monitoring points, which comprises the following steps: the method comprises the following steps: establishing n more than or equal to 3 electromagnetic signal monitoring points in the monitoring area; step two: determining the electric wave propagation attenuation isodyne between every two n monitoring points to obtain
A line of equal difference; step three: find out
And intersection points between every two strip equal difference lines, wherein the grid area with the highest intersection point coincidence degree is the positioning position of the unknown signal source. The invention relates to a direction-finding positioning method of a passive target, which can accurately position the position of an unknown signal source, effectively overcome the influence of electromagnetic wave diffraction and multipath effect brought by the geographical environment and is not dependent on a precise antenna or an antenna array.
Description
Technical Field
The invention belongs to the field of frequency spectrum monitoring, and relates to a signal source positioning method based on intersection of equal difference lines of propagation attenuation of electric waves of multiple monitoring points. The method takes the signal intensity measured by electromagnetic monitoring points as a reference, constructs electric wave propagation attenuation equal differential lines among the monitoring points through the geographic information and electric wave propagation algorithm of a monitoring area, and positions a signal source by crossing a plurality of equal differential lines.
Background
With the more deep and wide application of human beings to electromagnetic spectrum resources, the electromagnetic environment is gradually worsened, and the spectrum resources are increasingly tense. In order to effectively utilize electromagnetic spectrum resources, maintain smooth legal communication and reduce electromagnetic pollution and malicious electromagnetic interference, reliable outdoor radio direction finding and positioning technology and means must be mastered.
Radio direction finding location techniques can be divided into passive target direction finding location and active target direction finding location according to the characteristics of the direction finding location target. In general, when the former technique is applied to the latter, the latter is more effective in positioning.
The passive target direction-finding positioning generally comprises 2 steps of direction finding and positioning, firstly, the direction finding of multiple monitoring points is carried out, and then the cross positioning can be realized. Passive target direction finding generally involves 4 regimes: (1) comparing and measuring directions: determining the signal direction according to the relative radiation power of the same signal measured by the direction-finding antenna or the antenna array; (2) phase comparison direction finding: determining the signal direction according to the relative phase difference of the same signal measured by the direction-finding antenna or the antenna array; (3) spatial spectrum estimation direction finding: a super-resolution spectrum estimation method based on the spatial correlation characteristics of the output signals of the antenna array; (4) interferometer direction finding: the interferometer is divided into a phase interferometer and a correlation interferometer, the phase interferometer is not provided with a pre-established sample library, and the DOA phase difference is solved; the correlation interferometer needs to establish a sample library by the azimuth angle and the pitch angle according to a certain resolution in advance, and phase difference vectors of incoming waves are compared with the sample library one by one. Modern passive target direction finding positioning generally requires a precise antenna or antenna array.
The active target direction-finding location generally requires the active target to send out a mark which can be effectively recognized, and generally comprises 4 systems: (1) time of arrival based positioning (TOA): carrying out data acquisition on the arrival time of a certain signal by using a plurality of monitoring points, estimating the distance between the monitoring points and a target, and then carrying out cross positioning by using equidistant arcs; (2) time difference of arrival location (TDOA): the distance difference from the target to different monitoring points is obtained by comparing the time difference of the time spent by the same signal reaching different monitoring points, and the positioning can be realized by crossing a hyperbola taking the different monitoring points as focuses; (3) signal strength location (SOA): the method is also called as signal strength Ranging (RSSI), the intensity of a target radiation signal of the method is a known quantity, the distance between the target and a monitoring point is estimated by measuring the intensity of a received signal and using a statistical model of electromagnetic wave space attenuation, and then cross positioning is realized.
However, the existing positioning methods are not easy to effectively remove the influence of electromagnetic wave diffraction and multipath effect.
Disclosure of Invention
In order to at least partially solve the defects of the prior art, the invention provides a signal source positioning method based on intersection of equal differential lines of propagation attenuation of electric waves of multiple monitoring points, which is a direction-finding positioning method of a passive target and can accurately position the position of an unknown signal source. The positioning method provided by the invention can effectively overcome the influence of electromagnetic wave diffraction and multipath effect brought by the geographical environment, and does not depend on a precise antenna or an antenna array.
