Radiation source positioning method and device of electromagnetic signal, electronic equipment and storage medium

Abstract

The invention provides a radiation source positioning method and device of an electromagnetic signal, electronic equipment and a storage medium, and relates to the technical field of electromagnetic spectrum detection. The method comprises the following steps: receiving electromagnetic signals by using an antenna array of a master station, and obtaining a measurement phase difference group of the electromagnetic signals; comparing the measurement phase difference group with a sample phase difference group library of the antenna array to obtain a matched sample phase difference group and a sample incident angle so as to obtain an electromagnetic signal incident angle; the radiation source position of the electromagnetic signal is determined based on the time difference information of the electromagnetic signal and the incident angle, and the time difference information comprises the time difference of the electromagnetic signal received by the main station and the auxiliary station. According to the invention, the measurement phase difference group is matched according to the sample phase difference group library, the incident angle can be accurately determined in a complex and changeable electromagnetic environment, and the accuracy of subsequently determining the position of the radiation source is further improved. According to the invention, the position of the radiation source is solved according to the time difference information and the incident angle, and accurate prediction of the position of the radiation source is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electromagnetic spectrum detection, and in particular to a method and device for locating a radiation source of an electromagnetic signal, an electronic device and a storage medium. BACKGROUND

[0002] The low-altitude intelligent networking promotes the rapid development of the low-altitude economy, but the wide application of unmanned aerial vehicles (UAVs) puts high requirements on airspace supervision. Electromagnetic spectrum detection is a mature low-altitude UAV positioning technology, which can identify and locate the radiation source of a UAV by detecting the electromagnetic signal of the UAV. This technology can achieve passive detection of the UAV without the need for the UAV to actively send any information, and is suitable for the detection of cooperative and non-cooperative UAVs. By using the characteristic parameters such as the azimuth angle, time difference, frequency difference and intensity of the electromagnetic signal, the UAV and the operator of the UAV can be accurately located, thereby effectively preventing the intrusion and interference of malicious UAVs or unidentified flying objects.

[0003] The existing UAV positioning method cannot be applied to complex electromagnetic environments, and the positioning accuracy is low. SUMMARY

[0004] The present application provides a method and device for locating a radiation source of an electromagnetic signal, an electronic device and a storage medium to solve the problem of low positioning accuracy of UAVs in the prior art and improve the positioning accuracy of UAVs.

[0005] The present application provides a method for locating a radiation source of an electromagnetic signal, characterized in that it comprises: receiving the electromagnetic signal by using an antenna array of a main station to obtain a measured phase difference set of the electromagnetic signal between different antenna elements of the antenna array; comparing the measured phase difference set with a sample phase difference set library of the antenna array to obtain a matched sample phase difference set of the measured phase difference set and a sample incident angle of the matched sample phase difference set, so as to obtain the incident angle of the electromagnetic signal relative to the main station, and the sample phase difference set library comprises a mapping relationship between a plurality of sample phase difference sets and a plurality of sample incident angles; determining the position of the radiation source of the electromagnetic signal based on the time difference information and the incident angle of the electromagnetic signal, wherein the time difference information comprises the time difference between the reception of the electromagnetic signal by the main station and the auxiliary station.

[0006] According to the method for locating a radiation source of an electromagnetic signal provided by the present application, the antenna array comprises a circular array composed of a plurality of antenna elements, and the sample phase difference set library is constructed based on the following steps: combining all the antenna elements in pairs according to configuration information to obtain an antenna element group set, wherein the antenna element group set comprises a plurality of antenna element groups, and each antenna element group comprises two antenna elements; In the process of receiving a sample electromagnetic signal by the antenna array, a time delay of a sample signal received by each antenna unit relative to a center of the circular array is taken as a time delay of the antenna unit; For a group of antenna unit groups, a first phase difference between antenna units in the antenna unit group is determined based on time delays of two antenna units in the antenna unit group; A sample phase difference group is determined based on the first phase difference between antenna units in each group of antenna unit groups; A mapping relationship between a sample incident angle of the sample electromagnetic signal and the sample phase difference group is constructed; Based on the mapping relationship between the multiple sample phase difference groups and the multiple sample incident angles, a sample phase difference group library is constructed.

[0007] According to the electromagnetic signal radiation source positioning method provided by the application, the antenna array of the main station receives the electromagnetic signal, and a measurement phase difference group between different antenna units of the antenna array is obtained, including: In the process of receiving the electromagnetic signal by the antenna array, a received signal of each antenna unit is obtained; For a group of antenna unit groups, a second phase difference between antenna units in the antenna unit group is determined based on received signals of two antenna units in the antenna unit group; Based on the second phase difference between antenna units in each group of antenna unit groups, the measurement phase difference group is determined.

[0008] According to the electromagnetic signal radiation source positioning method provided by the application, the received signals of two antenna units in the antenna unit group include a received signal of a first antenna unit and a received signal of a second antenna unit, for a group of antenna unit groups, the second phase difference between antenna units in the antenna unit group is determined based on the received signals of two antenna units in the antenna unit group, including: When the noise signal of the received signal obeys normal distribution and is irrelevant to the received signal, the received signal of the first antenna unit and the received signal of the second antenna unit are conjugate multiplied to obtain a conjugate multiplication equation; According to the conjugate multiplication equation and the power of the electromagnetic signal, the second phase difference between antenna units in the antenna unit group is solved.

[0009] According to the electromagnetic signal radiation source positioning method provided by the application, the measurement phase difference group and the sample phase difference group library of the antenna array are compared, a matching sample phase difference group of the measurement phase difference group and a sample incident angle of the matching sample phase difference group are obtained, and the incident angle of the electromagnetic signal relative to the main station is obtained, including: Based on the measurement phase difference group and each sample phase difference group, multiple correlation coefficients are calculated, and the size of the correlation coefficient represents the similarity degree of the measurement phase difference group and the sample phase difference group; The sample phase difference group with the largest correlation coefficient is taken as the matching sample phase difference group; The sample incident angle of the matching sample phase difference group is taken as the incident angle of the electromagnetic signal.

