CN115308685B - External radiation source target positioning method based on multi-base station communication pseudo-range information - Google Patents
External radiation source target positioning method based on multi-base station communication pseudo-range information Download PDFInfo
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The invention relates to the technical field of external radiation source target positioning, in particular to an external radiation source target positioning method based on multi-base station communication pseudo-range information, which comprises the following specific steps: constructing an expression of a pseudo range of the target to each base station; expanding an equivalent observation equation of the pseudo range into a linear equation at the target position estimation position, and writing the linear equation into a matrix form; obtaining measured values of information transmission distances of all base stations through n times of detection, and solving to obtain pseudo-range measured values; solving to obtain a target position estimation coordinate; performing iterative computation by using a least square method to obtain an accurate solution of the estimated coordinates of the target position; signal-to-noise ratio weighted least squares positioning optimization. According to the method, the position coordinates of the target in the three-dimensional space are calculated according to pseudo-range information obtained by measurement of multiple base stations, and positioning is achieved.
Description
Technical Field
The invention relates to the technical field of external radiation source target positioning, in particular to an external radiation source target positioning method based on multi-base station communication pseudo-range information.
Background
With the rapid development of the fifth generation mobile communication technology (5G), the external radiation source target positioning based on the 5G base station is an important research direction of urban low-altitude target detection positioning. An external radiation source radar is radar equipment for detecting, positioning and tracking by detecting reflected echoes of targets by using an external non-matched electromagnetic radiation source. The external radiation source target is a target to be detected by the external radiation source radar in the urban low-altitude environment.
Because the base stations are limited by the receiving antenna and the working mode of the 5G base station, each base station adopts a detection mode of receiving and transmitting co-location (the base stations receive and receive a common antenna), the detection echo signals are weak, and the target angle information cannot be accurately obtained. And measuring signal arrival time information according to double multi-base among the multi-base stations by adopting a coherent accumulation (a method for accumulating signals by utilizing phase information of the signals), and calculating the obtained double multi-base transmission distance information. Meanwhile, as the targets are located in the three-dimensional space, the common multi-station TDOA positioning, multi-station DOA positioning and multi-station FDOA positioning methods are suitable for target positioning on a two-dimensional plane, and the tracking positioning capability of moving targets in the three-dimensional space is limited, so that the improvement of the positioning mode needs to be considered.
Disclosure of Invention
The invention aims to provide an external radiation source target positioning method based on multi-base station communication pseudo-range information, so as to solve the problems in the background technology.
The technical scheme of the invention is as follows: an external radiation source target positioning method based on multi-base station communication pseudo-range information comprises the following steps:
s1, constructing a pseudo-range expression from a target to a base station;
s2, developing an equivalent observation equation of the pseudo range into a linear equation at the target position estimation position, and writing the linear equation into a matrix form;
s3, obtaining measured values of information transmission distances of the multiple base stations through n times of measurement (n is the number of the multiple base stations, and n is more than 3), and solving to obtain the measured values of the pseudo range through the pseudo range expression constructed in the S1;
s4, solving to obtain target position estimation coordinates;
s5, performing iterative computation by using a least square method to obtain an accurate solution of the estimated coordinates of the target position;
s6, optimizing the signal-to-noise ratio weighted least square positioning.
Preferably, the pseudo-range expression of the target to the multiple base stations constructed in S1 is:
wherein ρ is i Representing the target P u To base station P i I=1, 2,3, …, n; base station P i To base station P j Information S of (2) ij Information S ij Is N ij ＝ρ i +ρ j Wherein i=1, 2,3, …, n; j=1, 2,3, …, n, i+.j.
Preferably, in the step S2, a low-altitude target P is assumed during positioning of multiple base stations u The position is (x) u ,y u ,z u ) The positions of n base stations are (x i ,y i ,z i ) Pseudo range of target to base station is ρ i Where i=1, 2,3, …, n.
