Method and system for three-dimensional space positioning of an incoming laser based on a laser warning device

Abstract

The present application relates to the method and system for three-dimensional space positioning of incoming laser based on laser alarm, specifically to the field of laser positioning technology. The method comprises calculating the coordinates of the laser alarm in the geocentric rectangular coordinate system according to the coordinates of the laser alarm; calculating the coordinates of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system according to the coordinates of the laser alarm in the geocentric rectangular coordinate system, the distance between the laser alarm and the incoming laser, the pitch angle and the azimuth angle of the incoming laser measured by the laser alarm; and calculating the space coordinates of the incoming laser in the geocentric rectangular coordinate system according to the coordinates of the incoming laser relative to all laser alarms in the geocentric rectangular coordinate system. The present application uses laser alarm for passive three-dimensional space positioning, which is not easy to be detected by the enemy, thereby improving the concealment of the target.

Description

Technical Field

[0001] This invention relates to the field of laser positioning technology, and in particular to a method and system for three-dimensional spatial positioning of incoming lasers based on laser alarm devices. Background Technology

[0002] Laser alarms, as a photoelectric reconnaissance technology, generally employ passive laser alarm devices, such as... Figure 1 As shown, laser warning systems are installed around the protected target to detect and identify guidance signals emitted by laser-guided weapons, assess the threat level, and determine whether to issue a warning, thereby taking appropriate measures such as rapid evasion or activating countermeasures. The main advantages of laser warning equipment include: 1. Rapid determination of the direction of incoming lasers, resulting in a fast alarm response; 2. High accuracy in identifying incoming lasers; 3. Wide detection bandwidth, enabling real-time detection of a certain area and detecting laser indication signals from most current equipment; 4. Convenient installation, lightweight design, and low maintenance costs. With the development of technology and continuous innovation, laser warning systems have incorporated FPGA and DSP technologies into their hardware systems and data fusion algorithms into their software systems, significantly reducing the response time and continuously improving the accuracy of the warning system. Currently, laser alarm equipment mainly uses array-type detectors with coded detection technology. The following is an example of a certain type of laser alarm: A detector head is composed of ten array-type photosensitive elements, covering a vertical 270° field of view and a horizontal -180° to 180° field of view. If a laser pulse signal illuminates or is scattered within this field of view onto the alarm detector head, the laser passes through a special optical lens to reach the photosensitive element and undergoes photoelectric conversion, converting the optical signal into an electrical signal. This electrical signal is then shaped by a front-end conditioning circuit and passed through a threshold comparison circuit. The analog signal output from the signal amplification circuit is converted into a digital signal, and a pulse signal is output to the information processing board. After processing, the information processing board exchanges data with the host computer via other interface circuits, completing the judgment of the incoming laser information in the host computer. Typically, incoming laser designators are installed in electro-optical pods, which are mounted on the belly of enemy aircraft or drones. Therefore, determining the three-dimensional spatial coordinates of the incoming laser designator is equivalent to determining the three-dimensional spatial coordinates of the enemy aircraft or drone, allowing for countermeasures to strike the enemy target. Current methods for three-dimensional target localization typically use target indication radar. This method is active and has the disadvantage of being easily detected by enemy electronic reconnaissance, which could lead to the destruction of our radar using anti-radiation weapons. Furthermore, laser warning receivers can only measure the azimuth, elevation, and frequency of the incoming laser, and cannot perform three-dimensional spatial localization of the incoming laser designator. Summary of the Invention

[0003] The purpose of this invention is to provide a method and system for three-dimensional spatial positioning of incoming lasers based on laser warning devices. This method and system can use laser warning devices for passive three-dimensional spatial positioning, which is not easily detected by the enemy and thus improves the concealment of the target.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] A method for three-dimensional spatial localization of incoming lasers based on laser alarm devices includes:

[0006] The coordinates of multiple laser warning devices are obtained, as well as the distance between each laser warning device and the incoming laser, and the elevation and azimuth angles of the incoming laser measured by each laser warning device. The coordinates include coordinates in the North-Eastern coordinate system and coordinates in the WGS-84 coordinate system. The North-Eastern coordinate system is established with the protected target as the origin, and the multiple laser warning devices are all set within the set range of the protected target.

[0007] For any given laser alarm, calculate the coordinates of the laser alarm in the geocentric rectangular coordinate system based on the coordinates of the laser alarm.