[0010] According to the present application, the method for positioning the radiation source of the electromagnetic signal is provided, which is based on the time difference information and the incident angle of the electromagnetic signal to determine the position of the radiation source of the electromagnetic signal, comprising: The distance difference between the radiation source reaching the main station and reaching the auxiliary station is determined based on the time difference information; Based on the incident angle, the distance difference, the position coordinates of the main station and the position coordinates of the auxiliary station, the measurement error vector equation of the radiation source is constructed, and the variables of the measurement error vector equation include the position of the radiation source and the distance from the radiation source to the main station; The measurement error vector equation is solved according to the least square method to obtain the initial position of the radiation source; The measurement error vector equation is Taylor expanded at the initial position of the radiation source, and the first two order components are taken to obtain the updated initial position of the radiation source; The measurement error vector equation is Taylor expanded at the updated initial position of the radiation source, and the first two order components are taken to iteratively update the initial position of the radiation source until the update difference between the initial positions of the radiation source in adjacent two times is less than a set value, and the iteration is ended, and the last updated initial position of the radiation source is taken as the position of the radiation source.

[0011] According to the present application, the method for positioning the radiation source of the electromagnetic signal is provided, which is based on the time difference information and the incident angle of the electromagnetic signal to determine the position of the radiation source of the electromagnetic signal, comprising: The first estimated solution of the variable is obtained by solving the measurement error vector equation according to the least square method; The updated measurement error vector equation is obtained by updating the measurement error vector equation according to the first estimated solution; The second estimated solution of the variable is obtained by solving the updated measurement error vector equation according to the least square method; The initial position of the radiation source is determined based on the first estimated solution and the second estimated solution.

[0012] The present application also provides a device for positioning the radiation source of the electromagnetic signal, comprising: The acquisition module is used for receiving the electromagnetic signal by the antenna array of the main station to acquire the measurement phase difference group of the electromagnetic signal between different antenna units of the antenna array; The determination module is used for comparing the measurement phase difference group with the sample phase difference group library of the antenna array to acquire the matching sample phase difference group of the measurement phase difference group and the sample incident angle of the matching sample phase difference group, so as to acquire the incident angle of the electromagnetic signal relative to the main station, and the sample phase difference group library comprises the mapping relationship between the multiple sample phase difference groups and the multiple sample incident angles; The positioning module is configured to determine the position of the radiation source of the electromagnetic signal based on the time difference information and the incident angle of the electromagnetic signal, wherein the time difference information comprises a time difference between the electromagnetic signal received by the main station and the auxiliary station.

[0013] The present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above electromagnetic signal radiation source positioning methods when executing the computer program.

[0014] The present application also provides a non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program is executable on a processor to implement any of the above electromagnetic signal radiation source positioning methods.

[0015] The present application provides an electromagnetic signal radiation source positioning method, device, electronic device and storage medium. The method comprises: receiving an electromagnetic signal by an antenna array of a main station, and obtaining a measurement phase difference set of the electromagnetic signal between different antenna elements of the antenna array; comparing the measurement phase difference set with a sample phase difference set library of the antenna array, obtaining a matching sample phase difference set of the measurement phase difference set and a sample incident angle of the matching sample phase difference set, and obtaining an incident angle of the electromagnetic signal relative to the main station, wherein the sample phase difference set library comprises a mapping relationship between a plurality of sample phase difference sets and a plurality of sample incident angles; and determining a position of a radiation source of the electromagnetic signal based on time difference information and the incident angle of the electromagnetic signal, wherein the time difference information comprises a time difference between the electromagnetic signal received by the main station and an auxiliary station. According to the present application, the measurement phase difference set is matched with the sample phase difference set library, the incident angle can be accurately determined in a complex electromagnetic environment, and the accuracy of subsequent determination of the position of the radiation source is improved. The position of the radiation source is solved based on the time difference information and the incident angle, and the position of the radiation source is accurately predicted. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 is one of the flowcharts of the electromagnetic signal radiation source positioning method provided by the present application.

[0018] Figure 2 is another flowchart of the electromagnetic signal radiation source positioning method provided by the present application.

[0019] Figure 3 is a schematic diagram of the position distribution of the radiation source, the main station and the auxiliary station provided by the present application.

[0020] Figure 4 This is a positioning error distribution diagram of a traditional positioning method determined through simulation experiments, provided by the present invention.

[0021] Figure 5 This is a positioning error distribution diagram of the AOA+TDOA collaborative positioning method based on correlation interferometer-Chan-Taylor iteration, which was determined through simulation experiments provided by the present invention.

[0022] Figure 6 This is a schematic diagram of the electromagnetic signal radiation source locating device provided by the present invention.

[0023] Figure 7 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0025] The following is combined with Figures 1-7 The present invention describes a method, apparatus, and electronic device for locating electromagnetic signal radiation sources.

[0026] Figure 1 This is one of the flowcharts illustrating the electromagnetic signal radiation source localization method provided by the present invention, such as... Figure 1 As shown, the method for locating the radiation source of an electromagnetic signal includes steps S100 to S300, and the specific steps are as follows.

[0027] S100: Utilizes the antenna array of the main station to receive electromagnetic signals and obtains the measurement phase difference group of the electromagnetic signals between different antenna elements of the antenna array.

[0028] like Figure 2 As shown, both the main station and auxiliary station of this invention include electromagnetic detection stations. The radiation source includes a drone. The electromagnetic signal includes the electromagnetic signal emitted by the drone. When the electromagnetic detection stations are spatially discretely distributed, effective site selection is first performed using the location information of the electromagnetic detection stations and the location scenario of the drone (radiation source) to obtain effective electromagnetic detection stations. The main station and auxiliary station are then selected from the effective electromagnetic detection stations.

