CN112083407B - External radiation source three-dimensional positioning method using time difference and one-dimensional azimuth measurement - Google Patents

External radiation source three-dimensional positioning method using time difference and one-dimensional azimuth measurement Download PDF

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CN112083407B
CN112083407B CN202010979777.2A CN202010979777A CN112083407B CN 112083407 B CN112083407 B CN 112083407B CN 202010979777 A CN202010979777 A CN 202010979777A CN 112083407 B CN112083407 B CN 112083407B
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radiation source
external radiation
positioning
dimensional
time difference
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CN112083407A (en
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万群
冯欣
邢天弈
彭一洵
丁学科
宫健
徐保根
万义和
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Tong Fang Electronic Science & Technology Co ltd
University of Electronic Science and Technology of China
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Tong Fang Electronic Science & Technology Co ltd
University of Electronic Science and Technology of China
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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
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • 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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/882—Radar or analogous systems specially adapted for specific applications for altimeters

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The invention belongs to the technical field of electronic information, and particularly relates to an external radiation source three-dimensional positioning method by using time difference and one-dimensional azimuth measurement. The invention further constructs a positioning matrix and a positioning vector by constructing an external radiation source coordinate matrix, an external radiation source distance vector and a time difference vector and by utilizing the arrival time difference and the one-dimensional azimuth measurement of the external radiation source signal reflected by the target, and realizes the three-dimensional positioning of the target by the positioning matrix and the positioning vector. By using the method provided by the invention, the target can be positioned in three dimensions by utilizing the position coordinates of the external radiation source, the arrival time difference of the external radiation source signal reflected by the target and the one-dimensional azimuth measurement, and the aim of measuring the height of the target is fulfilled while the complexity of a direction-finding system is reduced.