[0008] The coordinates of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system are calculated based on the coordinates of the laser alarm in the geocentric rectangular coordinate system, the distance between the laser alarm and the incoming laser, and the elevation and azimuth angles of the incoming laser measured by the laser alarm.

[0009] The spatial coordinates of the incoming laser are calculated in the geocentric rectangular coordinate system based on the coordinates of the incoming laser relative to all laser alarms.

[0010] Optionally, the step of calculating the coordinates of the laser alarm in the geocentric rectangular coordinate system based on the coordinates of the laser alarm specifically includes:

[0011] Among them, X i Y represents the x-coordinate of the i-th laser warning device in the geocentric rectangular coordinate system. i Z represents the ordinate of the i-th laser warning device in the geocentric rectangular coordinate system. i Let x represent the vertical coordinate of the i-th laser warning device in a geocentric rectangular coordinate system. i N Let y represent the x-coordinate of the i-th laser warning device in the North-East coordinate system. i N Let z represent the ordinate of the i-th laser warning device in the North-East coordinate system. i N Lon represents the vertical coordinate of the i-th laser warning device in the North-East coordinate system. iLet Lat represent the x-coordinate of the i-th laser warning device in the WGS-84 coordinate system. i This represents the ordinate of the i-th laser warning device in the WGS-84 coordinate system.

[0012] Optionally, the step of calculating the coordinates of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system based on the coordinates of the laser alarm in the geocentric rectangular coordinate system, the distance between the laser alarm and the incoming laser, and the elevation and azimuth angles of the incoming laser measured by the laser alarm specifically includes:

[0013] The x and y coordinates of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system are calculated based on the x and y coordinates of the laser alarm in the geocentric rectangular coordinate system and the elevation angle of the incoming laser measured by the laser alarm.

[0014] The vertical coordinate of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system is calculated based on the horizontal and vertical coordinates of the incoming laser relative to the laser alarm, the coordinates of the laser alarm in the geocentric rectangular coordinate system, and the azimuth angle of the incoming laser measured by the laser alarm.

[0015] Optionally, the step of calculating the abscissa and ordinate of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system based on the abscissa and ordinate of the laser alarm in the geocentric rectangular coordinate system and the elevation angle of the incoming laser measured by the laser alarm specifically involves:

[0016] According to the formula Where, β i Let x represent the elevation angle of the incoming laser measured by the i-th alarm device. s|i Let y represent the x-coordinate of the attacking laser relative to the i-th laser alarm in a geocentric Cartesian coordinate system. s|i X represents the ordinate of the attacking laser relative to the i-th laser alarm in a geocentric rectangular coordinate system. i Y represents the x-coordinate of the i-th laser warning device in the geocentric rectangular coordinate system. i This represents the ordinate of the i-th laser alarm in the geocentric rectangular coordinate system.

[0017] Optionally, the step of calculating the vertical coordinate of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system based on the horizontal and vertical coordinates of the incoming laser relative to the laser alarm, the coordinates of the laser alarm in the geocentric rectangular coordinate system, and the azimuth angle of the incoming laser measured by the laser alarm specifically includes:

[0018] Among them, z s|iZ represents the vertical coordinate of the attacking laser relative to the i-th laser alarm in a geocentric Cartesian coordinate system, n represents the total number of laser alarms, and Z represents the vertical coordinate of the laser relative to the i-th laser alarm. i Let α represent the vertical coordinate of the i-th laser warning device in the geocentric rectangular coordinate system. i This represents the azimuth angle of the incoming laser measured by the i-th alarm device.

[0019] An incoming laser three-dimensional spatial positioning system based on a laser alarm device includes:

[0020] An incoming laser positioning module and multiple laser alarm subsystems respectively connected to the incoming laser positioning module; each laser alarm subsystem includes a laser alarm and an alarm positioning module disposed on the laser alarm; the alarm positioning module is used to locate the laser alarm and obtain the coordinates of the laser alarm.

[0021] The incoming laser positioning module is used to execute the aforementioned three-dimensional spatial positioning method for incoming lasers based on a laser alarm.

[0022] Optionally, the distance between each of the laser alarms is greater than or equal to the radius of the incoming laser spot and less than the positioning circle probability deviation.

