CN116774142A - Coordinate conversion method in non-equal-altitude double-machine cross positioning - Google Patents
Coordinate conversion method in non-equal-altitude double-machine cross positioning Download PDFInfo
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- CN116774142A CN116774142A CN202310697693.3A CN202310697693A CN116774142A CN 116774142 A CN116774142 A CN 116774142A CN 202310697693 A CN202310697693 A CN 202310697693A CN 116774142 A CN116774142 A CN 116774142A
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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
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Abstract
The coordinate conversion method in the non-equal-height double-machine cross positioning solves the problem that the coordinate conversion method in the prior art is not suitable for the non-equal-height double-machine cross positioning under the general condition, realizes the capability of correctly converting the coordinates and improving the positioning precision, has simple and easy conversion process, small calculation amount and high instantaneity, and can meet the technical effect of requirements of engineering practice.
Description
Technical Field
The application relates to the field of passive detection, in particular to a coordinate conversion method in non-equal-altitude double-machine cross positioning.
Background
The most commonly used target positioning method in the electronic countermeasure field at present comprises two types of passive positioning and active positioning, and compared with the active detection technology, the passive detection positioning tracking technology has the advantages of anti-stealth, anti-early warning, anti-radiation missile and the like, and more commonly used positioning methods in the electronic countermeasure field comprise angle measurement cross positioning (AOA), time difference positioning (TDOA) and frequency difference positioning (FDOA). Because the cross positioning only needs not less than two devices to work simultaneously and does not require higher time synchronization precision between the devices, the requirements of time difference positioning not less than three devices to work simultaneously and high precision time synchronization between the devices are overcome, the characteristic that frequency difference positioning requires uninterrupted movement of the devices is also overcome, and the cross positioning method is widely used. The direct positioning result of the cross positioning is to take an oblique plane observation coordinate system determined by the unmanned aerial vehicle positioning station and the target as a reference, and the observation coordinate system of the target is required to be converted into a geodetic coordinate system in order to obtain the accurate true longitude and latitude of the target.
In the problem of double-machine cross positioning, if two unmanned aerial vehicles are at the same height or the relative height difference is very small and negligible, the conversion of the target coordinate system can be completed by adopting a simple projection mapping method.
However, in the actual positioning scene, in order to form the optimal viewing condition with the target radiation source, the heights of the two unmanned aerial vehicles are always required to be continuously adjusted, so that the heights of the plurality of unmanned aerial vehicles are different, and the ideal contour condition is difficult to form.
The method is characterized in that the double-machine cross positioning is carried out under the non-equal-altitude condition, the coordinate obtained by calculation of the projection mapping method is different from the real coordinate, the coordinate calculation error is increased along with the increase of the relative altitude of the unmanned aerial vehicle, the coordinate calculation error is also increased along with the increase of the absolute altitude, and the error positioning result is obtained when the absolute altitude is serious. Therefore, the coordinate conversion method under the condition of equal-altitude double-machine cross positioning is not suitable for general practical conditions any more.
Disclosure of Invention
The present application has been made in view of the above problems, and it is an object of the present application to provide a coordinate transformation method in non-equal-height two-machine cross positioning which overcomes or at least partially solves the above problems.
According to an aspect of the present application, there is provided a coordinate transformation method in non-contour dual-machine cross positioning, the transformation method comprising:
establishing a cross positioning scene, wherein a coordinate system is formed by x g Axis, y g An axis and a z-axis;
the two unmanned aerial vehicles are arranged in the same way,respectively at P (0, h) 1 ) And Q (x) gQ ,0,h 2 ) Points, co-located at T (x gT ,y gT The radiation source target of the point 0) is detected and direction finding cross positioning is completed;
PQ length is unmanned aerial vehicle inter-station distance R PQ PQ wire extension and x g The axis intersects the D point and the x g The included angle of the axes is theta;
from T, perpendicular to PQ is taken and intersects PQ with B (x sT 0), then PQ and TB form a new plane, called the oblique plane;
passing the point P to form a straight line y parallel to TB s Then by x s Axes PD and y s The axes forming a new x s -y s A coordinate system;
the unmanned plane direction-finding cross positioning system obtains a positioning result in x through measurement of two line-of-sight lines s -y s The coordinates in the coordinate system are T (x sT ,y sT )；
Handle T (x) sT ,y sT ) Converted to T (x) gT ,y gT 0), the completion conversion of the abscissa and the ordinate, respectively.