[0029] The main station is provided with an antenna array to receive electromagnetic signals of unknown radiation source positions. The antenna array is composed of a plurality of antenna units arranged in a set array shape (for example, circular, matrix, etc.). A target antenna unit (selected antenna unit) in the antenna array is taken as a receiving channel 1 (channel 1) of the electromagnetic signals, and an optional one of the other antenna units in the antenna array is taken as a receiving channel 2 (channel 2) of the electromagnetic signals. The other antenna units are antenna units other than the target antenna unit in the antenna array. The measured phase difference of the receiving signals of the receiving channel 1 and the receiving channel 2 is calculated and stored. According to the matrix switch, each of the other antenna units in the antenna array is traversed to obtain a plurality of measured phase differences. According to all the measured phase differences, a measured phase difference group is obtained.

[0030] For example, the antenna array is composed of 10 antenna units (this embodiment is only for simplification and illustration, and in actual cases, the number of antenna units of the antenna array is much more than 10). The numbers of the antenna units are 1, 2,..., 10 respectively. Taking the antenna unit 1 as the target antenna unit, the measured phase difference of the receiving signals of the antenna unit 1 and the antenna unit 2 is obtained, the measured phase difference of the receiving signals of the antenna unit 1 and the antenna unit 3 is obtained, the measured phase difference of the receiving signals of the antenna unit 1 and the antenna unit 4 is obtained,..., and the measured phase difference of the receiving signals of the antenna unit 1 and the antenna unit 10 is obtained. According to the obtained 9 measured phase differences, a measured phase difference group is obtained.

[0031] S200: Comparing the measured phase difference group with the sample phase difference group library to obtain a matching sample phase difference group of the measured phase difference group and a sample incident angle of the matching sample phase difference group, so as to obtain the incident angle of the electromagnetic signals relative to the main station.

[0032] The sample phase difference group library includes a mapping relationship of a plurality of sample phase difference groups and a plurality of sample incident angles.

[0033] The present application adopts a correlation interferometer direction finding to measure the incident angle of the electromagnetic signals. First, a sample phase difference library is constructed. The sample phase difference group library includes a plurality of sample phase difference groups, and each sample phase difference group corresponds to a sample incident angle.

[0034] Suppose that a sample incident angle of a sample electromagnetic signal incident to the main station is known. A sample phase difference of the sample electromagnetic signal between different antenna elements of the antenna array is obtained. A sample phase difference group corresponding to the sample electromagnetic signal is obtained according to all the sample phase differences. A mapping relationship between the sample phase difference group and the sample incident angle is constructed. Sample electromagnetic signals of multiple sample incident angles are obtained. The sample electromagnetic signal of each sample incident angle is received by the antenna array to obtain a sample phase difference group corresponding to the sample electromagnetic signal of each sample incident angle. A mapping relationship between multiple sample phase difference groups and multiple sample incident angles is constructed to obtain a sample phase difference group library.

[0035] S300: determining a radiation source position of the electromagnetic signal based on the time difference information and the incident angle of the electromagnetic signal.

[0036] The time difference information includes a time difference of the electromagnetic signal received by the main station and the auxiliary station.

[0037] As shown in Figure 2 , information of the electromagnetic signal is collected according to the main station and at least two auxiliary stations. The information of the electromagnetic signal collected by the auxiliary station is transmitted by data to the main station for preprocessing. The main station estimates the time difference according to the information of the electromagnetic signal collected by the main station and the information of the electromagnetic signal collected by the auxiliary station to obtain the time difference information between the main station and the auxiliary station. The time difference information includes a time difference of arrival (TDOA) of the electromagnetic signal arriving at the main station and arriving at the auxiliary station. The incident angle includes an angle of arrival (AOA) of the electromagnetic signal arriving at the main station.

[0038] The present application adopts TDOA positioning and AOA positioning to determine the position of the electromagnetic signal radiation source. The TDOA positioning converts the time difference information of the electromagnetic signal emitted by the unknown unmanned aerial vehicle (radiation source) to different electromagnetic spectrum detection stations into distance information, thereby realizing the positioning of the unmanned aerial vehicle. The position of the target unmanned aerial vehicle is estimated according to the intersection of multiple hyperbolas corresponding to multiple TDOA data. Since the TDOA value is calculated through two electromagnetic spectrum detection stations, only one hyperbola of the possible position of the target unmanned aerial vehicle can be obtained. To accurately locate the position of the target radiation source, at least three electromagnetic spectrum detection stations are needed to form a positioning system to work simultaneously. This positioning method has high accuracy, but has the shortcomings of requiring more electromagnetic spectrum detection stations and high-precision clock synchronization. The AOA positioning measures the azimuth angle of the target unmanned aerial vehicle signal through an antenna array, thereby forming a radial line from the electromagnetic spectrum detection station to the target unmanned aerial vehicle, i.e. the azimuth line, and then estimating the position of the target unmanned aerial vehicle. This method has the advantages of simple principle, low requirement for the number of electromagnetic spectrum detection stations, but has the disadvantages of low positioning accuracy and high requirement for the antenna. The present application combines AOA positioning and TDOA positioning to determine the position of the electromagnetic signal radiation source. First, the initial position of the radiation source is jointly analyzed according to the incident angle and time difference information. Then, the ambiguous solution in the initial position is removed to obtain a unique radiation source position.

[0039] The electromagnetic signal radiation source positioning method provided by the embodiment of the present application receives the electromagnetic signal through the antenna array of the main station, obtains a measurement phase difference set of the electromagnetic signal between different antenna elements of the antenna array; compares the measurement phase difference set with a sample phase difference set library of the antenna array, obtains a matching sample phase difference set of the measurement phase difference set and a sample incident angle of the matching sample phase difference set, so as to obtain the incident angle of the electromagnetic signal relative to the main station, and the sample phase difference set library includes a mapping relationship between multiple sample phase difference sets and multiple sample incident angles; determines the position of the electromagnetic signal radiation source based on the time difference information and the incident angle of the electromagnetic signal, and the time difference information includes the time difference of the electromagnetic signal received by the main station and the auxiliary station. According to the sample phase difference set library, the measurement phase difference set is matched, the incident angle can be accurately determined in a complex and variable electromagnetic environment, and the accuracy of subsequent determination of the radiation source position is improved. According to the time difference information and the incident angle, the position of the radiation source is jointly solved, and the accurate prediction of the position of the radiation source is realized.