[0023] Optionally, the laser-based three-dimensional spatial positioning system for incoming lasers further includes: an alarm orientation module for calibrating the direction of the laser alarm.

[0024] Optionally, the laser alarm includes a filter protection mirror, a photodiode, an amplifier circuit, and an ADC acquisition module connected in sequence.

[0025] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects: The present invention calculates the coordinates of the laser warning device in the geocentric rectangular coordinate system based on the coordinates of the laser warning device; calculates the coordinates of the incoming laser relative to the laser warning device based on the coordinates of the laser warning device in the geocentric rectangular coordinate system, the distance between the laser warning device and the incoming laser, and the elevation and azimuth angles of the incoming laser measured by the laser warning device; calculates the spatial coordinates of the incoming laser based on the coordinates of the incoming laser relative to all laser warning devices. Using the laser warning device for passive three-dimensional spatial positioning makes it difficult for the enemy to detect, thereby improving the concealment of the target. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the laser alarm system in operation.

[0028] Figure 2 A flowchart illustrating an approach to three-dimensional spatial localization of incoming lasers based on a laser alarm device, provided as an embodiment of the present invention;

[0029] Figure 3 A flowchart illustrating the workflow of an attack laser 3D spatial positioning system based on a laser alarm.

[0030] Figure 4 This is a schematic diagram of the coordinate system for a laser alarm.

[0031] Figure 5 This is a schematic diagram illustrating the three-dimensional spatial positioning principle of a laser alarm device. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Currently, existing laser warning receivers can only measure the azimuth and elevation angles of incoming lasers, as well as the repetition frequency of the incoming laser signal. Therefore, they cannot determine the distance between the incoming laser designator and the laser warning receiver. In practical applications, active detection methods using target indication radar are typically employed to locate and track incoming weapons. However, this method easily exposes the location information of the protected target and is also highly vulnerable to anti-radiation weapon threats. Therefore, this invention proposes a three-dimensional spatial positioning method for incoming lasers based on laser warning receivers. This method utilizes multiple laser warning receivers for passive three-dimensional spatial positioning to accurately locate directly incoming lasers. The specific steps are as follows: Figure 2 As shown, it includes:

[0035] Step 101: Obtain the coordinates of multiple laser warning devices, the distance between each laser warning device and the incoming laser (obtained by measuring the delay of the warning device), and the elevation and azimuth angles of the incoming laser measured by each laser warning device; the coordinates include coordinates in the North-East coordinate system and coordinates in the WGS-84 coordinate system; the North-East coordinate system is established with the protected target as the origin, and the multiple laser warning devices are all set within the set range of the protected target.

[0036] Step 102: For any laser alarm, calculate the coordinates of the laser alarm in the geocentric rectangular coordinate (ECEF) system based on the coordinates of the laser alarm.

[0037] Step 103: Calculate the coordinates of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system based on the coordinates of the laser alarm in the geocentric rectangular coordinate system, the distance between the laser alarm and the incoming laser, and the elevation and azimuth angles of the incoming laser measured by the laser alarm.

[0038] Step 104: Calculate the spatial coordinates (x, y, z) of the incoming laser in the geocentric rectangular coordinate system based on the coordinates of the incoming laser relative to all laser alarms. s ,y s ,z s ).

[0039] In practical applications, such as Figure 4 and Figure 5 As shown, a North-Eastern (NEU) coordinate system is established with the protected target as the origin. The coordinates of each laser alarm can be obtained by determining its deployment location. Using the BDS module for laser alarm positioning, the coordinates of the laser alarm in the WGS-84 coordinate system can be obtained as (Lon1,Lat1,N1), (Lon2,Lat2,N2), ..., (Lon...). i ,Lat i N i ).

[0040] In practical applications, the step of calculating the coordinates of the laser alarm in the geocentric rectangular coordinate system based on the coordinates of the laser alarm specifically includes:

[0041] Among them, X i Y represents the x-coordinate of the i-th laser warning device in the geocentric rectangular coordinate system. i Z represents the ordinate of the i-th laser warning device in the geocentric rectangular coordinate system. i Let x represent the vertical coordinate of the i-th laser warning device in a geocentric rectangular coordinate system. i N Let y represent the x-coordinate of the i-th laser warning device in the North-East coordinate system. i N Let z represent the ordinate of the i-th laser warning device in the North-East coordinate system. i N Lon represents the vertical coordinate of the i-th laser warning device in the North-East coordinate system. i Let Lat represent the x-coordinate of the i-th laser warning device in the WGS-84 coordinate system.i This represents the ordinate of the i-th laser warning device in the WGS-84 coordinate system.

