Clustering-based single-UAV multi-target AOA positioning method

Abstract

The invention discloses a clustering-based single-UAV multi-target AOA positioning method. The clustering-based single-UAV multi-target AOA positioning method comprises the steps of: (1), receiving multiple radiation source signals at K different positions by a UAV, and performing signal arrival angle estimation; (2), establishing a simultaneous azimuth line equation by arbitrarily selecting arrival angle information at two different positions measured by the UAV, and obtaining the position of an intersection point; (3), introducing loss functions, and calculating the distance sum of D intersection points which are the closest to each intersection point; and (4), sorting the loss functions from smallest to biggest, and finding out N intersection points, the loss function sum of which is minimum and the distance between every two is not less than W, namely position estimation of N interference sources. According to the clustering-based single-UAV multi-target AOA positioning method in the invention, on the premise that the better positioning performance is kept, the problem that angle information in multi-target positioning is difficultly matched with a corresponding radiation source can be effectively solved; a pseudo point is eliminated by using a clustering method in unsupervised learning; simultaneous positioning of multiple targets is realized; the process can be completedonly needing an UAV; the operating cost is low; and engineering realization is easy.

Description

technical field [0001] The invention relates to the technical field of multi-target positioning, in particular to a cluster-based multi-target AOA positioning method for a single unmanned aerial vehicle. Background technique [0002] The traditional land-based platform based on the ground radar system is greatly affected by the complex environment on the ground due to the fixed observation station, and its flexibility is poor, which is limited in practical applications. Therefore, it is of great practical significance to study UAV-based space-based platform positioning. [0003] The multi-AOA positioning system based on a single UAV has a simple structure and a small size. Only one UAV is needed to complete the positioning. The cost is low and it is widely used in practice. In the single UAV AOA localization problem, the motion observer is used to localize the fixed target. On the trajectory line of the UAV, the azimuth is measured from different points, and the target pos...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a clustering-based multi-target AOA positioning method for a single UAV, using the clustering method in unsupervised learning to solve the difficulty in matching the angle information and the corresponding radiation source in multi-target positioning problems, eliminate false points, and realize simultaneous positioning of multiple targets

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