[0040] Based on the above embodiment, the antenna array includes a circular array composed of multiple antenna elements, and the sample phase difference set library is constructed based on the following steps: All the antenna elements are combined two by two according to the configuration information to obtain an antenna element group set, and the antenna element group set includes multiple antenna element groups, and each antenna element group includes two antenna elements. In the process of receiving a sample electromagnetic signal by the antenna array, the time delay of the sample signal received by each antenna element relative to the center of the circular array is taken as the time delay of the antenna element; For a set of antenna element groups, based on the time delays of two antenna elements in the antenna element group, a first phase difference between the antenna elements in the antenna element group is determined; Based on the first phase differences between the antenna elements in each set of antenna element groups, a sample phase difference set is determined; A mapping relationship between sample incident angles of the sample electromagnetic signal and the sample phase difference set is constructed; Based on the mapping relationship between the multiple sample phase difference sets and the multiple sample incident angles, a sample phase difference set library is constructed.

[0041] All antenna elements are combined in pairs according to the configuration information to obtain a set of antenna element groups. For example, the antenna array is a circular array composed of M antenna elements. The numbers of the antenna elements are 1, 2, …, M. The M antenna elements are combined in pairs according to (1, 2), (1, 3), …, (1, M) to obtain multiple antenna element groups. (1, 2) represents an antenna element group composed of antenna element 1 and antenna element 2. According to all antenna element groups, a set of antenna element groups is obtained.

[0042] In the process of receiving a sample electromagnetic signal by the antenna array, the time delay of the sample signal received by each antenna element relative to the center of the circular array is taken as the time delay of the antenna element. According to the time delay of the antenna element, the phase shift of the antenna element relative to the center of the circular array can be easily derived. For a set of antenna element groups, based on the time delays of two antenna elements in the antenna element group, the phase shift of each antenna element in the antenna element group relative to the center of the circular array is determined, and then the first phase difference between the antenna elements in the antenna element group is determined. Knowing the phase shift of each antenna element in the circular array relative to the center of the circular array, the first phase difference (phase shift) between different antenna elements can be directly subtracted. The calculation formulas of the time delay of the antenna element, the phase shift of the antenna element relative to the center of the circular array, and the first phase difference are as follows.

[0043] (1); wherein, is the time delay of the i-th antenna element, is the propagation speed of electromagnetic waves in the atmospheric environment, is the total number of antenna elements in the antenna array, is the number of the antenna element, is the sample incident angle, is the distance from the sample radiation source corresponding to the sample electromagnetic signal to the main station, is the frequency of the incident sample electromagnetic signal, is the distance from the sample radiation source corresponding to the sample electromagnetic signal to the main station, is the distance from the sample radiation source corresponding to the sample electromagnetic signal to the main station, Phase shift of each antenna element relative to the center of the circular array For the first The first phase difference between each antenna element and the first antenna element. The wavelength of the sample electromagnetic signal is denoted as .

[0044] Calculate the first phase difference of each antenna element group in the antenna element group set according to Formula 1. Based on all the calculated first phase differences, construct a sample phase difference group for the sample electromagnetic signal. Mark the sample phase difference group according to the sample incident angle to establish a mapping relationship between the sample phase difference group and the sample incident angle.

[0045] Based on the above steps, a mapping relationship between multiple sample phase difference groups and multiple sample incident angles is constructed to obtain a sample phase difference group library.

[0046] This invention achieves accurate derivation of the first phase difference based on the time delay of the sample signal relative to the center of the circular array, thereby improving the accuracy of constructing a sample phase difference library.

[0047] Based on the above embodiments, the process of receiving electromagnetic signals using the antenna array of the main station and obtaining the measurement phase difference set of the electromagnetic signals between different antenna elements of the antenna array includes the following steps: During the process of receiving electromagnetic signals by the antenna array, the received signals of each antenna element are acquired; For a group of antenna elements, the second phase difference between the antenna elements in the group is determined based on the received signals of two antenna elements in the group. The measurement phase difference group is determined based on the second phase difference between the antenna elements in each antenna element group.

[0048] After establishing the sample phase difference group library, the antenna array of the main station is used to receive electromagnetic signals, and the measured phase difference groups of the electromagnetic signals between different antenna elements of the antenna array are obtained. During the process of the antenna array receiving electromagnetic signals, the received signals of each antenna element are acquired. The formula for expressing the received signals of the antenna elements is as follows.

[0049] ; in, For the first The received signal of each antenna element For the first The effective signal received by each antenna element For the first The noise signal of the received signal of each antenna element. The amplitude of the received signal, For the first The time delay of each antenna element, For the first The phase of the received signal of each antenna element The frequency of the electromagnetic signal, This refers to the time point at which the received signal is received.

[0050] For a group of antenna elements, the received signals from two antenna elements in the group are processed to calculate the second phase difference between the antenna elements. For example, if the received signal is a complex signal, the phase of the received signal is extracted using the arctangent function (arctan). Then, the phases of the received signals from the two antenna elements in the group are subtracted to obtain the second phase difference. Alternatively, the second phase difference can be solved by performing a complex conjugate multiplication on the received signals from the two antenna elements in the group.

[0051] Calculate the second phase difference between antenna elements in each antenna element group. Based on all the second phase differences, determine the measurement phase difference group.

[0052] This invention calculates the second phase difference based on the received signal, and then obtains the measurement phase difference group, thus realizing the accurate calculation of the measurement phase difference group.