[0042] In practical applications, the calculation of the coordinates of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system based on the coordinates of the laser alarm in the geocentric rectangular coordinate system, the distance between the laser alarm and the incoming laser, and the elevation and azimuth angles of the incoming laser measured by the laser alarm specifically includes:

[0043] The x and y coordinates of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system are calculated based on the x and y coordinates of the laser alarm in the geocentric rectangular coordinate system and the elevation angle of the incoming laser measured by the laser alarm.

[0044] The vertical coordinate of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system is calculated based on the horizontal and vertical coordinates of the incoming laser relative to the laser alarm, the coordinates of the laser alarm in the geocentric rectangular coordinate system, and the azimuth angle of the incoming laser measured by the laser alarm.

[0045] The coordinates of the laser alarm in the geocentric rectangular coordinate system are (X1, Y1, Z1), (X2, Y2, Z2)......(X i ,Y i Z i The elevation angle of the incoming laser relative to the warning device is denoted as β. i The azimuth angle is denoted as α. i The distance between the incoming laser and the alarm is R. S Therefore, the position information of the attacking laser relative to a single alarm device in the ECEF coordinate system can be obtained (x... s|i ,y s|i ,z s|i The formula is as follows:

[0046]

[0047]

[0048] R S 2 =(x s|i -X i ) 2 +(y s|i -Y i ) 2 +(z s|i -Z i ) 2

[0049] To locate an incoming laser in three-dimensional space, at least two laser detectors need to work together. The more detectors that capture the incoming laser, the more accurate the location of the laser.

[0050] First, simplify the above formula and obtain the pitch angle β by measuring multiple laser warning devices. i and (X) i ,Y i ) yields (x s|i ,y s|i Secondly, the azimuth angle α is obtained by measuring multiple laser warning devices. i and (x) s|i ,y s|i ) to obtain z s|i In practical applications, the calculation of the abscissa and ordinate of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system, based on the abscissa and ordinate of the laser alarm in the geocentric rectangular coordinate system and the elevation angle of the incoming laser measured by the laser alarm, specifically involves:

[0051] According to the formula Where, β i Let x represent the elevation angle of the incoming laser measured by the i-th alarm device. s|i Let y represent the x-coordinate of the attacking laser relative to the i-th laser alarm in a geocentric Cartesian coordinate system. s|i X represents the ordinate of the attacking laser relative to the i-th laser alarm in a geocentric rectangular coordinate system. i Y represents the x-coordinate of the i-th laser warning device in the geocentric rectangular coordinate system. i This represents the ordinate of the i-th laser alarm in the geocentric rectangular coordinate system.

[0052] In practical applications, the calculation of the vertical coordinate of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system, based on the horizontal and vertical coordinates of the incoming laser relative to the laser alarm, the coordinates of the laser alarm in the geocentric rectangular coordinate system, and the azimuth angle of the incoming laser measured by the laser alarm, specifically includes:

[0053] Among them, z s|i Z represents the vertical coordinate of the attacking laser relative to the i-th laser alarm in a geocentric Cartesian coordinate system, n represents the total number of laser alarms, and Z represents the vertical coordinate of the laser relative to the i-th laser alarm. i Let α represent the vertical coordinate of the i-th laser warning device in the geocentric rectangular coordinate system. i This represents the azimuth angle of the incoming laser measured by the i-th alarm device.

[0054] This invention also provides a three-dimensional spatial positioning system for incoming lasers based on a laser alarm. The incoming lasers captured by the laser alarm are mainly divided into two categories: directly incoming lasers and off-axis scattered lasers. In practical applications, the primary target for detection is the directly incoming laser. The modular laser alarm uses a threshold circuit to determine the presence or absence of an incoming laser signal. Therefore, to obtain the detection range of the laser alarm, it is first necessary to perform energy analysis on the two types of incoming lasers. By modeling the radiation signal of the incoming laser, the energy of the incoming laser is obtained.

