Passive single station target tracking and positioning method and system based on simulation height

Abstract

The invention provides a passive single-station target tracking and positioning method and system based on simulated height. The method comprises the following steps: S1, acquiring simulated height information from acquired position information of a measuring station and observation information of a target; s2, constructing a measurement rectangular coordinate system, constructing a target positioning plane triangle in the measurement rectangular coordinate system based on the simulated height information, and performing triangular calculation on a target position; and S3, tracking and positioning of the target are completed according to a resolving result. According to the method, the triangular relationship among the earth core, the observation station and the target is constructed by using the simulation height, accumulated dependence on observation information is reduced according to target characteristics and experience information, and target positioning of observation point trace information based on the simulation height is rapidly completed; meanwhile, continuous observation data are subjected to navigation building processing through an EKF filtering algorithm and a trace point information association method, and target tracking and positioning based on angle measurement information of a single observation station are achieved.

Description

Technical Field

[0001] The invention relates to the field of target positioning and tracking, and in particular to a passive single-station target tracking and positioning method and system based on simulated altitude. Background Art

[0002] Due to interference from the natural environment or other equipment, the radar will not be able to measure the distance during the detection process, and the system cannot perform shooting parameter calculations without three-dimensional positioning information.

[0003] In the Chinese patent document with the publication number CN106355602B, a multi-target positioning and tracking video monitoring method is disclosed. Before the system works, the background is first trained by the Gaussian mixture model, and then the background subtraction method is used in the next frame of the video to obtain the foreground image, and then the accurate foreground object area, that is, the moving target position, is obtained according to the expansion operation and the median filter; the moving target is detected to determine whether it exists, and if it exists, the target position is determined according to the connected domain search, and if there is no moving target, it is transferred to the next frame of the video; the image of the target position area is converted to the hue space and the NTSC space hue map I and the HSV space hue map H are weighted to obtain the hue histogram, and the reverse projection of the image is further obtained, and then the Meanshift algorithm is used to accurately locate the target position. Enter the next frame of the video and repeat the above calculation. This patent document mainly performs moving target trajectory analysis for vehicle speeding and violation detection and pedestrian flow detection, which is essentially different from the method adopted by the present invention and the technical problem solved. Summary of the invention

[0004] In view of the defects in the prior art, the object of the present invention is to provide a passive single-station target tracking and positioning method and system based on simulated altitude.

[0005] A passive single-station target tracking and positioning method based on simulated height provided by the present invention comprises:

[0006] Step S1: obtaining simulated height information from the collected location information of the measuring station and the observation information of the target;

[0007] Step S2: constructing a measurement rectangular coordinate system, constructing a target positioning plane triangle in the measurement rectangular coordinate system based on the simulated height information, and performing triangulation on the target position;

[0008] Step S3: Complete the tracking and positioning of the target according to the solution results.

[0009] Preferably, the passive measurement information of the observation station at time k is:

[0010] q k =[α k , β k, γ k ] T ;

[0011] Among them, α k , β k is the elevation angle and azimuth angle measured by the observation station to the target, γ k Represents the radiation characteristic value; the first side of the target positioning plane triangle constructed in the measurement rectangular coordinate system is the line L1 between the observation station and the target, the second side is the line L2 between the target and the center of the earth, and the third side is the line L3 between the observation station and the center of the earth; the angle between L1 and L3 is θ.

[0012] Preferably, the construction of the measurement rectangular coordinate system includes that in the horizontal plane of the measurement station, the X axis points to the north, the Y axis is perpendicular to the measurement station and points upward, the Z axis and the X and Y axes satisfy the right-hand spiral rule; the size of L3 is D3, and

[0013]

[0014] Among them, (x s ,y s , z s ) is the location information of the observation station in the Earth-centered Earth-fixed coordinate system; the angle between L1 and L3 is

[0015] θ k =90+α k ;

[0016] Among them, α k is the elevation angle measured by the observation station to the target;

[0017] The initial value D2 of the line L2 between the horizontal target and the center of the earth is R+H, where R is the long semi-axis of the earth and H is the simulated target height information.