[0053] Based on the above embodiments, the received signals of two antenna elements in an antenna element group include the received signal of the first antenna element and the received signal of the second antenna element. For a group of antenna elements, determining the second phase difference between the antenna elements in the antenna element group based on the received signals of two antenna elements in the antenna element group includes the following steps: When the noise signal of the received signal follows a normal distribution and is uncorrelated with the received signal, the received signals of the first antenna element and the received signals of the second antenna element are multiplied by conjugate to obtain the conjugate multiplication equation. Based on the conjugate multiplication equation and the power of the electromagnetic signal, the second phase difference between antenna elements in the antenna element group is solved.

[0054] The received signals from the first antenna element and the second antenna element are multiplied by their conjugates to obtain the product. The formula for calculating the conjugate product is as follows.

[0055] ; When the noise signal of the received signal follows a normal distribution and is uncorrelated with the received signal, the following relationship is satisfied.

[0056] ; Thus, the product of the conjugates of the received signals of the first antenna element and the second antenna element satisfies the following formula.

[0057] (2); in, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element, mathematical expectation of the noise signal of the reception signal of the first antenna element,

[0058] The second phase difference between the reception signals of the first and second antenna elements is calculated according to the above equation (2). The measured phase difference group is obtained from the second phase differences of all the antenna element groups.

[0059] The application obtains a product value of a conjugate multiplication of a receiving signal of a first antenna unit and a receiving signal of a second antenna unit when a noise signal of the receiving signal conforms to a normal distribution and is irrelevant to the receiving signal, simplifies the conjugate multiplication equation, and further simplifies a solving process of the second phase difference. The application realizes accurate solving of the second phase difference according to a known power of the electromagnetic signal and the conjugate multiplication equation.

[0060] Based on the above embodiment, the measured phase difference group and the sample phase difference group library of the antenna array are compared to obtain a matching sample phase difference group of the measured phase difference group and a sample incident angle of the matching sample phase difference group, so as to obtain the incident angle of the electromagnetic signal relative to the main station, including the following steps: Based on the measured phase difference group and each sample phase difference group, a plurality of correlation coefficients are calculated, and the size of the correlation coefficient represents the similarity degree of the measured phase difference group and the sample phase difference group. The sample phase difference group with the largest correlation coefficient is taken as the matching sample phase difference group. The sample incident angle of the matching sample phase difference group is taken as the incident angle of the electromagnetic signal.

[0061] Based on the measured phase difference group and each sample phase difference group, a plurality of correlation coefficients are calculated. The calculation formula of the correlation coefficient is as follows.

[0062] (3); Wherein, is the correlation coefficient of the measured phase difference group and the first sample phase difference group, is the first sample phase difference group, is the measured phase difference group, is a sample phase difference group in the sample phase difference group library established at an interval of 1°, and are both row vectors.

[0063] The size of the correlation coefficient represents the similarity degree of the measured phase difference group and the sample phase difference group. The larger the correlation coefficient is, the greater the similarity degree of the measured phase difference group and the sample phase difference group is. The smaller the correlation coefficient is, the smaller the similarity degree of the measured phase difference group and the sample phase difference group is. The correlation coefficient of the measured phase difference group and each sample phase difference group is calculated. The sample phase difference group with the largest correlation coefficient is taken as the matching sample phase difference group. The sample incident angle of the matching sample phase difference group is taken as the incident angle of the electromagnetic signal.

[0064] The application quantifies the similarity degree of the measured phase difference group and each sample phase difference group by calculating the correlation coefficient, realizes accurate and fair comparison of the similarity degree of the measured phase difference group and each sample phase difference group, and is conducive to improving the accuracy of determining the matching sample phase difference group.

[0065] Based on the above embodiments, determining the location of the electromagnetic signal radiation source based on the time difference information and incident angle of the electromagnetic signal includes the following steps: The distance difference between the radiation source reaching the main station and the auxiliary station is determined based on time difference information; Based on the incident angle, distance difference, position coordinates of the main station and the auxiliary station, a measurement error vector equation for the radiation source is constructed. The variables in the measurement error vector equation include the position of the radiation source and the distance from the radiation source to the main station. The initial position of the radiation source is obtained by solving the measurement error vector equation using the least squares method. The measurement error vector equation is expanded using Taylor series at the initial position of the radiation source, and the first two components are taken to obtain the updated initial position of the radiation source. The measurement error vector equation is expanded using Taylor series at the updated initial position of the radiation source. The first two components are taken to iteratively update the initial position of the radiation source until the update difference between two adjacent initial positions of the radiation source is less than a set value. The iteration ends, and the last updated initial position of the radiation source is taken as the radiation source position.

[0066] like Figure 3 As shown, based on the geometric relationship in space between the electromagnetic detection station (including a main station, a first auxiliary station, and a second auxiliary station) and the radiation source (e.g., a target UAV), this embodiment of the invention uses an electromagnetic detection station including a main station, a first auxiliary station, and a second auxiliary station as an example for illustration. Taking the main station and any one of the auxiliary stations as foci, and the distance difference between the electromagnetic signals from the radiation source reaching the two stations as the major axis, a hyperbola can be obtained. Therefore, in a two-dimensional plane, three stations can generate two hyperbolas. Simultaneously, taking the main station as the starting point, the incident angle (azimuth angle) is determined by receiving the electromagnetic signals emitted by the radiation source at the main station, forming a radial line connecting the main station to the target UAV. Thus, the three lines formed will intersect at a single point in space, which is the location of the radiation source.

[0067] Assume the coordinates of the three electromagnetic detection stations and the target UAV are as follows: , , and The following set of nonlinear equations for the location of the radiation source is obtained.