[0055] The incoming laser is emitted by the enemy's laser designator. Its energy is mainly related to the laser energy of the laser designator, the beam divergence angle, the laser signal pulse width, the transmission distance, and atmospheric attenuation. After passing through the protective window of the modular laser warning device, the incoming laser undergoes a certain degree of attenuation before reaching the photoelectric conversion module.

[0056] Therefore, the energy E of the directly incoming laser dect It can be represented as:

[0057]

[0058] Among them, E r R is the emission energy of the laser pointer, τ is the laser signal pulse width, θ is the laser beam divergence angle, α is the atmospheric attenuation coefficient, and R S The distance between the laser pointer and the laser alarm, where β is the attenuation coefficient of the protective window.

[0059] The difference between off-axis scattered lasers and directly incident lasers lies in the fact that laser warning devices capture laser signals from diffuse reflection and atmospheric scattering generated by the protected target, natural features, and other elements. Atmospheric scattering is considered the primary component of off-axis scattered lasers for analysis. During atmospheric scattering, the atmospheric scattering coefficient γ can be treated as a constant, and the scattering distribution is determined by the phase function. Since in real-world environments, the distance between the incoming laser indicator and the laser alarm is much greater than the linear dimension of the scattering angle, the phase function can be considered a constant, where r is the off-axis distance of the laser alarm from the incoming laser.

[0060] From this, we can deduce the energy E of the off-axis scattered laser. scat It can be represented as:

[0061]

[0062] Energy analysis of the two types of incoming lasers allows us to determine the energy of the laser signal received by the laser alarm. In practical applications, to locate the incoming laser in three-dimensional space, it is necessary to filter out the influence of off-axis scattered laser on the laser alarm and obtain the azimuth information of the directly incoming laser signal. Therefore, the formulas E at each stage...scat <E thd ≤E dect Threshold E for modular laser alarm thd Make a selection.

[0063] Laser alarms are typically deployed in open areas to ensure a line-of-sight relationship between the incoming laser and the alarm, thus limiting their deployment options.

[0064] Laser alarms use BDS modules (alarm positioning modules) for positioning. Therefore, the distance R between two modules must be greater than the positioning accuracy of the BDS module, i.e., the circular probability deviation (CEP). Generally, direct positioning using BDS modules results in significant errors. Dynamic carrier phase differential technology can be employed to improve positioning accuracy. With base station assistance, positioning accuracy can reach the centimeter level. Therefore, the minimum spacing formula for deploying laser alarms can be derived as: R <R CEP .

[0065] Modular laser warning receivers typically detect incoming lasers from enemy aircraft electro-optical pods and enemy-carried laser designators. Referring to existing equipment parameters and commercially available product manuals, assuming the power, beam divergence angle, and distance of the enemy laser designator are known, the size of the laser spot formed by the emitted laser can be calculated using formulas. Since the modular laser warning receiver has a detection threshold on its main axis, it is necessary to ensure that two or more modules are within the laser spot. Therefore, the maximum spacing between laser warning receivers can be derived as: R > R r R r This indicates the radius of the laser spot.

[0066] Based on the above, the deployment boundary conditions between multiple laser alarms can be summarized as follows:

[0067]

[0068] In summary, the specific usage process of the laser-based three-dimensional spatial positioning system for incoming lasers provided in this embodiment of the invention is as follows:

[0069] (1) Determine the threshold E of the laser alarm under the current environment based on the current atmospheric attenuation coefficient α and the protective window attenuation coefficient condition β. thd The position of the laser alarm is fixed by setting boundary conditions among multiple laser alarms.

[0070] (2) Figure 4 As shown, Figure 4 (a) shows a single laser alarm device. A Cartesian coordinate system O-XYZ is constructed with its center as the origin, the north direction of the NEU coordinate system as the X-axis, the east direction as the Y-axis, and the opposite direction of the plumb line as the Z-axis. For example... Figure 4 As shown in (b), the LSM303DLH module was calibrated with true north, and the data was recorded as (X). m The module is calibrated with the due east direction (0, Y), and the data is recorded as (0, Y). m After zeroing and calibration, the BDS module is used to obtain sensitive angle information. The BDS module is calibrated using a serial port tool.