Optionally, the step of completing the conversion on the abscissa and the ordinate further includes:
rotating the geodetic coordinate system x according to the north direction g -y g -z to ENU coordinate system;
converting the ENU coordinate system into an ECEF coordinate system according to a related formula;
and converting the coordinates in the ECEF coordinate system into (lon, lat, alt) coordinates in the LLA coordinate system according to a related formula, completing all coordinate conversion, and obtaining the longitude and latitude heights of the target radiation source T.
Optionally, the performing conversion on the abscissa and the ordinate specifically includes:
step 1: starting from T, x g Perpendicular to axis and with x g The axes intersect at point a; delta BAT is a right triangle with < A > as a right angle;
step 2: starting from B, x g Perpendicular to axis and with x g The axes intersect at point C. Obviously, delta ABC is a right triangle taking angle C as a right angle, and the angle isABC is theta;
step 3: x is calculated according to the following formula s Axis and x g An included angle theta of the axes;
step 4: x is calculated according to the following formula s -y s Height h of origin B of coordinate system 0 ；
h 0 ＝h 1 -x sT sinθ
Step 5: calculating the length of the AB according to the following formula;
step 6: finally, calculating the coordinate system x of the target on the earth according to the following formula g -y g Y in z g Coordinate sum x g Coordinates;
x gT ＝x sT *cosθ-h 0 *tanθ。
the application provides a coordinate conversion method in non-equal-height double-machine cross positioning, which solves the problem that the coordinate conversion method in the prior art is not suitable for non-equal-height double-machine cross positioning under the general condition, realizes the capability of correctly converting coordinates and improving positioning precision, has simple and easy conversion process, small calculation amount and high instantaneity, and can meet the technical effect of requirements of engineering practice.
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of coordinates in a cross-positioning scenario according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terms "comprising" and "having" and any variations thereof in the description embodiments of the application and in the claims and drawings are intended to cover a non-exclusive inclusion, such as a series of steps or elements.
The technical scheme of the application is further described in detail below with reference to the accompanying drawings and the examples.
In the cross-positioning scenario shown in FIG. 1, the coordinate system is defined by x g Axis, y g An axis and a z-axis. There are two unmanned aerial vehicles, respectively located at P (0, h) 1 ) And Q (x) gQ ,0,h 2 ) Points, co-located at T (x gT ,y gT The radiation source target at the point 0) is detected and the direction finding cross positioning is completed. The PQ length is the distance R between the stations of the unmanned aerial vehicle PQ PQ wire extension and x g The axis intersects the D point and the x g The included angle of the axes is theta.
From T, perpendicular to PQ is taken and intersects PQ with B (x sT 0), PQ and TB form a new plane, called the oblique plane. Passing the point P to form a straight line y parallel to TB s Then by x s Axes (PD) and y s The axes forming a new x s -y s And (5) a coordinate system. The unmanned plane direction-finding cross positioning system obtains a positioning result in x through measurement of two line-of-sight lines s -y s The coordinates in the coordinate system are T (x sT ,y sT ). To handle T (x) sT ,y sT ) Converted to T (x) gT ,y gT 0) and the abscissa and the ordinate are converted respectively, and the coordinate conversion steps are as follows.
Step 1: starting from T, x g Perpendicular to axis and with x g The axes intersect at point a. It is obvious that ΔBAT is a right triangle with angle A as right angle.
Step 2: starting from B, x g Perpendicular to axis and with x g The axes intersect at point C. Obviously, Δabc is a right triangle with ++c as a right angle, and ++abc is θ.
Step 3: x is calculated according to the following formula s Axis and x g The angle θ of the axes.
Step 4: x is calculated according to the following formula s -y s Height h of origin B of coordinate system 0 。
h 0 ＝h 1 -x sT sinθ
Step 5: the length of AB is calculated according to the following formula.
Step 6: finally, calculating the coordinate system x of the target on the earth according to the following formula g -y g Y in z g Coordinate sum x g Coordinates.
x gT ＝x sT *cosθ-h 0 *tanθ
After finishing the coordinate conversion according to the above steps, the geodetic coordinate system x is rotated according to the north direction g -y g Z to ENU coordinate system, then converting ENU coordinate system to ECEF coordinate system according to the related formula, and finally converting coordinates under ECEF coordinate system to (lon, lat, alt) coordinates under LLA coordinate system according to the related formula, namely completing all coordinate conversion and obtaining longitude and latitude height of the target radiation source T.
