CN113203980A - High-precision quick radio direction finding method and system - Google Patents
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
- G01S3/48—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems the waves arriving at the antennas being continuous or intermittent and the phase difference of signals derived therefrom being measured
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/74—Multi-channel systems specially adapted for direction-finding, i.e. having a single antenna system capable of giving simultaneous indications of the directions of different signals
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Abstract
The embodiment of the invention provides a high-precision and rapid radio direction finding method and system, and the method combines the advantages of direction finding of an interferometer and direction finding of a spatial spectrum and provides an interferometer-spatial spectrum direction finding algorithm. The interferometer-space spectrum direction finding algorithm utilizes the characteristic of high direction finding speed of the interferometer to firstly obtain a result with larger error through direction finding of the interferometer, and then utilizes the result to search a spectrum peak near the angle by utilizing the space spectrum direction finding algorithm to obtain an angle finding result, thereby greatly reducing the range of searching the spectrum peak. The algorithm solves the problems of low direction finding precision of the traditional method which only adopts an interferometer, high complexity and low speed of direction finding which only adopts a space spectrum. The interferometer-space spectrum direction-finding algorithm can simultaneously meet the requirements of high direction-finding precision, high direction-finding speed and low algorithm complexity, and is favorable for engineering realization.
Description
Technical Field
The invention relates to the technical field of radio, in particular to a high-precision and quick radio direction finding method and system.
Background
The direction finding precision of the interferometer direction finding algorithm is usually several degrees, and the direction finding precision is low. Taking L-band signals as an example, the general direction finding accuracy can be achieved within an index range of not more than 2 °. In the communication reconnaissance or radar reconnaissance process, if a single-station passive positioning method is adopted to determine the position information of the reconnaissance target, the positioning accuracy mainly depends on the direction-finding accuracy of the reconnaissance target. The lower direction-finding precision leads to lower positioning precision of the detected target, and the detected target cannot be accurately positioned.
The radio direction finding can also adopt a space spectrum direction finding algorithm, the space spectrum estimation algorithm is a technology which is made up in recent years, the radio direction finding algorithm has the characteristic of high direction finding precision, and taking an L-waveband signal as an example, the direction finding precision of the algorithm can reach an index range which is not more than 0.5 degrees, but the algorithm has high complexity, a high-performance processor can meet the calculation requirement only, and the high-performance processor has high power consumption, thereby bringing great difficulty to the realization of engineering. In addition, in order to obtain higher direction-finding precision, the spatial spectrum estimation algorithm needs to be iterated for multiple times, so that the processing time delay is increased, and the direction-finding real-time performance is reduced.
Disclosure of Invention
In order to solve the above problems, embodiments of the present invention provide a high-precision and fast radio direction finding method and system that overcome the above problems or at least partially solve the above problems.
According to a first aspect of the embodiments of the present invention, there is provided a high-precision fast radio direction finding method, including:
based on the antenna receiving signal, carrying out rough direction finding through an interferometer to obtain an initial direction;
and constructing a data matrix by using the space spectrum, and guiding the space spectrum to perform accurate direction finding in the range of the initial direction by using the initial direction obtained by the interferometer to obtain the optimal estimation result of the incident azimuth angle.
According to a second aspect of the embodiments of the present invention, there is provided a high-precision fast radio direction finding system, including:
the interferometer module is used for carrying out rough direction finding through an interferometer based on the antenna receiving signals to obtain an initial direction;
and the accurate measurement module is used for constructing a data matrix by utilizing the space spectrum, guiding the space spectrum to perform accurate direction measurement in the initial direction range by using the initial direction obtained by the interferometer, and obtaining the optimal estimation result of the incident azimuth angle.
According to a third aspect of the embodiments of the present invention, there is provided an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement any one of the above-mentioned possible implementations of the first aspect.
According to a fourth aspect of embodiments of the present invention, there is provided a non-transitory computer-readable storage medium, which when executed by a processor implements a high-precision fast radio direction finding method as any one of the above-mentioned approaches.
The embodiment of the invention provides a high-precision and rapid radio direction finding method and system, which combine the advantages of interferometer direction finding and space spectrum direction finding and provide an interferometer-space spectrum direction finding algorithm. The interferometer-space spectrum direction finding algorithm utilizes the characteristic of high direction finding speed of the interferometer to firstly obtain a result with larger error through direction finding of the interferometer, and then utilizes the result to search a spectrum peak near the angle by utilizing the space spectrum direction finding algorithm to obtain an angle finding result, thereby greatly reducing the range of searching the spectrum peak.