Meanwhile, according to the spatial position relation, pseudo range rho i The equivalent observation equation of (2) can be expressed as:
where i is the base station number, (x) i ,y i ,z i ) For the position coordinates of the base stations i=1, 2,3, …, n at this time instant, the position coordinates of (x u ,y u ,z u ) And (5) target position coordinates to be estimated.
Preferably, a new variable is introduced, the receiver positioning error (Δx u ,Δy u ,Δz u ) And pseudorange error Δρ i For pseudo range ρ i Is subjected to linearization processing:
pseudo range ρ i Equivalent observation equation of (2)At the target estimated positionThe points are developed into linear equations and written into a matrix form:
in the middle of
Preferably, in S3, the method comprises the steps of measuring n timesCalculating to obtain n measured values->
The invention provides an external radiation source target positioning method based on multi-base station communication pseudo-range information through improvement, which has the following improvement and advantages compared with the prior art:
based on the positioning of the external radiation source target by the plurality of 5G base stations, the position of the external radiation source target can be determined by utilizing a group of ground base stations with pre-determined positions. Under the condition of high-precision time synchronization of the base stations, 3 or more ground base stations can determine the position of an aerial target.
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The invention is further explained below with reference to the drawings and examples:
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a diagram of three base station positioning;
fig. 3 is a diagram of multi-base station positioning.
Detailed Description
The following detailed description of the present invention clearly and fully describes the technical solutions of the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
According to the theory of space analysis geometry, in three-dimensional space, if the receiver can accurately measure the time when a signal is transmitted from a target with a known spatial position to the receiver and the light speed is fixed, the distance between the satellite and the receiver can be calculated, and the influence caused by the clock synchronization error of the satellite clock and the receiver is not corrected, and the measured distance contains clock error factors and is called a pseudo-range.
An external radiation source target positioning method based on three-base station communication pseudo-range information comprises the following specific steps:
s1, constructing a pseudo-range expression of a target to three base stations:
the three base station positioning diagram is shown in fig. 2, assuming a target P u The position is (x) u ,y u ,z u )，P 1 、P 2 、P 3 The positions of the three 5G base stations are (x i ,y i ,z i ) Pseudo range of target to base station is ρ i Where i=1, 2,3.
To give the target position (x) u ,y u ,z u ) The parameters are estimated, the number of the distributed base stations is more than or equal to 3, and the position (x) of the receiver in the three-dimensional space can be calculated according to the pseudo range u ,y u ,z u ) And positioning of the air target is realized.
When three stations locate an empty target, the detection information comprises P i Standing to P j Information S of station ij Where i=1, 2,3, j=1, 2,3, i+.j.
With P 1 、P 2 、P 3 Receiving P indirectly 1 Standing to P 2 Station signal S 12 、P 1 Standing to P 3 Station signal S 13 、P 2 Standing to P 3 Station signal S 23 For example, an analysis was performed:
according to the double-base station target distance measuring method, if S 12 、S 13 、S 23 The signal transmission delay is deltat in turn 12 、Δt 13 、Δt 23 Consider base station P 1 、P 2 、P 3 Compensation information processing fixed delay delta tau 1 、Δτ 2 、Δτ 3 Then
Let P i Standing to P j Information S of station ij Transmission distance N ij ＝ρ i +ρ j Where i=1, 2,3, j=1, 2,3, i+.j, measured, observation data N is obtained 12 、N 13 、N 23 。
S2, developing an equivalent observation equation of the pseudo range into a linear equation at the target position estimation position, and writing the linear equation into a matrix form:
pseudo range ρ according to the spatial position relationship i The equivalent observation equation of (2) can be expressed as:
in which i base station number, (x i ,y i ,z i ) For the position coordinates of the base stations i=1, 2,3 at this time instant, the position coordinates (x u ,y u ,z u ) And (5) target position coordinates to be estimated.
To solve the equation, the equation should be linearized. Introducing new variables, receiver positioning error (deltax u ,Δy u ,Δz u ) And pseudorange error Δρ i 。
The equation can be madeEstimated position +.>The points are developed into linear equations and written into a matrix form:
in the middle of
S3, obtaining measured values of information transmission distances of three base stations through three times of measurement, and solving the measured values of the pseudo range through the pseudo range expression constructed in the S1:
by 3 detection, a measured value is obtainedCalculating to obtain three measured values->I.e.