[0071] (3) Based on the number of laser alarms connected to the system, the three-dimensional spatial coordinates of the laser alarms are located in real time. The laser alarm-based incoming laser three-dimensional spatial positioning system includes:

[0072] The system includes an incoming laser positioning module and multiple laser alarm subsystems connected to the incoming laser positioning module. Each laser alarm subsystem includes a laser alarm and an alarm positioning module mounted on the laser alarm. The alarm positioning module is used to locate the laser alarm and obtain its coordinates. The incoming laser positioning module is used to execute the three-dimensional spatial positioning method for incoming lasers based on laser alarms as described in the above embodiments.

[0073] In practical applications, the distance between each laser alarm is greater than or equal to the radius of the incoming laser spot and less than the positioning circle probability deviation.

[0074] In practical applications, the laser-based three-dimensional spatial positioning system for incoming lasers further includes an alarm orientation module for calibrating the direction of the laser alarm.

[0075] In practical applications, such as Figure 3 As shown, the laser alarm includes a filter protection mirror, a photodiode, an amplifier circuit, and an ADC acquisition module connected in sequence.

[0076] In practical applications, real-time data from the BDS and LSM303DLH modules is sent to the information processing board via IIC communication, while real-time data from the alarm is sent to the information processing board via serial communication. The real-time data undergoes time-based processing on the information processing board, and the processed data is then sent to the host computer, where the incoming laser positioning module performs data fusion. The system's real-time time information is recorded as t. N After the alarm probe detects the incoming laser, the host computer issues a warning and obtains the three-dimensional spatial coordinates of the incoming laser. The frequency f of the incoming laser is obtained from the electrical pulse information of the alarm probe. NIn data fusion, the azimuth, frequency, and time information of the incoming laser are fused. The data is then encoded in the transfer controller and sent to the host, thus completing the data fusion process. The host processes the data at the backend of the fusion process, obtaining the real-time three-dimensional spatial coordinates and real-time frequency information of the incoming laser based on the fused data from multiple laser alarms: (x s ,y s ,z s ,t N ,f N ).

[0077] The present invention has the following technical effects:

[0078] In conventional laser alarm systems, the threshold circuit uses a voltage comparator for threshold comparison, resulting in a relatively fixed threshold and consequently, a very fixed warning rate and false alarm rate. Therefore, this invention uses an ADC for data acquisition and software to adjust the threshold, enabling different values ​​for the warning rate and false alarm rate under varying conditions. A specific formula for threshold selection is provided in the software.

[0079] Currently, laser warning receivers can only measure information such as the azimuth, elevation, and frequency of incoming lasers. They cannot perform three-dimensional spatial positioning of the incoming laser designator. This invention proposes a three-dimensional spatial positioning method based on laser warning receivers. This method utilizes laser warning receivers for passive three-dimensional spatial positioning, making it difficult for the enemy to detect, thus improving the concealment of the target. Furthermore, it employs data fusion from multiple laser warning receivers to achieve three-dimensional spatial positioning of the incoming laser designator. The expression for the designator in a geocentric Cartesian coordinate system is also provided, enabling passive spatial positioning of the incoming laser designator.

[0080] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0081] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for three-dimensional spatial localization of incoming lasers based on a laser alarm, characterized in that, include: The coordinates of multiple laser warning devices are obtained, as well as the distance between each laser warning device and the incoming laser, and the elevation and azimuth angles of the incoming laser measured by each laser warning device. The coordinates include coordinates in the North-Eastern coordinate system and coordinates in the WGS-84 coordinate system. The North-Eastern coordinate system is established with the protected target as the origin, and the multiple laser warning devices are all set within the set range of the protected target. For any given laser alarm, calculate the coordinates of the laser alarm in the geocentric rectangular coordinate system based on the coordinates of the laser alarm. The coordinates of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system are calculated based on the coordinates of the laser alarm in the geocentric rectangular coordinate system, the distance between the laser alarm and the incoming laser, and the elevation and azimuth angles of the incoming laser measured by the laser alarm. The spatial coordinates of the incoming laser are calculated in the geocentric rectangular coordinate system based on the coordinates of the incoming laser relative to all laser alarms.