Although the interferometer-space spectrum direction-finding algorithm is higher in complexity than the interferometer direction-finding calculation, the interferometer-space spectrum direction-finding algorithm is greatly lower in complexity than the space spectrum direction-finding algorithm, and has the characteristic of high precision of the space spectrum direction-finding algorithm. The interferometer-space spectrum direction-finding algorithm can simultaneously meet the requirements of high direction-finding precision, high direction-finding speed and low algorithm complexity, and is favorable for engineering realization.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from these without inventive effort.
Fig. 1 is a flowchart of a high-precision fast radio direction finding method according to an embodiment of the present invention;
fig. 2 is a schematic block diagram of an implementation of a high-precision fast radio direction finding method according to a preferred embodiment of the present invention;
fig. 3 is a schematic structural diagram of a high-precision fast radio direction finding system according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments, but not all embodiments, of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The invention discloses a high-precision and rapid radio direction finding method, and a radio direction finding technology is widely applied to communication reconnaissance and radar reconnaissance and is used for measuring the incoming wave directions of communication signals and radar signals. The traditional radio direction finding method mostly adopts an interferometer direction finding algorithm. The direction finding technology of the interferometer is mature, is widely applied in engineering practice, has the characteristics of high direction finding speed and less used resources, but has low direction finding precision generally, and cannot meet the use requirement of a scene needing high direction finding precision.
The embodiment of the invention provides a high-precision and rapid radio direction finding method, as shown in fig. 1, the method comprises the following steps:
101, performing rough direction finding through an interferometer based on an antenna receiving signal to obtain an initial direction;
and 102, constructing a data matrix by using the space spectrum, and guiding the space spectrum to perform accurate direction finding in the initial direction range by using the initial direction obtained by the interferometer to obtain the optimal estimation result of the incident azimuth angle.
The interferometer and the space spectrum can independently complete a radio direction finding function, the interferometer is low in precision and high in speed, the space spectrum is high in precision and low in speed, in the implementation process, rough direction finding is firstly carried out through the interferometer to obtain an approximate direction, and meanwhile, the space spectrum constructs a data matrix. The coarse direction finding guiding space spectrum obtained by the interferometer is used for carrying out accurate direction finding in the range, and spectrum peak searching in the whole space is not needed, so that the calculation complexity is reduced. For example, the incoming wave direction is 45 degrees, the interferometer is firstly determined in the range of 40-50 degrees, the spatial spectrum can be calculated in the range of 10 degrees, the calculation range of 0-180 degrees is not needed, the calculation amount is reduced, and the speed is high.
On the basis of the above embodiment, it is preferable that:
acquiring the measured phase of each channel, and acquiring data measured by all channels;
acquiring a real phase difference according to the phase of each channel, constructing a covariance matrix according to the data, and performing characteristic decomposition on the covariance matrix to acquire a decomposed eigenvector;
acquiring an azimuth angle of an incident signal according to the phase difference, sequencing the eigenvectors according to the magnitude of the eigenvalue, taking a large eigenvalue as a signal subspace, and taking a small eigenvalue as a noise subspace, wherein the large eigenvalue is greater than a first preset threshold value, and the small eigenvalue is less than a second preset threshold value;
taking the azimuth angle as a search limited range of a matrix characteristic space decomposition algorithm, and constructing a space spectrum function to search a spectrum peak by using the orthogonal characteristics of the signal subspace and the noise subspace;
and taking the angle corresponding to the maximum value obtained by searching as the incident direction of the incident signal, and carrying out extended Kalman filtering on the measurement angle to obtain the optimal estimation result of the incident azimuth angle.
The embodiment of the invention adopts a one-dimensional 8-array element antenna array for explanation, selects the MUSIC algorithm for space spectrum estimation, and exemplifies the implementation process of an interferometer-space spectrum direction finding algorithm.
In the specific implementation process, direction-finding dimensions can be increased, the number of antennas can be adjusted, and a proper spatial spectrum estimation algorithm (MUSIC or ESPRIT) can be selected according to the spectral characteristics of different frequency bands, the direction-finding range, the performance index requirements and the like.