S4, solving to obtain target position estimated coordinates:
order the
Δρ＝[Δρ 1 Δρ 2 Δρ 3 ] T ，
Δx＝[Δx u Δy u Δz u ] T ，
Wherein [ among others ]] T Representing matrix transpose, which can be written in the following simple form
Δρ＝HΔx；
I.e.
Δx＝H －1 Δρ；
S5, carrying out iterative computation by using a least square method to obtain an accurate solution of the estimated coordinates of the target position:
the solution of the equation can be performed by using a least square method to perform iterative calculation, namely, starting from the target estimated approximate value, and then gradually accurate until the calculation result meets the measurement requirement, and taking the value as the final result of positioning.
The initial estimated value of the target can be set to be the coordinate mean value of the three base stations, and the coordinate position of the target can be calculated through iterative calculation.
S6, optimizing the signal-to-noise ratio weighted least square positioning.
The invention provides an external radiation source target positioning method based on multi-base station communication pseudo-range information by improving the method, which comprises the following steps:
the external radiation source target positioning method based on the multi-base station communication pseudo-range information is based on the external radiation source target positioning method based on the three-base station communication pseudo-range information, as shown in figure 1, when the number of base stations is more than 3, the external radiation source target positioning method based on the multi-base station communication pseudo-range information comprises the following specific steps:
s1, constructing a pseudo-range expression of a target to a plurality of base stations:
wherein ρ is i Representing the target P u To base station P i I=1, 2,3, …, n; base station P i To base station P j Information S of (2) ij Information S ij Is N ij ＝ρ i +ρ j Wherein i=1, 2,3, …, n; j=1, 2,3, …, n, i+.j.
S2, developing an equivalent observation equation of the pseudo range into a linear equation at the target position estimation position, and writing the linear equation into a matrix form:
fig. 3 is a schematic diagram of multi-base station positioning. Assume low-altitude target P during multi-base station positioning u The position is (x) u ,y u ,z u ) The positions of n base stations are (x i ,y i ,z i ) Pseudo range of target to base station is ρ i Where i=1, 2,3, …, n.
Meanwhile, according to the spatial position relation, pseudo range rho i The equivalent observation equation of (2) can be expressed as:
where i is the base station number, (x) i ,y i ,z i ) For the position coordinates of the base stations i=1, 2,3, …, n at this time instant, the position coordinates of (x u ,y u ,z u ) And (5) target position coordinates to be estimated.
To solve the equation, the equation should be linearized. Introducing new variables, receiver positioning error (deltax u ,Δy u ,Δz u ) And pseudorange error Δρ i 。
The equation can be madeEstimated position +.>The points are developed into linear equations and written into a matrix form:
in the middle of
S3, obtaining measured values of information transmission distances of multiple base stations through n times of measurement (n is the number of the multiple base stations, and n is more than 3), constructing a pseudo-range expression through S1, and solving to obtain the pseudo-range measured values:
by n measurementsCalculating to obtain n measured values->
S4, solving to obtain target position estimated coordinates:
order the
Δρ＝[Δρ 1 Δρ 2 Δρ 3 …Δρ n ] T ，
Δx＝[Δx u Δy u Δz u ] T ，
Wherein [ among others ]] T Representing the matrix transpose, equation 1 can be written in the following simple form
Δρ＝HΔx；
I.e.
Δx＝H －1 Δρ；
When the number of base stations is more than 4, the matrix H is irreversible. Another Δx calculation method is [1]:
Δx＝[H T H] -1 H T Δρ；
s5, carrying out iterative computation by using a least square method to obtain an accurate solution of the estimated coordinates of the target position:
the solution of the equation can be performed by using a least square method to perform iterative calculation, namely, starting from the target estimated approximate value, and then gradually accurate until the calculation result meets the measurement requirement, and taking the value as the final result of positioning.