[0018] Preferably, the line L1 between the observation station and the target is calculated according to the following formula:

[0019]

[0020] In the measurement rectangular coordinate system, the initial position information of the target is:

[0021] x k =D1cos(α k )sin(β k );

[0022] y k =D1sin(α k );

[0023] z k =D1cos(α k )cos(βk ).

[0024] Preferably, the observation information of the target includes the target angle and radiation characteristics; the calculation method of the correlation between the measurement information i and the current target is as follows:

[0025] p i =m×G(Δα)+n×G(Δβ)+o×G(Δγ)Δα≤ΔA, Δβ≤ΔB;

[0026] p i =0Others;

[0027] Among them, the mathematical expression of the function G(x) is

[0028]

[0029] The other parameters are calculated as:

[0030]

[0031] Δγ=γ k+1 -γ k ;

[0032]

[0033] x k+1 =x k +vx k+1 ×Δt;

[0034] y k+1 =y k +vy k+1 ×Δt;

[0035] z k+1 =z k +vz k+1 ×Δt;

[0036] Estimated observation information for time k+1, vx k ,vy k , vz k is the target's moving speed, with an initial value of zero; α b ,β b represents the nominal accuracy information of the sensor; Δt represents the time difference between the two sensor measurement data; m, n, o, w, u are weight coefficients; calculate the p of all measurement information i , select the maximum p i The corresponding measurement information is used as the measurement data of the target at time k+1.

[0037] Preferably, step S3 includes the following sub-steps:

[0038] Step S3.1: completing the initial positioning of the target based on the triangular relationship;

[0039] Step S3.2: Complete the observation point information association based on the simulated height information, and use the EKF filtering algorithm and the point information association method to complete the further tracking and positioning of the target.

[0040] A passive single-station target tracking and positioning system based on simulated altitude is provided according to the present invention, comprising:

[0041] Module M1: obtain simulated height information from the collected measurement station position information and target observation information;

[0042] Module M2: constructing a measurement rectangular coordinate system, constructing a target positioning plane triangle in the measurement rectangular coordinate system based on the simulated height information, and performing triangulation on the target position;

[0043] Module M3: Complete the tracking and positioning of the target based on the solution results.

[0044] Preferably, the passive measurement information of the observation station at time k is:

[0045] q k =[α k , β k , γ k ] T ;

[0046] Among them, α k , β k is the elevation angle and azimuth angle measured by the observation station to the target, γ k Represents the radiation characteristic value; the first side of the target positioning plane triangle constructed in the measurement rectangular coordinate system is the line L1 between the observation station and the target, the second side is the line L2 between the target and the center of the earth, and the third side is the line L3 between the observation station and the center of the earth; the angle between L1 and L3 is θ.

[0047] Preferably, the construction of the measurement rectangular coordinate system includes that in the horizontal plane of the measurement station, the X axis points to the north, the Y axis is perpendicular to the measurement station and points upward, the Z axis and the X and Y axes satisfy the right-hand spiral rule; the size of L3 is D3, and

[0048]

[0049] Among them, (x s ,y s , z s ) is the location information of the observation station in the Earth-centered Earth-fixed coordinate system; the angle between L1 and L3 is

[0050] θ k =90+αk ;

[0051] Among them, α k is the elevation angle measured by the observation station to the target;

[0052] The initial value D2 of the line L2 between the horizontal target and the center of the earth is R+H, where R is the long semi-axis of the earth and H is the simulated target height information.

[0053] Preferably, the line L1 between the observation station and the target is calculated according to the following formula:

[0054]

[0055] In the measurement rectangular coordinate system, the initial position information of the target is:

[0056] x k =D1cos(α k )sin(β k );

[0057] y k =D1sin(α k );

[0058] z k =D1cos(α k )cos(β k ).