According to one aspect of the present invention, a signal source positioning method based on intersection of arithmetic lines of propagation attenuation of electric waves at multiple monitoring points is provided, which includes the following steps:
the method comprises the following steps: n is more than or equal to 3 electromagnetic signal monitoring points are established in the monitoring area, the positions of any 3 monitoring points are not collinear, and the kth monitoring point is represented as Rk(k 1,2, …, n) and the monitoring point RkAt measured radiation power P of the signal sourcek；
Step two: determining the electric wave propagation attenuation isodyne between every two n monitoring points to obtain
A line of equal difference;
step three: find out
And intersection points between every two strip equal difference lines, wherein the grid area with the highest intersection point coincidence degree is the positioning position of the unknown signal source.
Further, the first step further comprises: and according to the resolution m of the GIS system, dividing the monitoring area into grids.
In some embodiments, the step two of determining the radio wave propagation attenuation contour between the two monitoring points includes the steps of:
s01: according to the monitoring point RkAnd RjMeasured signalRadiation power P of the sourcekAnd PjCalculating a monitoring point RkAnd RjDifference P of radiation powerk-PjX db, where k, j is equal to or less than n, and k is not equal to j, x is a real number;
s02: establishing a frequency f at each grid point0Radiation power of P0Calculating the radiation source to the monitoring point R of each grid pointkAnd RjAttenuation of electric wave lkAnd ljLet the difference Δ L be Lk-ljEqual grids are connected into a line to obtain a monitoring point RkAnd RjThe equal difference line cluster of the propagation attenuation of the radio wave;
s03, selecting the isodyne line with the difference of the radio wave propagation attenuation xdB from the isodyne line cluster obtained in the step S02, and determining the isodyne line as the monitoring point RkAnd RjEqual difference line DeltaL of radio wave propagation attenuation betweenk,j。
Further, in step S02, the Detvag-90/FOI wave propagation model including the terrain and the landform is used to calculate the distance from the radiation source to the monitoring point R of each grid pointkAnd RjAttenuation of electric wave lkAnd lj。
In some embodiments, the step two of determining the radio wave propagation attenuation contour between the two monitoring points includes the steps of:
s01' at monitoring point RkThe upper frame has a radiation power of PjThe virtual radiation source of (2) draws a radiation electric field contour line generated by the virtual radiation source on a GIS system by applying a radio wave propagation algorithm;
s02': also, at monitoring point RjThe upper frame has a radiation power of PkDrawing a radiation electric field contour line;
s03': the radiation electric field contour lines of the two virtual radiation sources have a plurality of intersection points, and the intersection points are connected into a line which is the monitoring point RkAnd RjAn isodyne line having a difference in propagation attenuation of the radio wave of xdB is determined as a monitoring point RkAnd RjEqual difference line DeltaL of radio wave propagation attenuation betweenk,j，
Wherein k, j is less than or equal to n, and k is not equal to j, x is a real number.
Further, the signal source is omnidirectional radiation, the height is h, and the receiving antenna is an omnidirectional antenna.
The invention has the beneficial effects that:
the wave propagation algorithm fully considers the diffraction and multipath effects of the signal. The signal source positioning method based on the intersection of the equal differential lines of the propagation attenuation of the electric waves can overcome the influence of the diffraction of the electromagnetic waves and the multipath effect brought by the geographic environment and realize the positioning of the signal source in the complex geographic environment.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly described below.
FIG. 1 shows monitoring points R in a monitoring area1、R2、R3Schematic illustration of the position of (a).
FIG. 2 shows an embodiment of a monitoring point R1And a monitoring point R2A trace diagram of the isodyne cluster of the propagation attenuation of the radio wave.
FIG. 3 shows another embodiment of monitoring point R1And a monitoring point R2The radio wave propagation attenuation value isodyne line DeltaL of1,2A track map of (2).
FIG. 4 is a graph of three isobars Δ L1,2、ΔL2,3、ΔL1,3A schematic diagram of the source position of the radiation source is estimated.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
For the sake of calculation, the radiation power of the signal is unified in dBm. The model can be simplified without loss of generality, and the frequency of the signal source is set to be f0The signal source is omnidirectional radiation, and the height is fixed at h; the receive antenna is also an omni-directional antenna. The resolution in the GIS system in the monitoring area is m.