In practical application, for example, a company completes a cooperative electronic countermeasure demonstration verification system of an unmanned aerial vehicle in trial production of 12 months in 2022, and a data processor of the system takes the coordinate conversion method in non-equal-altitude double-machine cross positioning as a final coordinate conversion scheme. The unmanned aerial vehicle collaborative electronic countermeasure demonstration verification system performs a plurality of positioning performance tests under a plurality of airspaces of a plurality of scenes of an external field: under the condition of general non-equal-height double-machine cross positioning, correct coordinate conversion can be completed, and compared with the traditional coordinate conversion method which does not use the 6 steps to complete the coordinate conversion, a more accurate positioning result can be output, and the effectiveness and the practicability of the coordinate conversion method in the non-equal-height double-machine cross positioning are proved.
The beneficial effects are that: the method solves the problem that the coordinate conversion method in the prior art is not suitable for non-equal-height double-machine cross positioning under the general condition, realizes the capability of correctly converting the coordinates and improving the positioning precision, has simple and easy conversion process, small operand and high instantaneity, and can meet the technical effect of requirements of engineering practice.
The foregoing detailed description of the application has been presented for purposes of illustration and description, and it should be understood that the application is not limited to the particular embodiments disclosed, but is intended to cover all modifications, equivalents, alternatives, and improvements within the spirit and principles of the application.
Claims (3)
1. The coordinate conversion method in non-equal-altitude double-machine cross positioning is characterized by comprising the following steps:
establishing a cross positioning scene, wherein a coordinate system is formed by x g Axis, y g An axis and a z-axis;
two unmanned aerial vehicles are respectively positioned at P (0, h) 1 ) And Q (x) gQ ,0,h 2 ) Points, co-located at T (x gT ,y gT The radiation source target of the point 0) is detected and direction finding cross positioning is completed;
PQ length is unmanned aerial vehicle inter-station distance R PQ PQ wire extension and x g The axis intersects the D point and the x g The included angle of the axes is theta;
from T, perpendicular to PQ is taken and intersects PQ with B (x sT 0), then PQ and TB form a new plane, called the oblique plane;
passing the point P to form a straight line y parallel to TB s Then by x s Axes PD and y s The axes forming a new x s -y s A coordinate system;
the unmanned plane direction-finding cross positioning system obtains a positioning result in x through measurement of two line-of-sight lines s -y s The coordinates in the coordinate system are T (x sT ,y sT )；
Handle T (x) sT ,y sT ) Converted to T (x) gT ,y gT 0), the completion conversion of the abscissa and the ordinate, respectively.
2. The method for transforming coordinates in cross-over positioning of non-equal height machines according to claim 1, wherein after the step of transforming the abscissa and the ordinate is completed, further comprising:
rotating the geodetic coordinate system x according to the north direction g -y g -z to ENU coordinate system;
converting the ENU coordinate system into an ECEF coordinate system according to a related formula;
and converting the coordinates in the ECEF coordinate system into (lon, lat, alt) coordinates in the LLA coordinate system according to a related formula, completing all coordinate conversion, and obtaining the longitude and latitude heights of the target radiation source T.
3. The method for converting coordinates in non-equal-altitude double-machine cross positioning according to claim 1, wherein the converting of the abscissa and the ordinate is completed specifically comprises:
step 1: starting from T, x g Perpendicular to axis and with x g The axes intersect at point a; delta BAT is a right triangle with < A > as a right angle;
step 2: starting from B, x g Perpendicular to axis and with x g The axes intersect at point C; delta ABC is a right triangle with < C > as a right angle, and < ABC > is theta;
step 3: x is calculated according to the following formula s Axis and x g An included angle theta of the axes;
step 4: x is calculated according to the following formula s -y s Height h of origin B of coordinate system 0 ；
h 0 ＝h 1 -x sT sinθ
Step 5: calculating the length of the AB according to the following formula;
step 6: finally, calculating the coordinate system x of the target on the earth according to the following formula g -y g Y in z g Coordinate sum x g Coordinates;
x gT ＝x sT *cosθ-h 0 *tanθ。
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