[0059] Preferably, the observation information of the target includes the target angle and radiation characteristics; the calculation method of the correlation between the measurement information i and the current target is as follows:

[0060] p i =m×G(Δα)+n×G(Δβ)+o×G(Δγ)Δα≤ΔA, Δβ≤ΔB;

[0061] p i =0Others;

[0062] Among them, the mathematical expression of the function G(x) is

[0063]

[0064] The other parameters are calculated as:

[0065]

[0066] Δγ=γ k+1 -γ k ;

[0067]

[0068] x k+1 =xk +vx k+1 ×Δt;

[0069] y k+1 =y k +vy k+1 ×Δt;

[0070] z k+1 =z k +vz k+1 ×Δt;

[0071] Estimated observation information for time k+1, vx k ,vy k , vz k is the target's moving speed, with an initial value of zero; α b ,β b represents the nominal accuracy information of the sensor; Δt represents the time difference between the two sensor measurement data; m, n, o, w, u are weight coefficients; calculate the p of all measurement information i , select the maximum p i The corresponding measurement information is used as the measurement data of the target at time k+1.

[0072] Preferably, the module M3 includes the following submodules:

[0073] Module M3.1: Complete the initial positioning of the target based on the triangular relationship;

[0074] Module M3.2: Complete the observation point information association based on the simulated height information, and use the EKF filtering algorithm and point information association method to complete further tracking and positioning of the target.

[0075] Compared with the prior art, the present invention has the following beneficial effects:

[0076] 1. The present invention uses simulated height to construct the triangular relationship between the center of the earth, the observation station and the target. According to the target characteristics and empirical information, it reduces the reliance on the accumulation of observation information, and quickly completes the target positioning based on the observation point information of the simulated height. At the same time, the continuous observation data is processed through the EKF filtering algorithm and the point information association method, thus realizing the target tracking and positioning based on the angle measurement information of a single observation station.

[0077] 2. The present invention can combine target type information and expert experience information to build a target feature library and set the initial flight altitude of the target, so that the system can realize the positioning and solution of the target, thereby improving the anti-interference ability of the entire defense system.

[0078] Other beneficial effects of the present invention will be explained in the specific implementation manner through the introduction of specific technical features and technical solutions. Through the introduction of these technical features and technical solutions, those skilled in the art should be able to understand the beneficial technical effects brought about by the technical features and technical solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0080] Figure 1 The present invention is a flow chart of the method.

[0081] Figure 2 Schematic diagram of the target positioning triangle in the present invention. DETAILED DESCRIPTION

[0082] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0083] Reference Figure 1 and Figure 2 As shown, a passive single-station target tracking and positioning method based on simulated height includes:

[0084] Step S1: obtaining simulated height information from the collected location information of the measuring station and the observation information of the target;

[0085] Step S2: constructing a measurement rectangular coordinate system, constructing a target positioning plane triangle in the measurement rectangular coordinate system based on the simulated height information, and performing triangulation on the target position;

[0086] The steps for constructing the measurement rectangular coordinate system are as follows: in the horizontal plane of the measurement station, the X axis points to the north, the Y axis is perpendicular to the measurement station and points upward, and the Z axis, X axis, and Y axis satisfy the right-hand spiral rule; the size of L3 is D3, and

[0087]

[0088] Among them, (x s ,y s , z s ) is the location information of the observation station in the Earth-centered Earth-fixed coordinate system; the angle between L1 and L3 is

[0089] θ k =90+α k ;

[0090] Among them, α k is the elevation angle measured by the observation station to the target;

[0091] The initial value D2 of the line L2 between the horizontal target and the center of the earth is R+H, where R is the long semi-axis of the earth and H is the simulated target height information.