Step one, as shown in fig. 1, selecting a monitoring area, and establishing n-3 electromagnetic signal monitoring points R1、R2、R33 monitoring points R1、R2、R3Are not collinear. In this example, the frequency f of the signal source is set0900 MHz. Monitoring point R1、R2、R3The signal radiation power of the signal source measured by each monitoring point in the system is respectively P1＝-77.1dBm、P2＝-74.5dBm、P3＝-76.1dBm。
Step two: determining a monitoring point R1、R2Equal difference line DeltaL of radio wave propagation attenuation between1,2. At the equal difference line Delta L of the propagation attenuation of the electric wave1,2Up from the signal source to the monitoring point R1、R2The difference between propagation attenuation of the electric wave Δ L is always equal to P2-P1-74.5dBm- (-77.1dBm) ═ 2.6 dBm. When the values of the delta L are different, different equal difference lines exist, and the data effective digit of the delta L is consistent with the measured data of the monitoring point. Determining the monitoring point R in the same way2、R3Equal difference line DeltaL of radio wave propagation attenuation between2,3Monitoring point R1、R3Equal difference line DeltaL of radio wave propagation attenuation between1,3. The electric wave propagation attenuation isodyne between every two monitoring points can be determined through the following two directions. For simplicity of explanation, only the isodyne line Δ L is used below1,2The method for determining the contour is described as an example.
The method comprises the following steps: and according to the resolution m of the GIS system, dividing the monitoring area into grids. Establishing a frequency f at each grid point0The radiation power can be set at random, namely the radiation source of 900MHz, and the value is from P0Starting at-20 dBm, the radiation source to the monitoring point R of each grid point is calculated using a Detvag-90/FOI wave propagation model containing topographic features1And R2Attenuation of electric wave l1And l2Let the difference Δ L be L1-l2Equal grids are connected into a line, and a monitoring point R can be obtained1And R2And (3) an equal difference line cluster of propagation attenuation of the inter-radio waves. Selecting an equal difference line with the wave propagation attenuation difference of 2.6dB, and determining the equal difference line as a monitoring point R1、R2Equal difference line DeltaL of radio wave propagation attenuation of source height h between1,2。
As shown in FIG. 2, a virtual grid point is set up on each grid pointA radiation source with radiation power of-20 dBm; calculating each grid point to monitoring point R by adopting Detvag-90/FOI radio wave propagation model containing landform1、R2Path attenuation of l1、l2. Attenuate the path by l1、l2And grid point connecting lines with equal difference are connected to establish a path attenuation equal difference line cluster. To simplify the graph, only the isodyne line clusters in which the path attenuation isodyne values are-10 dB, -5dB, 3dB, 6dB, 10dB are marked in the figure.
It should be understood that the finer the grid points are, the more clusters of isodynes and the higher the accuracy.
The method 2 comprises the following steps: at a monitoring point R1A virtual radiation source is erected on the upper frame, and the radiation power of the virtual radiation source is a monitoring point R2-74.5 dBm; and (3) simulating by adopting a Detvag-90/FOI radio wave propagation model containing landform, and drawing a radiation electric field contour line generated by the virtual radiation source on a GIS system. Also, at monitoring point R2The radiation power of the upper frame is a monitoring point R1The electric field contour lines are drawn for a virtual radiation source of-77.1 dBm received power.
As shown in fig. 3, at monitoring point R1、R2Respectively erecting a virtual radiation source, wherein the radiation power is-74.5 dBm and-77.1 dBm of the receiving power of the opposite side; and performing simulation by adopting a Detvag-90/FOI radio wave propagation model containing topographic features. The equivalent contour lines of the two virtual radiation sources have intersection points, and the intersection points are connected into a line, namely a monitoring point R1And R2The difference between the propagation attenuation of the inter-phase radio wave is equal difference line of 2.6 dB. Drawing the contour line P of the radiation electric field generated by the virtual source in the monitoring areat2、Pt1. Will Pt2、Pt1The same value of the position points are marked, and only the cross points at which-90 dBm, -100dBm, -110dBm and-120 dBm are marked for simplifying the figure. Connecting the intersections of the contour lines to obtain monitoring points R1、R2Equal difference line DeltaL of radio wave propagation attenuation of source height h between1,2。
Also, the monitoring points R are respectively determined2、R3Equal difference line DeltaL of radio wave propagation attenuation between2,3Monitoring point R1、R3BetweenIs equal to the difference line DeltaL of the propagation attenuation of the radio wave1,3。
Step three: finding out 3 equal difference lines delta L obtained in the step two1,2、ΔL2,3、ΔL1,3And intersection points between every two points, wherein the grid area with the highest intersection point coincidence degree is the positioning position of the unknown signal source. As shown in FIG. 4, a monitoring point R is determined1、R2Equal difference line DeltaL of radio wave propagation attenuation between1,2Monitoring point R2、R3Equal difference line DeltaL of radio wave propagation attenuation between2,3Monitoring point R1And the radio wave propagation attenuation isodyne line DeltaL between R31,3. And the intersection point position of the three equal difference lines of the radio wave propagation attenuation values is the estimated position of the unknown signal source. In principle, the equal difference lines of propagation attenuation of electric waves between every two monitoring points pass through the position of the unknown signal source
It should be understood that theoretically, the intersections between two isolines coincide at one point, but the intersections cannot coincide at one point due to the accuracy of mapping.