The initial estimated value of the target can be set to be the coordinate mean value of the three base stations, and the coordinate position of the target can be calculated through iterative calculation.
S6, optimizing signal-to-noise ratio weighted least square positioning:
in the least squares positioning algorithm, there is an implicit precondition that all measurements are of equal accuracy.
However, in actual measurement, the measurement error obtained from a base station with a high signal-to-noise ratio is generally larger than that obtained from a base station with a poor signal-to-noise ratio.
For measurement problems of unequal accuracy, a weighted least squares algorithm, i.e., a WLS algorithm, is generally used for calculation.
The method is characterized in that weight matrixes are added in calculation, weights of different base stations are adjusted according to signal to noise ratios, and the importance of the base stations with high signal to noise ratios in position calculation is improved, so that the calculation accuracy is improved.
In the WLS algorithm, the calculation formula of Δx is as follows:
Δx＝[H T WH] -1 H T WΔρ；
wherein Δx, Δρ, and H are matrices as previously shown. W is the weight coefficient matrix.
Wherein the measurement error variance can be set according to the signal-to-noise ratio.
Unlike traditional external radiation source radar method, which adopts base transceiver station separate (signal receiving and transmitting are not on the same base station), external radiation source target positioning based on multiple 5G base stations can be regarded as determining external radiation source target position by using a group of ground base stations with accurate pre-determined positions. Under the condition of high-precision time synchronization of the base stations, 3 or more ground base stations can determine the position of an aerial target.
The previous description is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. An external radiation source target positioning method based on multi-base station communication pseudo-range information is characterized by comprising the following steps of: the method comprises the following steps:
s1, constructing a pseudo-range expression from a target to a base station, wherein the pseudo-range expression is as follows:
wherein ρ is i Representing the target P u To base station P i I=1, 2,3, …, n; base station P i To base station P j Information S of (2) ij Information S ij Is N ij ＝ρ i +ρ j Wherein i=1, 2,3, …, n; j=1, 2,3, …, n, i+.j;
s2, developing an equivalent observation equation of the pseudo range into a linear equation at the target position estimation position, and writing the linear equation into a matrix form;
s3, obtaining measured values of information transmission distances of a plurality of base stations through n times of measurement, wherein n is the number of the plurality of base stations, and solving the measured values of the pseudo range through a pseudo range expression constructed in the S1;
s4, solving to obtain target position estimation coordinates;
s5, performing iterative computation by using a least square method to obtain an accurate solution of the estimated coordinates of the target position;
s6, optimizing the signal-to-noise ratio weighted least square positioning.
2. A multi-base station based communication pseudo-range message as recited in claim 1The method for positioning the external radiation source target is characterized by comprising the following steps of: in the step S2, a low-altitude target P is assumed during positioning of multiple base stations u The position is (x) u ,y u ,z u ) The positions of n base stations are (x i ,y i ,z i ) Pseudo range of target to base station is ρ i Wherein i=1, 2,3, …, n;
meanwhile, according to the spatial position relation, pseudo range rho i The equivalent observation equation of (2) can be expressed as:
where i is the base station number, (x) i ,y i ,z i ) For the position coordinates of the base stations i=1, 2,3, …, n at this time instant, the position coordinates of (x u ,y u ,z u ) And (5) target position coordinates to be estimated.
3. The method for positioning an external radiation source target based on multi-base station communication pseudo-range information according to claim 2, wherein: introducing new variables, receiver positioning error (deltax u ,Δy u ,Δz u ) And pseudorange error Δρ i For pseudo range ρ i Is subjected to linearization processing:
pseudo range ρ i Equivalent observation equation of (2)At the target estimated positionThe points are developed into linear equations and written into a matrix form:
in the above matrix, the target estimated positionρ at i The equivalent observation equation isWherein in the target estimated position->In equivalent observation, the position coordinates of n base stations are +.>n is more than or equal to 3, n is the number of multiple base stations,
4. a method for positioning an external radiation source object based on multi-base station communication pseudo-range information according to claim 3, wherein: in the S3, through n times of measurement valuesCalculating to obtain n measured values->；
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