[0092] The passive measurement information of the observation station at time k is:

[0093] q k =[α k , β k , γ k ] T ;

[0094] Among them, α k , β k is the elevation angle and azimuth angle measured by the observation station to the target, γ k Represents the radiation characteristic value; the first side of the target positioning plane triangle constructed in the measurement rectangular coordinate system is the line L1 between the observation station and the target, the second side is the line L2 between the target and the center of the earth, and the third side is the line L3 between the observation station and the center of the earth; the angle between L1 and L3 is θ.

[0095] The line L1 between the observation station and the target is calculated as follows:

[0096]

[0097] In the measurement rectangular coordinate system, the initial position information of the target is:

[0098] x k =D1cos(α k )sin(β k );

[0099] y k =D1sin(α k );

[0100] z k =D1cos(α k )cos(β k ).

[0101] The target observation information includes the target angle and radiation characteristics; the calculation method of the correlation between the measurement information i and the current target is as follows:

[0102] p i =m×G(Δα)+n×G(Δβ)+o×G(Δγ)Δα≤ΔA, Δβ≤ΔB;

[0103] p i =0Others;

[0104] Among them, the mathematical expression of the function G(x) is

[0105]

[0106] The other parameters are calculated as:

[0107]

[0108] Δγ=γ k+1 -γ k ;

[0109]

[0110] x k+1 =x k +vx k+1 ×Δt;

[0111] y k+1 =y k +vy k+1 ×Δt;

[0112] z k+1 =z k +vz k+1 ×Δt;

[0113] Estimated observation information for time k+1, vx k ,vy k , vz k is the target's moving speed, with an initial value of zero; α b ,β b represents the nominal accuracy information of the sensor; Δt represents the time difference between the two sensor measurement data; m, n, o, w, u are weight coefficients; calculate the p of all measurement information i , select the maximum p i The corresponding measurement information is used as the measurement data of the target at time k+1.

[0114] Step S3: According to the target characteristics and empirical information, the reliance on the accumulation of observation information is reduced, and the target positioning based on the observation point information of the simulated height is quickly completed. At the same time, the continuous observation data is processed through the EKF filtering algorithm and the point information association method to achieve target tracking and positioning based on the angle measurement information of a single observation station.

[0115] The present invention utilizes simulated altitude to construct the triangular relationship among the center of the earth, the observation station and the target. According to the target characteristics and empirical information, the invention reduces the reliance on the accumulation of observation information, and quickly completes the target positioning based on the observation point information of the simulated altitude. At the same time, the continuous observation data is processed by the EKF filtering algorithm and the point information association method, thereby realizing the target tracking and positioning based on the angle measurement information of a single observation station.

[0116] The above is a basic embodiment of the present invention. The technical solution of the present invention is further described below through a preferred embodiment.

[0117] Example 1

[0118] Reference Figure 1 and Figure 2 As shown, a passive single-station target tracking and positioning method based on simulated height, the steps are:

[0119] The passive measurement information q of the observation station at time k k =[α k , β k , γ k ] T , where α k , β k The observation station measures the elevation angle and azimuth angle of the target, γ k Indicates the radiation characteristic value. A target positioning plane triangle is constructed in the measurement rectangular coordinate system, where the first line is the line L1 between the observation station and the target, the second side is the line L2 between the target and the center of the earth, and the third side is the line L3 between the observation station and the center of the earth. The angle between L1 and L3 is θ. The initial rapid positioning of the target is completed based on the triangular relationship, and then the tracking and convergence positioning of the target are completed using the method of EKF and point trace information association.

[0120] The construction process of the measurement rectangular coordinate system is as follows: the X axis points to the north in the horizontal plane of the measurement station, the Y axis is perpendicular to the measurement station and points upward, the Z axis and the X and Y axes meet the right-hand spiral rule; the size of L3 is D3, and Where (x s ,y s , z s ) is the position information of the observation station in the Earth-centered Earth-fixed coordinate system; the angle θ between L1 and L3 k =90+α k , where α k The observation station measures the pitch angle of the target; the initial value D2 of the line L2 between the horizontal target and the center of the earth is R+H, where R is the major axis of the earth and H is the simulated target height information.