[0068] (4); in, The location coordinates of the main station (electromagnetic detection station 0) The coordinates of the first auxiliary station (electromagnetic detection station 1) are as follows: The coordinates of the second auxiliary station (electromagnetic detection station 2) are as follows: The coordinates of the radiation source (e.g., the target drone). the distance from the radiation source to the main station, the distance difference between the electromagnetic signal emitted by the radiation source reaching the main station and reaching each auxiliary station, the time difference between the electromagnetic signal emitted by the radiation source reaching the main station and reaching each auxiliary station; c is the propagation speed of electromagnetic waves in the atmospheric environment; the incident angle of the electromagnetic signal measured by the main station.

[0069] During the observation, measurement noise exists, and on this basis, formula (4) is rewritten in the following form.

[0070] (5); wherein, the distance difference with measurement error, the present application calculates the distance difference between the radiation source and the main station and each auxiliary station according to the time difference information (for example, TDOA) , the distance difference with measurement error from the radiation source to the main station and the first auxiliary station, the distance difference with measurement error from the radiation source to the main station and the second auxiliary station, the incident angle with measurement error; the real distance difference, the real distance difference from the radiation source to the main station and the first auxiliary station, the real distance difference from the radiation source to the main station and the second auxiliary station, the real incident angle; the measurement error of the distance difference, the measurement error of the incident angle, the measurement error of the distance difference from the radiation source to the main station and the first auxiliary station, the measurement error of the distance difference from the radiation source to the main station and the second auxiliary station.

[0071] Let the measurement error vector be denoted as , and the measurement error vector conforms to a normal distribution with a mean of 0. the covariance matrix of the measurement error of the distance difference, the covariance matrix of the measurement error of the incident angle. Then the covariance matrix of the measurement error vector based on TDOA+AOA cooperative positioning is .

[0072] The present application adopts Chan algorithm to solve the initial position of the radiation source. According to the Chan algorithm, formula (5) is arranged to obtain the following nonlinear equation group of the position of the radiation source.

[0073] (6); ​wherein, is a difference between the longitudinal coordinates of the secondary station and the primary station, is a difference between the transverse coordinates of the secondary station and the primary station, is a square of a distance from the primary station or the secondary station to the coordinate origin, is an incident angle of the electromagnetic signal measured by the primary station.

[0074] Further, taking the position of the radiation source and the distance from the radiation source to the primary station as variables , According to formula (6), a measurement error vector equation corresponding to the radiation source can be obtained, and the formula of the measurement error vector equation is as follows.

[0075] (7); wherein, , , is a measurement error vector, is a distance difference from the radiation source to the primary station and the first secondary station with existing measurement errors, is a distance difference from the radiation source to the first secondary station and the second secondary station with existing measurement errors, is a square of a distance from the first secondary station to the coordinate origin, is a square of a distance from the second secondary station to the coordinate origin, is a square of a distance from the primary station to the coordinate origin, is a distance difference from the radiation source to the primary station and the second secondary station with existing measurement errors, is a difference between the longitudinal coordinates of the secondary station (including the first secondary station or the second secondary station) and the primary station, is a difference between the transverse coordinates of the secondary station (including the first secondary station or the second secondary station) and the primary station, is an incident angle of the electromagnetic signal measured by the primary station.

[0076] Based on the above embodiment, the measurement error vector equation is solved according to the least square method to obtain the initial position of the radiation source, including the following steps: The first estimated solution of the variables is obtained by solving the measurement error vector equation according to the least square method; The updated measurement error vector equation is obtained by updating the measurement error vector equation according to the first estimated solution; The second estimated solution of the variables is obtained by solving the updated measurement error vector equation according to the least square method; The initial position of the radiation source is determined based on the first estimated solution and the second estimated solution.

[0077] When and The first estimation solution of the variables (including the position of the radiation source and the distance from the radiation source to the main station) is obtained by making a preliminary estimation of formula (7) according to the least square method when being independent. The expression of the first estimation solution is as follows.

[0078] ; wherein, is a measurement error vector, is a covariance matrix of the measurement error vector, at this time, the relationship between the first estimation solution and the actual value is as follows.

[0079] ; wherein, is an estimation error of the first estimation solution, is an estimation error of the abscissa of the radiation source in the first estimation solution, is an estimation error of the ordinate of the radiation source in the first estimation solution, is an estimation error of the distance from the radiation source to the main station in the first estimation solution.

[0080] The measurement error vector equation is updated according to the first estimation solution, and the updated measurement error vector equation (the measurement error vector equation of the first estimation solution) is obtained. The measurement error vector equation of the first estimation solution is as follows.

[0081] (8); wherein, , , .

[0082] Further arrangement is made to obtain the updated measurement error vector equation.

[0083] (9); Further, the updated measurement error vector equation (formula (9)) is solved according to the least square method, and the second estimation solution of the variables is obtained. The expression of the second estimation solution is as follows.

[0084] ; The formula of the covariance matrix of the updated measurement error vector is as follows.

[0085] ; wherein, , is the abscissa of the radiation source in the first estimation solution, is the ordinate of the radiation source in the first estimation solution, is the distance from the radiation source to the main station in the first estimation solution.

[0086] By combining the first and second estimated solutions, the initial position of the radiation source is determined. The formula for calculating the initial position is as follows.

[0087] (10); in, This represents the initial location of the radiation source. Let x be the x-coordinate of the initial position of the radiation source. Let be the ordinate of the initial position of the radiation source. This is the second estimated solution. The x-coordinate of the main station. The vertical coordinate of the main station.

[0088] The initial position calculated above may be blurry, so it is necessary to adjust the initial position. Based on this, the initial value is used as the initial value for Taylor iteration algorithm to remove fuzzy solutions, thereby calculating the final unique position coordinates of the radiation source. The initial position is obtained according to formula (10). The measurement error vector equation is Taylor expanded at the initial position of the radiation source, and the first two components are taken to obtain the updated initial position of the radiation source. Formula (7) is applied at the initial position. Performing a Taylor expansion at the given location and taking the first two components as linear approximations yields a linear equation, which in turn provides the maximum likelihood estimate of the radiation source's location. The maximum likelihood estimate of the radiation source's location (the updated initial location of the radiation source) is expressed as follows.