Firstly, the 1, 2, 5 and 8 channels are used for measuring the angle by an interferometer algorithm. The interferometer direction finding utilizes the phase difference of signals received by two antennas to calculate the direction of an incident signal, and multi-baseline ambiguity resolution is adopted to solve the problem of phase ambiguity probably caused by single-baseline phase interferometer direction finding.
Meanwhile, the preparation work of MUSIC algorithm angle measurement is carried out by utilizing 1-8 channels. And constructing the received data into a covariance matrix, performing eigen decomposition on the covariance matrix, sequencing eigenvectors after the eigen decomposition according to the magnitude of eigenvalues, and considering that the large eigenvalue corresponds to a signal subspace and the small eigenvalue corresponds to a noise subspace. And performing spectrum peak search according to the signal parameter range by utilizing the orthogonal characteristic of the signal subspace and the noise subspace, and limiting the search calculation range by introducing an interferometer algorithm angle measurement result during spectrum peak search. The angle corresponding to the maximum point obtained in the search is the measured value of the incident direction of the signal.
And performing extended Kalman filtering on the measured value obtained by searching the spectral peak to obtain the optimal estimated value of the signal azimuth angle.
A high-precision and fast radio direction finding method provided by a preferred embodiment of the present invention is shown in fig. 2, and the specific flow is as follows:
201, inputting the phase of each channel measured by 1, 2, 5 and 8 channel data,
inputting 1-8 channel data to construct a data covariance matrix;
202, the true phase difference is solved,
performing characteristic decomposition on the array data covariance matrix;
203, solving the azimuth angle of the incident signal,
sorting the eigenvectors according to the magnitude of the eigenvalues, and considering the matrix corresponding to the large eigenvalue as a signal subspace
The matrix corresponding to the small eigenvalue is a noise subspace Vi；
204, searching and limiting the searching range of the direction-finding result of the interferometer algorithm for the spectral peak of the MUSIC algorithm,
using the orthogonal property a of signal subspace and noise subspaceH(θ)ViConstruct the spatial spectral function as 0
205, the angle corresponding to the maximum point obtained in the search is regarded as the incident direction of the signal;
206, outputting interferometer-MUSIC algorithm measurement;
and 207, performing extended Kalman filtering on the measurement angle to obtain the optimal estimation of the incident azimuth angle.
In summary, the high-precision and fast radio direction finding method provided by the embodiment of the invention combines the advantages of interferometer direction finding and spatial spectrum direction finding, and provides an interferometer-spatial spectrum direction finding algorithm. The interferometer-space spectrum direction finding algorithm utilizes the characteristic of high direction finding speed of the interferometer to firstly obtain a result with larger error through direction finding of the interferometer, and then utilizes the result to search a spectrum peak near the angle by utilizing the space spectrum direction finding algorithm to obtain an angle finding result, thereby greatly reducing the range of searching the spectrum peak.
Although the interferometer-space spectrum direction-finding algorithm is higher in complexity than the interferometer direction-finding calculation, the interferometer-space spectrum direction-finding algorithm is greatly lower in complexity than the space spectrum direction-finding algorithm, and has the characteristic of high precision of the space spectrum direction-finding algorithm. The interferometer-space spectrum direction-finding algorithm can simultaneously meet the requirements of high direction-finding precision, high direction-finding speed and low algorithm complexity, and is favorable for engineering realization.
Another embodiment of the present invention provides a high-precision and fast radio direction finding system, as shown in fig. 3, the system includes an interferometer module 301 and a precision measurement module 302, where:
the interferometer module is used for carrying out rough direction finding through an interferometer based on the antenna receiving signals to obtain an initial direction;
and the accurate measurement module is used for constructing a data matrix by utilizing the space spectrum, guiding the space spectrum to perform accurate direction measurement in the initial direction range by using the initial direction obtained by the interferometer, and obtaining the optimal estimation result of the incident azimuth angle.
The specific implementation process of the embodiment of the system is the same as the specific implementation process of the embodiment of the method, and please refer to the embodiment of the method for details, which is not described herein again.