[0121] The line L1 between the observation station and the target is calculated as follows:

[0122]

[0123] In the measurement rectangular coordinate system, the initial position information of the target is:

[0124] x k =D1cos(α k )sin(β k );

[0125] y k =D1sin(α k );

[0126] z k =D1cos(α k )cos(β k );

[0127] The observation station is used to measure the target angle and radiation characteristics, and the simulated height information is fully used to complete the association of the measurement point information. For all the target information measured by the observation station, the correlation between the measurement information i and the current target is calculated as follows:

[0128] p i =m×G(Δα)+n×G(Δβ)+o×G(Δγ)Δα≤ΔA, Δβ≤ΔB;

[0129] p i =0Others;

[0130] The mathematical expression of the function G(x) is G(x) The calculation methods of other parameters are described as follows:

[0131]

[0132] Δγ=γ k+1 -γ k ;

[0133]

[0134] x k+1 =x k +vx k+1 ×Δt;

[0135] y k+1 =y k +vy k+1 ×Δt;

[0136] z k+1 =z k +vz k+1 ×Δt;

[0137] Estimated observation information for time k+1, vxk ,vy k , vz k is the target's moving speed, with an initial value of zero; α b ,β b Represents the nominal accuracy information of the sensor; Δt represents the time difference between the sensor measurement data of the previous and next shots; m, n, o, w, u are weight coefficients, among which m=0.4, n=0.4, o=0.2, w=1.2, u=1.5 can be set.

[0138] Calculate p of all measurement information i , select the maximum p i The corresponding measurement information is the measurement data of the target at time k+1.

[0139] The EKF algorithm is used to filter the target measurement information, where the observation information is the angle The state variable is the location information of the target Assuming that the target moves according to the law of uniform motion, the EKF passes through the state variable To α k+1 , β k+1 Performing a first-order Taylor expansion, the state equation and observation equation matrices are as follows:

[0140]

[0141] The EKF filtering calculation process is described as follows:

[0142]

[0143] P k =FP k-1 F+Q

[0144] M=HP k H T +R;

[0145] K=P k HM -1 ;

[0146]

[0147] P k =(I-KH)P k ;

[0148]

[0149] In the above formula, Represents the observation angle information of the sensor, P k represents the covariance matrix of the state vector at time k; Q represents the covariance matrix of the Gaussian noise of the predicted state, which measures the accuracy of the model; αb , β b Indicates the nominal accuracy information of the sensor.

[0150] The present invention also provides a passive single-station target tracking and positioning system based on simulated altitude. The passive single-station target tracking and positioning system based on simulated altitude can be realized by executing the process steps of the passive single-station target tracking and positioning method based on simulated altitude, that is, those skilled in the art can understand the passive single-station target tracking and positioning method based on simulated altitude as a preferred implementation of the passive single-station target tracking and positioning system based on simulated altitude.

[0151] Specifically, a passive single-station target tracking and positioning system based on simulated altitude includes:

[0152] Module M1: obtain simulated height information from the collected measurement station position information and target observation information;

[0153] Module M2: constructing a measurement rectangular coordinate system, constructing a target positioning plane triangle in the measurement rectangular coordinate system based on the simulated height information, and performing triangulation on the target position;

[0154] Module M3: Complete the tracking and positioning of the target based on the solution results.

[0155] The passive measurement information of the observation station at time k is:

[0156] q k =[α k , β k , γ k ] T ;

[0157] Among them, α k , β k is the elevation angle and azimuth angle measured by the observation station to the target, γ k Represents the radiation characteristic value; the first side of the target positioning plane triangle constructed in the measurement rectangular coordinate system is the line L1 between the observation station and the target, the second side is the line L2 between the target and the center of the earth, and the third side is the line L3 between the observation station and the center of the earth; the angle between L1 and L3 is θ.

