Cooperative positioning method and device of radiation source, electronic equipment and storage medium

Abstract

The invention provides a cooperative positioning method and device of a radiation source, electronic equipment and a storage medium, belongs to the technical field of wireless positioning, determines a predicted position of the radiation source according to time difference of arrival and position information of an observation station, and realizes preliminary positioning of the radiation source. Iteratively updating the predicted position of the radiation source according to the preset Jacobian determinant to obtain the single positioning information of the radiation source, thereby improving the accuracy of radiation source positioning. The radiation source information is determined and updated according to the predicted value of the radiation source information, the time domain filtering gain, the first observed quantity and the time difference observed quantity, continuous tracking and positioning of the radiation source are achieved, and the accuracy of radiation source positioning is improved.

Description

Technical Field

[0001] The present invention relates to the field of wireless positioning technology, and in particular to a method, device, electronic equipment and storage medium for collaborative positioning of a radiation source. Background Art

[0002] The core idea of ​​the collaborative passive positioning system is to extract and analyze the characteristic parameters of the electromagnetic signals received by the known observation stations from the unknown radiation source, and then calculate the location information of the radiation source signal. The existing collaborative passive positioning methods mainly include those based on the arrival time angle measurement, the arrival time difference measurement, the arrival frequency difference measurement, and the received signal strength measurement. Such methods rely on different observation equipment to obtain different parameters and obtain the target position through geometric calculation. The collaborative passive positioning equipment based on the arrival angle is large in size and has high requirements for the antenna array; the collaborative passive positioning based on the received signal strength requires less data but has low accuracy; the collaborative passive positioning technology based on the arrival frequency difference requires high-speed motion difference.

[0003] In summary, the existing positioning of radiation sources has high hardware requirements and low positioning accuracy. Summary of the invention

[0004] The present invention provides a radiation source collaborative positioning method, device, electronic device and storage medium, which are used to solve the defects of high hardware requirements and low positioning accuracy of radiation source positioning in the prior art, and improve the positioning accuracy of the radiation source.

[0005] The present invention provides a collaborative positioning method for radiation sources, comprising: obtaining position information of multiple observation stations, arrival time differences of transmission signals of radiation sources received between the observation stations, and received signal strengths of the observation stations; obtaining predicted position information of the radiation sources based on the position information of the observation stations and the arrival time differences; iteratively updating the predicted position information of the radiation sources based on a preset Jacobian determinant until the number of iterations reaches a first set number, thereby obtaining initial position information of the radiation sources, wherein the preset Jacobian determinant is determined based on the arrival time difference; when the received signal strength is lower than the set strength, obtaining a predicted value of the radiation source information at the current moment and a time domain filtering gain at the current moment based on the radiation source information at the previous moment, and obtaining the predicted value of the radiation source information at the current moment and the time domain filtering gain at the current moment; and The radiation source information at the current moment includes the position information and speed information of the radiation source at the current moment, and the position information of the radiation source at the initial moment is the initial position information; the radiation source information at the current moment is determined based on the predicted value of the radiation source information at the current moment, the time domain filter gain at the current moment, and the first observation at the current moment, and the first observation at the current moment is determined based on the time difference observation at the current moment, and the time difference observation characterizes the position difference between the radiation source and different observation stations; the time domain filter gain at the current moment and the predicted value of the radiation source information at the current moment are updated to update the radiation source information at the current moment, until the number of updates of the radiation source information at the current moment reaches a second set number of times, and the final radiation source information is obtained.

[0006] According to the collaborative positioning method of the radiation source provided by the present invention, the observation station includes a main observation station and an auxiliary observation station, the arrival time difference is the arrival time difference between the main observation station and the auxiliary observation station, the position information includes a horizontal coordinate and a vertical coordinate, the coordinate origin is the main observation station, and the predicted position information of the radiation source is obtained based on the position information of the observation station and the arrival time difference, including: obtaining at least two distance differences based on the arrival time difference and the speed of light, obtaining the covariance coefficient of the distance difference, the distance difference is the difference between the distance from the radiation source to the main observation station and the distance from the radiation source to the auxiliary observation station; constructing a second observation quantity based on the horizontal coordinate of the radiation source, the vertical coordinate of the radiation source and the radiation source distance, the radiation source distance is the distance from the radiation source to the main observation station; obtaining the least squares estimate of the second observation quantity based on the observation matrix of the second observation quantity, the observation noise of the second observation quantity and the covariance coefficient of the distance difference, and obtaining the least squares estimate of the second observation quantity. The least squares estimate includes the estimated value of the horizontal coordinate of the radiation source, the estimated value of the vertical coordinate of the radiation source and the estimated value of the distance of the radiation source; based on the horizontal distance from the radiation source to the main observation station and the vertical distance from the radiation source to the main observation station, a third observation is constructed; based on the covariance of the third observation, the observation matrix of the third observation and the observation noise of the third observation, the least squares estimate of the third observation is obtained, and the least squares estimate of the third observation includes the estimated value of the square of the horizontal distance and the estimated value of the square of the vertical distance; based on the estimated value of the square of the horizontal distance, the estimated value of the horizontal coordinate of the radiation source and the horizontal coordinate of the main observation station, the predicted horizontal coordinate of the radiation source is obtained; based on the estimated value of the square of the vertical distance, the estimated value of the vertical coordinate of the radiation source and the vertical coordinate of the main observation station, the predicted vertical coordinate of the radiation source is obtained; based on the predicted horizontal coordinate and the predicted vertical coordinate, the predicted position information of the radiation source is obtained.