[0089] (11); in, The initial position, This is the maximum likelihood estimate of the radiation source location (the updated initial location of the radiation source). Let x be the x-coordinate of the initial position of the radiation source. y is the ordinate of the initial position of the radiation source. The distance from the radiation source to the main station (electromagnetic detection station 0) is... The distance from the radiation source to the first auxiliary station (electromagnetic detection station 1) The distance from the radiation source to the second auxiliary station (electromagnetic detection station 2) The incident angle of the electromagnetic signal measured by the main station. The location coordinates of the main station (electromagnetic detection station 0) The coordinates of the first auxiliary station (electromagnetic detection station 1) are as follows: The coordinates of the second auxiliary station (electromagnetic detection station 2) are as follows: , The covariance matrix of the measurement error vector, Let be the covariance matrix of the measurement error of the distance difference. is a covariance matrix of measurement errors of the incident angle, is a measurement error vector, is a measurement error of the incident angle, is a measurement error of the distance difference between the radiation source and the main station and the first auxiliary station, is a measurement error of the distance difference between the radiation source and the main station and the second auxiliary station.

[0090] The measurement error vector equation is Taylor expanded at the updated initial position of the radiation source, and the first two-order components are taken to iteratively update the initial position of the radiation source until the update difference of the initial position of the radiation source between two adjacent times is less than a set value, the iteration is ended, and the last updated initial position of the radiation source is taken as the radiation source position. The formula (7) is Taylor expanded at the updated initial position of the radiation source, and the first two-order components are taken to iteratively update the initial position of the radiation source. Until and satisfy a certain small enough threshold (the difference is less than a set value), that is . is a set value. At this time, the obtained is the final unique radiation source position.

[0091] The present application solves the measurement error vector equation by twice least square method, realizes solving the initial position of the radiation source, removes the ambiguous solution in the initial position according to the Taylor iteration algorithm, and further improves the accuracy of the finally obtained radiation source position.

[0092] Further, the present application adopts Matlab software platform to carry out simulation experiment, obtains the positioning error distribution graph of the traditional positioning method in the controlled area (see Figure 4 ) and the positioning error distribution graph of the AOA+TDOA cooperative positioning method based on the correlation interferometer-Chan-Taylor iteration (the electromagnetic signal radiation source positioning method of the present application) (see Figure 5 ). The simulation condition is set: the triangular station site configuration mode is selected for simulation, that is, the three electromagnetic detection stations are arranged in a triangular shape, and the coordinates of the main station and the two auxiliary stations are , , and , respectively. The time difference measurement error is , the angle measurement error is , and the simulation area is , .

[0093] Through the simulation experiment, it is found that the positioning error distribution graph of the traditional positioning method is Figure 4 , and the positioning error distribution graph of the AOA+TDOA cooperative positioning method based on the correlation interferometer-Chan-Taylor iteration (the electromagnetic signal radiation source positioning method of the present application) is Figure 5The simulation results of the traditional positioning method and the AOA+TDOA cooperative positioning method based on the correlation interferometer-Chan-Taylor iteration are compared, and it can be known that the detection blind area (white point part) of the traditional positioning method is more, and the positioning error of the AOA+TDOA cooperative positioning method based on the correlation interferometer-Chan-Taylor iteration is more uniform in each direction, and the detection blind area is less. At the same time, compared with the traditional positioning method, the positioning error value of the AOA+TDOA cooperative positioning method based on the correlation interferometer-Chan-Taylor iteration is smaller, which indicates that the positioning precision is higher.

[0094] The electromagnetic signal radiation source positioning device provided by the application is described below, and the electromagnetic signal radiation source positioning device described below can be correspondingly referred to the electromagnetic signal radiation source positioning method described above.

[0095] As shown in Figure 6 An electromagnetic signal radiation source positioning device includes an acquisition module 601, a determination module 602 and a positioning module 603.

[0096] The acquisition module 601 is configured to receive electromagnetic signals by using an antenna array of a main station, and acquire a measurement phase difference set of the electromagnetic signals between different antenna elements of the antenna array.

[0097] The determination module 602 is configured to compare the measurement phase difference set with a sample phase difference set library of the antenna array, acquire a matching sample phase difference set of the measurement phase difference set and a sample incident angle of the matching sample phase difference set, and acquire an incident angle of the electromagnetic signal relative to the main station, wherein the sample phase difference set library includes a mapping relationship between a plurality of sample phase difference sets and a plurality of sample incident angles.

[0098] The positioning module 603 is configured to determine a radiation source position of the electromagnetic signal based on time difference information and the incident angle of the electromagnetic signal, wherein the time difference information includes a time difference between the main station and a secondary station in receiving the electromagnetic signal.

[0099] The electromagnetic signal radiation source positioning device provided by the embodiment of the present application comprises the following steps: receiving an electromagnetic signal by using an antenna array of a main station, and obtaining a measured phase difference set of the electromagnetic signal between different antenna elements of the antenna array; comparing the measured phase difference set with a sample phase difference set library of the antenna array, obtaining a matching sample phase difference set of the measured phase difference set and a sample incident angle of the matching sample phase difference set, so as to obtain an incident angle of the electromagnetic signal relative to the main station, and the sample phase difference set library comprises a mapping relationship between a plurality of sample phase difference sets and a plurality of sample incident angles; determining a radiation source position of the electromagnetic signal based on time difference information and the incident angle of the electromagnetic signal, and the time difference information comprises a time difference of receiving the electromagnetic signal by the main station and a secondary station. According to the sample phase difference set library, the measured phase difference set is matched, the incident angle can be accurately determined in a complex electromagnetic environment, and the accuracy of subsequently determining the radiation source position is improved. According to the time difference information and the incident angle, the radiation source position is solved, and the radiation source position is accurately predicted.