[0158] The construction of the measurement rectangular coordinate system includes that in the horizontal plane of the measurement station, the X axis points to the north, the Y axis is perpendicular to the measurement station and points upward, the Z axis and the X and Y axes meet the right-hand spiral rule; the size of L3 is D3, and

[0159]

[0160] Among them, (x s ,y s , zs ) is the location information of the observation station in the Earth-centered Earth-fixed coordinate system; the angle between L1 and L3 is

[0161] θ k =90+α k ;

[0162] Among them, α k is the elevation angle measured by the observation station to the target;

[0163] The initial value D2 of the line L2 between the horizontal target and the center of the earth is R+H, where R is the long semi-axis of the earth and H is the simulated target height information.

[0164] The line L1 between the observation station and the target is calculated according to the following formula:

[0165]

[0166] In the measurement rectangular coordinate system, the initial position information of the target is:

[0167] x k =D1cos(α k )sin(β k );

[0168] y k =D1sin(α k );

[0169] z k =D1cos(α k )cos(β k ).

[0170] The observation information of the target includes the target angle and radiation characteristics; the calculation method of the correlation between the measurement information i and the current target is as follows:

[0171] p i =m×G(Δα)+n×G(Δβ)+o×G(Δγ)Δα≤ΔA, Δβ≤ΔB;

[0172] p i =0Others;

[0173] Among them, the mathematical expression of the function G(x) is

[0174]

[0175] The other parameters are calculated as:

[0176]

[0177] Δγ=γ k+1 -γ k ;

[0178]

[0179] x k+1 =x k +vx k+1 ×Δt;

[0180] y k+1 =y k +vy k+1 ×Δt;

[0181] z k+1 =z k +vz k+1 ×Δt;

[0182] Estimated observation information for time k+1, vx k ,vy k , vz k is the target's moving speed, with an initial value of zero; α b ,β b represents the nominal accuracy information of the sensor; Δt represents the time difference between the two sensor measurement data; m, n, o, w, u are weight coefficients; calculate the p of all measurement information i , select the maximum p i The corresponding measurement information is used as the measurement data of the target at time k+1.

[0183] The module M3 includes the following submodules:

[0184] Module M3.1: Complete the initial positioning of the target based on the triangular relationship;

[0185] Module M3.2: Complete the observation point information association based on the simulated height information, and use the EKF filtering algorithm and point information association method to complete further tracking and positioning of the target.

[0186] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0187] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0188] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A passive single-station target tracking and positioning method based on simulated altitude, characterized in that: include: Step S1: obtaining simulated height information from the collected location information of the measuring station and the observation information of the target; Step S2: constructing a measurement rectangular coordinate system, constructing a target positioning plane triangle in the measurement rectangular coordinate system based on the simulated height information, and performing triangulation on the target position; Step S3: Complete the tracking and positioning of the target according to the solution results.

2. The passive single-station target tracking and positioning method based on simulated height according to claim 1 is characterized in that: The passive measurement information of the observation station at time k is: q k =[a k 、b k 、c k ] T ; Among them, α k , β k is the elevation angle and azimuth angle measured by the observation station to the target, γ k Represents the radiation characteristic value; the first side of the target positioning plane triangle constructed in the measurement rectangular coordinate system is the line L1 between the observation station and the target, the second side is the line L2 between the target and the center of the earth, and the third side is the line L3 between the observation station and the center of the earth; the angle between L1 and L3 is θ.

3. The passive single-station target tracking and positioning method based on simulated height according to claim 2 is characterized in that: The construction of the measurement rectangular coordinate system includes that in the horizontal plane of the measurement station, the X axis points to the north, the Y axis is perpendicular to the measurement station and points upward, the Z axis and the X and Y axes meet the right-hand spiral rule; the size of L3 is D3, and Among them, (x s ,y s , z s ) is the location information of the observation station in the Earth-centered Earth-fixed coordinate system; the angle between L1 and L3 is θ k =90+α k ; Among them, α k is the elevation angle measured by the observation station to the target; The initial value D2 of the line L2 between the horizontal target and the center of the earth is R+H, where R is the long semi-axis of the earth and H is the simulated target height information.