An embodiment of the present invention provides an electronic device, as shown in fig. 4, the electronic device includes: a processor (processor)401, a communication Interface (communication Interface)402, a memory (memory)403 and a communication bus 404, wherein the processor 401, the communication Interface 402 and the memory 403 complete communication with each other through the communication bus 404. The processor 401 may call a computer program in the memory 403 and running on the processor 401 to execute a high-precision fast radio direction finding method provided by the above embodiments, for example, including:
based on the antenna receiving signal, carrying out rough direction finding through an interferometer to obtain an initial direction;
and constructing a data matrix by using the space spectrum, and guiding the space spectrum to perform accurate direction finding in the range of the initial direction by using the initial direction obtained by the interferometer to obtain the optimal estimation result of the incident azimuth angle.
In addition, the logic instructions in the memory 403 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Embodiments of the present invention also provide a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform, when executed by a processor, a high-precision fast radio direction finding method provided in the foregoing embodiments, for example, the method includes:
based on the antenna receiving signal, carrying out rough direction finding through an interferometer to obtain an initial direction;
and constructing a data matrix by using the space spectrum, and guiding the space spectrum to perform accurate direction finding in the range of the initial direction by using the initial direction obtained by the interferometer to obtain the optimal estimation result of the incident azimuth angle.
The above-described embodiments of the electronic device and the like are merely illustrative, and units illustrated as separate components may or may not be physically separate, and components displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute the various embodiments or some parts of the methods of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A high-precision fast radio direction finding method is characterized by comprising the following steps:
based on the antenna receiving signal, carrying out rough direction finding through an interferometer to obtain an initial direction;
and constructing a data matrix by using the space spectrum, and guiding the space spectrum to perform accurate direction finding in the range of the initial direction by using the initial direction obtained by the interferometer to obtain the optimal estimation result of the incident azimuth angle.
2. A high precision fast radio direction finding method according to claim 1, wherein said coarse direction finding by interferometer based on antenna received signal to obtain initial orientation comprises:
and acquiring a real phase difference according to the phase of each channel of the antenna, wherein the phase difference is the initial direction.
3. The method according to claim 2, wherein the constructing a data matrix by using the space spectrum, and performing fine direction finding on the space spectrum in the initial azimuth range by using the initial azimuth guide space spectrum obtained by the interferometer to obtain the optimal estimation result of the incident azimuth angle comprises:
acquiring the measured phase of each channel, and acquiring data measured by all channels;
constructing a covariance matrix according to the data, and performing feature decomposition on the covariance matrix to obtain a decomposed feature vector;
acquiring an azimuth angle of an incident signal according to the phase difference, sequencing the eigenvectors according to the magnitude of the eigenvalue, taking a large eigenvalue as a signal subspace, and taking a small eigenvalue as a noise subspace, wherein the large eigenvalue is greater than a first preset threshold value, and the small eigenvalue is less than a second preset threshold value;
taking the azimuth angle as a search limited range of a matrix characteristic space decomposition algorithm, and constructing a space spectrum function to search a spectrum peak by using the orthogonal characteristics of the signal subspace and the noise subspace;
and taking the angle corresponding to the maximum value obtained by searching as the incident direction of the incident signal, and carrying out extended Kalman filtering on the measurement angle to obtain the optimal estimation result of the incident azimuth angle.
4. A high accuracy fast radio direction finding method according to claim 3, wherein said utilizing the orthogonal property of said signal subspace and said noise subspace, the specific calculation formula is as follows:
aH(θ)Vi＝0，
wherein, aHRepresenting the conjugate transpose of the signal matrix, ViRepresenting a noise feature vector.
5. A high accuracy fast radio direction finding method according to claim 3, characterized in that said spatial spectrum function is constructed for spectral peak search, obtained by using the following formula:
wherein, PMUSICDenotes the peak value of the signal when the angle of incidence is θ, aHRepresenting the conjugate transpose of the signal matrix,
a matrix of noise is represented by a matrix of noise,
denotes the conjugate transpose of the noise matrix and a (θ) denotes the signal matrix.
6. A high accuracy fast radio direction finding system comprising:
the interferometer module is used for carrying out rough direction finding through an interferometer based on the antenna receiving signals to obtain an initial direction;
and the accurate measurement module is used for constructing a data matrix by utilizing the space spectrum, guiding the space spectrum to perform accurate direction measurement in the initial direction range by using the initial direction obtained by the interferometer, and obtaining the optimal estimation result of the incident azimuth angle.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the method of high accuracy fast radio direction finding as claimed in any one of claims 1 to 5.
8. A non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a high accuracy fast radio direction finding method according to any one of claims 1 to 5.
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