2. The method for three-dimensional spatial positioning of incoming lasers based on a laser alarm as described in claim 1, characterized in that, The step of calculating the coordinates of the laser alarm in the geocentric rectangular coordinate system based on the coordinates of the laser alarm specifically includes: Among them, X i Y represents the x-coordinate of the i-th laser warning device in the geocentric rectangular coordinate system. i Z represents the ordinate of the i-th laser warning device in the geocentric rectangular coordinate system. i Let x represent the vertical coordinate of the i-th laser warning device in a geocentric rectangular coordinate system. i N Let y represent the x-coordinate of the i-th laser warning device in the North-East coordinate system. i N Let z represent the ordinate of the i-th laser warning device in the North-East coordinate system. i N Lon represents the vertical coordinate of the i-th laser warning device in the North-East coordinate system. i Let Lat represent the x-coordinate of the i-th laser warning device in the WGS-84 coordinate system. i This represents the ordinate of the i-th laser warning device in the WGS-84 coordinate system.

3. The method for three-dimensional spatial localization of incoming lasers based on a laser alarm as described in claim 1, characterized in that, The calculation of the coordinates of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system based on the coordinates of the laser alarm in the geocentric rectangular coordinate system, the distance between the laser alarm and the incoming laser, and the elevation and azimuth angles of the incoming laser measured by the laser alarm specifically includes: The x and y coordinates of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system are calculated based on the x and y coordinates of the laser alarm in the geocentric rectangular coordinate system and the elevation angle of the incoming laser measured by the laser alarm. The vertical coordinate of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system is calculated based on the horizontal and vertical coordinates of the incoming laser relative to the laser alarm, the coordinates of the laser alarm in the geocentric rectangular coordinate system, and the azimuth angle of the incoming laser measured by the laser alarm.

4. The method for three-dimensional spatial positioning of incoming lasers based on a laser alarm as described in claim 3, characterized in that, The calculation of the x and y coordinates of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system, based on the x and y coordinates of the laser alarm in the geocentric rectangular coordinate system and the elevation angle of the incoming laser measured by the laser alarm, specifically involves: According to the formula Where, β i Let x represent the elevation angle of the incoming laser measured by the i-th alarm device. s|i Let y represent the x-coordinate of the attacking laser relative to the i-th laser alarm in a geocentric Cartesian coordinate system. s|i X represents the ordinate of the attacking laser relative to the i-th laser alarm in a geocentric rectangular coordinate system. i Y represents the x-coordinate of the i-th laser warning device in the geocentric rectangular coordinate system. i This represents the ordinate of the i-th laser alarm in the geocentric rectangular coordinate system.

5. The method for three-dimensional spatial positioning of incoming lasers based on a laser alarm as described in claim 4, characterized in that, The step of calculating the vertical coordinate of the incoming laser relative to the laser alarm in the geocentric rectangular coordinate system based on the horizontal and vertical coordinates of the incoming laser relative to the laser alarm, the coordinates of the laser alarm in the geocentric rectangular coordinate system, and the azimuth angle of the incoming laser measured by the laser alarm specifically includes: Among them, z s|i Z represents the vertical coordinate of the attacking laser relative to the i-th laser alarm in a geocentric Cartesian coordinate system, n represents the total number of laser alarms, and Z represents the vertical coordinate of the laser relative to the i-th laser alarm. i Let α represent the vertical coordinate of the i-th laser warning device in the geocentric rectangular coordinate system. i This represents the azimuth angle of the incoming laser measured by the i-th alarm device.

6. A laser-based three-dimensional spatial positioning system for incoming laser attacks, characterized in that, include: An incoming laser positioning module and multiple laser alarm subsystems respectively connected to the incoming laser positioning module; each laser alarm subsystem includes a laser alarm and an alarm positioning module disposed on the laser alarm; the alarm positioning module is used to locate the laser alarm and obtain the coordinates of the laser alarm. The incoming laser positioning module is used to execute the three-dimensional spatial positioning method for incoming lasers based on a laser alarm as described in any one of claims 1-5.

7. The three-dimensional spatial positioning system for incoming laser based on a laser alarm as described in claim 6, characterized in that, The distance between each of the laser alarm devices is greater than or equal to the radius of the incoming laser spot and less than the positioning circle probability deviation.

8. The three-dimensional spatial positioning system for incoming laser based on a laser alarm as described in claim 6, characterized in that, Also includes: The alarm orientation module is used to calibrate the direction of the laser alarm.

9. A laser-based three-dimensional spatial positioning system for incoming laser attacks according to claim 6, characterized in that, The laser alarm includes a filter protection mirror, a photodiode, an amplifier circuit, and an ADC acquisition module connected in sequence.

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