4. The passive single-station target tracking and positioning method based on simulated height according to claim 3 is characterized in that: The line L1 between the observation station and the target is calculated according to the following formula: In the measurement rectangular coordinate system, the initial position information of the target is: x k =D1cos(α k )sin(β k ); y k =D1sin(α k ); z k =D1cos(α k )cos(β k )。 5. The passive single-station target tracking and positioning method based on simulated altitude according to claim 4 is characterized in that: The observation information of the target includes the target angle and radiation characteristics; the calculation method of the correlation between the measurement information i and the current target is as follows: p i =m×G(Δα)+n×G(Δβ)+o×G(Δγ)Δα≤ΔA,Δβ≤ΔB; p i =0Others; Among them, the mathematical expression of the function G(x) is: The other parameters are calculated as: Δγ=γ k+1 -c k ; x k+1 =x k +vx k+1 ×Δt; y k+1 =y k +vy k+1 ×Δt; from k+1 =from k +vz k+1 ×Δt; Estimated observation information for time k+1, vx k ,vy k , vz k is the target's moving speed, with an initial value of zero; α b ,β b represents the nominal accuracy information of the sensor; Δt represents the time difference between the two sensor measurement data; m, n, o, w, u are weight coefficients; calculate the p of all measurement information i , select the maximum p i The corresponding measurement information is used as the measurement data of the target at time k+1.

6. The passive single-station target tracking and positioning method based on simulated altitude according to claim 1, characterized in that: The step S3 comprises the following sub-steps: Step S3.1: completing the initial positioning of the target based on the triangular relationship; Step S3.2: Complete the observation point information association based on the simulated height information, and use the EKF filtering algorithm and the point information association method to complete the further tracking and positioning of the target.

7. A passive single-station target tracking and positioning system based on simulated altitude, characterized in that: include: Module M1: obtain simulated height information from the collected measurement station position information and target observation information; Module M2: constructing a measurement rectangular coordinate system, constructing a target positioning plane triangle in the measurement rectangular coordinate system based on the simulated height information, and performing triangulation on the target position; Module M3: Complete the tracking and positioning of the target based on the solution results.

8. The passive single-station target tracking and positioning system based on simulated altitude according to claim 7, characterized in that: The passive measurement information of the observation station at time k is: q k =[a k 、b k 、c k ] T ; Among them, α k , β k is the elevation angle and azimuth angle measured by the observation station to the target, γ k Represents the radiation characteristic value; the first side of the target positioning plane triangle constructed in the measurement rectangular coordinate system is the line L1 between the observation station and the target, the second side is the line L2 between the target and the center of the earth, and the third side is the line L3 between the observation station and the center of the earth; the angle between L1 and L3 is θ.

9. The passive single-station target tracking and positioning system based on simulated altitude according to claim 8, characterized in that: The construction of the measurement rectangular coordinate system includes that in the horizontal plane of the measurement station, the X axis points to the north, the Y axis is perpendicular to the measurement station and points upward, the Z axis and the X and Y axes meet the right-hand spiral rule; the size of L3 is D3, and Among them, (x s ,y s , z s ) is the location information of the observation station in the Earth-centered Earth-fixed coordinate system; the angle between L1 and L3 is θ k =90+α k ; Among them, α k is the elevation angle measured by the observation station to the target; The initial value D2 of the line L2 between the horizontal target and the center of the earth is R+H, where R is the long semi-axis of the earth and H is the simulated target height information.

10. The passive single-station target tracking and positioning system based on simulated altitude according to claim 9, characterized in that: The line L1 between the observation station and the target is calculated according to the following formula: In the measurement rectangular coordinate system, the initial position information of the target is: x k =D1cos(α k )sin(β k ); y k =D1sin(α k ); z k =D1cos(α k )cos(β k )。

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