Claims (8)
1. A signal source positioning method based on the intersection of electric wave propagation attenuation equal differential lines of multiple monitoring points is characterized by comprising the following steps:
the method comprises the following steps: n is more than or equal to 3 electromagnetic signal monitoring points are established in the monitoring area, the positions of any 3 monitoring points are not collinear, and the kth monitoring point is represented as RkK is 1,2, …, n, and the monitoring point RkAt measured radiation power P of the signal sourcek；
Step two: determining the electric wave propagation attenuation isodyne between every two n monitoring points to obtain
A line of equal difference;
step three: find out
The intersection points between every two of the strip equal difference lines are the grid areas with the highest intersection point coincidence degree, namely the unknown signal sourceThe location of (2).
2. The signal source positioning method based on the intersection of the isodyne lines of wave propagation attenuation of multiple monitoring points as claimed in claim 1, characterized in that the first step further comprises: and according to the resolution m of the GIS system, dividing the monitoring area into grids.
3. The signal source localization method according to claim 2, wherein the second step of determining the wave propagation attenuation isobaric line between two monitoring points comprises the steps of:
s01: according to the monitoring point RkAnd RjMeasured radiation power P of signal sourcekAnd PjCalculating a monitoring point RkAnd RjDifference P of radiation powerk-PjX db, where k, j is equal to or less than n, and k is not equal to j, x is a real number;
s02: establishing a frequency f at each grid point0Radiation power of P0Calculating the radiation source to the monitoring point R of each grid pointkAnd RjAttenuation of electric wave lkAnd ljLet the difference Δ L be Lk-ljEqual grids are connected into a line to obtain a monitoring point RkAnd RjThe equal difference line cluster of the propagation attenuation of the radio wave;
s03, selecting the isodyne line with the difference of the radio wave propagation attenuation xdB from the isodyne line cluster obtained in the step S02, and determining the isodyne line as the monitoring point RkAnd RjEqual difference line DeltaL of radio wave propagation attenuation betweenk,j。
4. The signal source localization method based on the intersection of the isobaric lines of wave propagation attenuation of multiple monitoring points as claimed in claim 3, wherein in step S02, the Detvag-90/FOI wave propagation model containing the terrain and landform is used to calculate the R from the radiation source to the monitoring point for each grid pointkAnd RjAttenuation of electric wave lkAnd lj。
5. The signal source localization method according to claim 2, wherein the second step of determining the wave propagation attenuation isobaric line between two monitoring points comprises the steps of:
s01': at a monitoring point RkThe upper frame has a radiation power of PjThe virtual radiation source of (2) draws a radiation electric field contour line generated by the virtual radiation source on a GIS system by applying a radio wave propagation algorithm;
s02': also, at monitoring point RjThe upper frame has a radiation power of PkDrawing a radiation electric field contour line;
s03': the radiation electric field contour lines of the two virtual radiation sources have a plurality of intersection points, and the intersection points are connected into a line which is the monitoring point RkAnd RjAn isodyne line having a difference in propagation attenuation of the radio wave of xdB is determined as a monitoring point RkAnd RjEqual difference line DeltaL of radio wave propagation attenuation betweenk,j，
Wherein k, j is less than or equal to n, and k is not equal to j, x is a real number.
6. A signal source positioning method based on the intersection of the isobaric lines of propagation attenuation of electric waves of multiple monitoring points as claimed in any one of claims 1-5, characterized in that the signal source is omnidirectional radiation, the height is h, and the receiving antenna is an omnidirectional antenna.
7. The signal source positioning method based on the intersection of the isodyne lines of wave propagation attenuation of multiple monitoring points as claimed in one of claims 1 to 5, characterized in that the signal source positioning method is suitable for passive target direction-finding positioning.
8. The signal source positioning method based on the intersection of the isodyne lines of wave propagation attenuation of multiple monitoring points as claimed in one of claims 1 to 5, characterized in that the signal source positioning method is suitable for active target direction-finding positioning.
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