Description

External radiation source three-dimensional positioning method using time difference and one-dimensional azimuth measurement
Technical Field
The invention belongs to the technical field of electronic information, and particularly relates to a method for three-dimensionally positioning a target by using the arrival time difference of an external radiation source signal reflected by the target and one-dimensional azimuth measurement.
Background
The use of radiation sources present in the surrounding environment to locate non-cooperative targets is an important passive location method, and this method, called "external radiation source location", has gained increasing attention in recent years due to its concealment and applicability to non-cooperative targets that maintain radio silence.
In the positioning of the external radiation source, the positioning station can measure the incoming wave direction of the external radiation source signal reflected by the target and can also measure the time difference between the external radiation source signal reflected by the target and the direct wave signal of the external radiation source reaching the positioning station. When the positioning station measures the incoming wave direction of the external radiation source signal, the area array can be used for measuring the incoming wave azimuth and elevation angle of the signal, but the correction process and the direction finding algorithm of the direction finding system are complex due to the fact that the two-dimensional direction finding technology is involved. The positioning station can also adopt a one-dimensional direction finding technology with lower hardware cost and complexity, and the linear array is used for measuring the incoming wave direction of a signal, but the height of a target is difficult to measure more accurately, so that the popularization and application of the technology for positioning an external radiation source by using one-dimensional direction measurement are limited.
Disclosure of Invention
The invention aims to solve the problem of how to carry out three-dimensional positioning on a target by measuring the arrival time difference and the one-dimensional direction of an external radiation source signal reflected by the target and reduce the complexity of a positioning algorithm.
The technical scheme adopted by the invention is as follows:
a two-dimensional positioning method of an external radiation source insensitive to the target height based on time difference measurement and one-dimensional direction finding is characterized by comprising the following steps:
s1, K external radiation source coordinates (x)k,yk,zk) K1, 2.. K, determining an external radiation source coordinate matrix:
Figure BDA0002687116020000011
distance vector from external radiation source:
Figure BDA0002687116020000021
s2 echo time difference measurement of K external radiation source signals
Figure BDA0002687116020000022
Determining a time difference vector:
Figure BDA0002687116020000023
and the distance vector alpha of the external radiation source, the time difference vector beta, the coordinate matrix U of the external radiation source and the one-dimensional direction finding
Figure BDA0002687116020000024
Determining a positioning matrix:
Figure BDA0002687116020000025
wherein c is the speed of light;
s4, distance vector alpha of external radiation source, time difference vector beta and one-dimensional direction finding
Figure BDA0002687116020000026
Determining a positioning vector:
Figure BDA0002687116020000027
wherein an indicates the product of the corresponding elements of the vector;
s5, determining the three-dimensional positioning result of the target according to the positioning matrix Q and the positioning vector Q:
Figure BDA0002687116020000028
wherein Q isTA transposed matrix representing the positioning matrix Q,
Figure BDA0002687116020000029
in order to locate the coordinates for the plane of the object,
Figure BDA00026871160200000210
is a height measurement of the target.
The invention has the beneficial effects that:
by using the method provided by the invention, the target can be positioned in three dimensions by utilizing the position coordinates of the external radiation source, the arrival time difference of the external radiation source signal reflected by the target and the one-dimensional azimuth measurement, and the aim of measuring the height of the target is fulfilled while the complexity of a direction-finding system is reduced.
Detailed Description
Examples
In this example, the speed of light c is 3e8 m/s, the coordinates of the positioning station are (0,0,0), and the number of external radiation sources K is 3; the coordinates of the first external radiation source are (-1,29,0.56), the coordinates of the second external radiation source are (2, -27,2.83), the coordinates of the third external radiation source are (3, -15,1.20), and the coordinates and positioning errors are in kilometers in this example.
When the actual coordinates of the object are (104,14,18), the echo time difference of the first external radiation source signal reflected by the object is measured
Figure BDA0002687116020000031
616.4779 μ s, the echo time difference of the second external radiation source signal reflected by the targetMeasuring
Figure BDA0002687116020000032
634.0928 μ s, echo time difference measurement of the third external radiation source signal reflected by the target
Figure BDA0002687116020000033
658.4904 microseconds, one-dimensional direction finding
Figure BDA0002687116020000034
At 12.2067 degrees, the three-dimensional coordinates of the target determined by the method are (104.0669,14.0074 and 18.0907), and the error of plane positioning of the target is 0.0673 kilometer, and the error of height measurement of the target is 0.0907 kilometers.
When the target heights are respectively 3, 6, 9, 12, 15 and 18 kilometers, the plane positioning errors of the method for the target are respectively 0.1320, 0.1380, 0.1545, 0.1681, 0.1866 and 0.2013 kilometer; the height measurement errors for the targets were 0.1951, 0.2036, 0.2277, 0.2482, 0.2752, and 0.2958 kilometers, respectively.
Therefore, the invention provides a method for three-dimensionally positioning a target by using the position coordinates of an external radiation source, the arrival time difference of an external radiation source signal reflected by the target and one-dimensional azimuth measurement, and the purpose of measuring the height of the target is realized while the complexity of a direction-finding system is reduced.

Claims (1)

1. A three-dimensional positioning method of an external radiation source by using time difference and one-dimensional azimuth measurement is characterized in that the method carries out three-dimensional positioning on a target by measuring the arrival time difference of an external radiation source signal reflected by the target and the one-dimensional azimuth; the method is characterized by comprising the following steps:
s1, K external radiation source coordinates (x)k,yk,zk) K1, 2.. K, determining an external radiation source coordinate matrix:
Figure FDA0002687116010000011
distance vector from external radiation source:
Figure FDA0002687116010000012
s2 echo time difference measurement of K external radiation source signals
Figure FDA0002687116010000013
K1, 2.., K, determining a moveout vector:
Figure FDA0002687116010000014
and the distance vector alpha of the external radiation source, the time difference vector beta, the coordinate matrix U of the external radiation source and the one-dimensional direction finding
Figure FDA0002687116010000015
Determining a positioning matrix:
Figure FDA0002687116010000016
wherein c is the speed of light;
s4, distance vector alpha of external radiation source, time difference vector beta and one-dimensional direction finding
Figure FDA0002687116010000017
Determining a positioning vector:
Figure FDA0002687116010000018
wherein an indicates the product of the corresponding elements of the vector;
s5, determining the three-dimensional positioning result of the target according to the positioning matrix Q and the positioning vector Q:
Figure FDA0002687116010000021
wherein Q isTA transposed matrix representing the positioning matrix Q,
Figure FDA0002687116010000022
the coordinates are located for the plane of the object,
Figure FDA0002687116010000023
is a height measurement of the target.
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