[0100] All the related contents of each step involved in the method embodiments can be referred to the function description of the corresponding function module, and will not be repeated here.

[0101] Figure 7 An example of an entity structure diagram of an electronic device is shown in Figure 7 As shown in the figure, the electronic device can include a processor 710, a communications interface 720, a memory 730 and a communications bus 740, wherein the processor 710, the communications interface 720 and the memory 730 complete mutual communication through the communications bus 740. The processor 710 can call the logic instructions in the memory 730 to execute the electromagnetic signal radiation source positioning method, which comprises the following steps: receiving an electromagnetic signal by using an antenna array of a main station, and obtaining a measured phase difference set of the electromagnetic signal between different antenna elements of the antenna array; comparing the measured phase difference set with a sample phase difference set library of the antenna array, obtaining a matching sample phase difference set of the measured phase difference set and a sample incident angle of the matching sample phase difference set, so as to obtain an incident angle of the electromagnetic signal relative to the main station, and the sample phase difference set library comprises a mapping relationship between a plurality of sample phase difference sets and a plurality of sample incident angles; determining a radiation source position of the electromagnetic signal based on time difference information and the incident angle of the electromagnetic signal, and the time difference information comprises a time difference of receiving the electromagnetic signal by the main station and a secondary station.

[0102] In addition, the logic instructions in the memory 730 described above can be implemented in the form of software functional units and sold or used as independent products, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0103] In another aspect, the present application also provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the electromagnetic signal radiation source positioning method provided by the above-mentioned methods. The method comprises: receiving an electromagnetic signal by using an antenna array of a main station, and obtaining a measured phase difference set of the electromagnetic signal between different antenna elements of the antenna array; comparing the measured phase difference set with a sample phase difference set library of the antenna array, obtaining a matching sample phase difference set of the measured phase difference set and a sample incident angle of the matching sample phase difference set, so as to obtain an incident angle of the electromagnetic signal relative to the main station, and the sample phase difference set library includes a mapping relationship between a plurality of sample phase difference sets and a plurality of sample incident angles; determining a radiation source position of the electromagnetic signal based on a time difference information of the electromagnetic signal and the incident angle, and the time difference information includes a time difference of receiving the electromagnetic signal by the main station and a secondary station.

[0104] The device embodiments described above are only schematic, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment. Those skilled in the art can understand and implement without creative labor.

[0105] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above description of the embodiments, and the various embodiments can be implemented by means of software with the necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0106] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of locating a source of electromagnetic signals, characterized in that, The method comprises the following steps: receiving an electromagnetic signal by using an antenna array of a main station, and obtaining a measured phase difference set of the electromagnetic signal between different antenna elements of the antenna array; comparing the measured phase difference set with a sample phase difference set library of the antenna array, obtaining a matching sample phase difference set of the measured phase difference set and a sample incident angle of the matching sample phase difference set, so as to obtain an incident angle of the electromagnetic signal relative to the main station, and the sample phase difference set library comprises a mapping relationship between a plurality of sample phase difference sets and a plurality of sample incident angles; determining a radiation source position of the electromagnetic signal based on time difference information of the electromagnetic signal and the incident angle, wherein the time difference information comprises a time difference between the main station and a secondary station in receiving the electromagnetic signal.

2. The method of locating a source of electromagnetic signals according to claim 1, wherein, The antenna array comprises a circular array composed of a plurality of antenna elements, and the sample phase difference set library is constructed based on the following steps: combining all the antenna elements according to configuration information to obtain an antenna element group set, wherein the antenna element group set comprises a plurality of antenna element groups, and each antenna element group comprises two antenna elements; in the process of receiving a sample electromagnetic signal by using the antenna array, taking a time delay of a sample signal received by each antenna element relative to the center of the circular array as a time delay of the antenna element; for a group of the antenna element groups, determining a first phase difference between the antenna elements in the antenna element group based on the time delays of the two antenna elements in the antenna element group; determining a sample phase difference set based on the first phase differences between the antenna elements in each group of the antenna element groups; constructing a mapping relationship between a sample incident angle of the sample electromagnetic signal and the sample phase difference set; constructing the sample phase difference set library based on the mapping relationship between the plurality of sample phase difference sets and the plurality of sample incident angles.

3. The method of locating a source of electromagnetic signals according to claim 2, wherein, The method of receiving an electromagnetic signal by using an antenna array of a main station to obtain a measured phase difference set of the electromagnetic signal between different antenna elements of the antenna array comprises the following steps: in the process of receiving the electromagnetic signal by using the antenna array, obtaining a received signal of each antenna element; for a group of the antenna element groups, determining a second phase difference between the antenna elements in the antenna element group based on the received signals of the two antenna elements in the antenna element group; determining the measured phase difference set based on the second phase differences between the antenna elements in each group of the antenna element groups.

4. The method of locating a source of electromagnetic signals according to claim 3, wherein, The received signals of the two antenna elements in the antenna element group comprise a received signal of a first antenna element and a received signal of a second antenna element, and the method of determining the second phase difference between the antenna elements in the antenna element group based on the received signals of the two antenna elements in the antenna element group comprises the following steps: when the noise signals of the received signals conform to a normal distribution and are irrelevant to the received signals, performing conjugate multiplication on the received signal of the first antenna element and the received signal of the second antenna element to obtain a conjugate multiplication equation; solving the second phase difference between the antenna elements in the antenna element group according to the conjugate multiplication equation and the power of the electromagnetic signal.

5. The method of claim 1, wherein, The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps:

6. The method of claim 1, wherein, The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps:

7. The method of locating a source of electromagnetic signals according to claim 6, wherein, The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps:

8. A radiation source locating device for electromagnetic signals, characterized in that, The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the 9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and running on the processor, characterized in that, The computer program is executed by the processor to implement the method for locating the radiation source of the electromagnetic signal according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the method for locating the radiation source of the electromagnetic signal according to any one of claims 1 to 7.

Images