[0007] According to the collaborative positioning method of radiation sources provided by the present invention, the covariance of the third observation quantity is determined based on the following steps: constructing an observation error matrix based on the estimated value of the horizontal coordinate of the radiation source, the estimated value of the vertical coordinate of the radiation source, the estimated value of the distance of the radiation source, the horizontal coordinate of the main observation station and the vertical coordinate of the main observation station; obtaining the covariance of the third observation quantity based on the observation error matrix and the covariance of the second observation quantity, the covariance of the second observation quantity is determined based on the observation matrix of the second observation quantity and the covariance coefficient of the distance difference.

[0008] According to the collaborative positioning method of radiation sources provided by the present invention, the predicted position information of the radiation source is iteratively updated based on a preset Jacobian determinant, including: determining a first Jacobian term based on the abscissa of the main observation station, the abscissa of the auxiliary observation station, the predicted abscissa, the distance from the radiation source to the auxiliary observation station, and the distance difference; determining a second Jacobian term based on the ordinate of the main observation station, the ordinate of the auxiliary observation station, the predicted ordinate, the distance from the radiation source to the auxiliary observation station, and the distance difference; obtaining a preset Jacobian determinant based on the first Jacobian term and the second Jacobian term; determining an observation residual of a fourth observation quantity based on a fourth observation quantity, an observation matrix of a fourth observation quantity, an observation noise of the fourth observation quantity, a measurement noise of the fourth observation quantity, predicted position information of the radiation source, and a preset Jacobian determinant, wherein the fourth observation quantity is constructed based on the abscissa of the radiation source and the ordinate of the radiation source; updating the predicted position information of the radiation source based on the difference between the predicted position information of the radiation source and the observation residual; and using the updated predicted position information of the radiation source as the predicted position information of the radiation source to iteratively update the predicted position information of the radiation source.

[0009] According to the collaborative positioning method of radiation sources provided by the present invention, the predicted value of the radiation source information at the current moment is determined based on the following steps: based on the current moment and the previous moment, constructing a state transfer matrix between the radiation source information at the current moment and the radiation source information at the previous moment; based on the state transfer matrix and the radiation source information at the previous moment, obtaining the predicted value of the radiation source information at the current moment.

[0010] According to the collaborative positioning method of radiation sources provided by the present invention, the time domain filtering gain at the current moment is determined based on the following steps: determining the variance at the current moment of the predicted value of the radiation source information at the current moment based on the variance of the radiation source information at the previous moment, the covariance of the observation noise of the radiation source information at the previous moment, and the state transfer matrix; obtaining the first-order differential matrix of the time difference observation quantity at the previous moment with respect to the radiation source information to obtain the derivative of the time difference observation quantity at the previous moment; obtaining the time domain filtering gain at the current moment based on the variance at the current moment, the derivative of the time difference observation quantity at the previous moment, the variance at the previous moment of the predicted value of the radiation source information at the previous moment, and the covariance of the observation noise of the first observation quantity at the current moment.

[0011] According to the collaborative positioning method of the radiation source provided by the present invention, the time difference observation amount at the current moment is determined based on the following steps: based on the position information of the radiation source at the current moment and the position information of the main observation station, a first position difference between the radiation source and the main observation station is obtained; based on the position information of the radiation source at the current moment and the position information of the auxiliary observation station, a second position difference between the radiation source and the auxiliary observation station is obtained; based on the difference between the first position difference and the second position difference, the time difference observation amount at the current moment is obtained.

[0012] The present invention also provides a collaborative positioning device for radiation sources, comprising: an acquisition module, used to acquire the position information of multiple observation stations, the arrival time difference of the transmission signal of the radiation source received between the observation stations, and the received signal strength of the observation station; a prediction module, used to acquire the predicted position information of the radiation source based on the position information and the arrival time difference of the observation station; a first iteration module, used to iteratively update the predicted position information of the radiation source based on a preset Jacobian determinant until the number of iterations reaches a first set number, and obtain the initial position information of the radiation source, the preset Jacobian determinant is determined based on the arrival time difference; a first tracking module, used to acquire the predicted value of the radiation source information at the current moment and the time domain value of the radiation source information at the current moment based on the radiation source information at the previous moment when the received signal strength is lower than the set strength. filtering gain, the radiation source information at the current moment includes the position information and speed information of the radiation source at the current moment, and the position information of the radiation source at the initial moment is the initial position information; a second tracking module is used to determine the radiation source information at the current moment based on the predicted value of the radiation source information at the current moment, the time domain filtering gain at the current moment, and the first observation at the current moment, the first observation at the current moment is determined based on the time difference observation at the current moment, and the time difference observation characterizes the position difference between the radiation source and different observation stations; a second iterative module is used to update the time domain filtering gain at the current moment and the predicted value of the radiation source information at the current moment, so as to update the radiation source information at the current moment, until the number of updates of the radiation source information at the current moment reaches the second set number of times, and the final radiation source information is obtained.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a collaborative positioning method for any radiation source as described above is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for collaborative positioning of any radiation source as described above is implemented.

[0015] The collaborative positioning method, device, electronic device and storage medium of the radiation source provided in the embodiment of the present application determine the predicted position of the radiation source according to the arrival time difference and the position information of the observation station, thereby realizing the preliminary positioning of the radiation source. The predicted position of the radiation source is iteratively updated according to the preset Jacobian determinant to obtain the single positioning information of the radiation source, thereby improving the accuracy of positioning the radiation source. The radiation source information is determined and updated according to the predicted value of the radiation source information, the time domain filter gain, the first observation amount and the time difference observation amount, thereby realizing the continuous tracking and positioning of the radiation source and improving the accuracy of positioning the radiation source. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is one of the flow charts of the collaborative positioning method of the radiation source provided by the present invention.

[0018] Figure 2 It is a distribution diagram of the observation stations provided by the present invention.

[0019] Figure 3 This is the second flow chart of the collaborative positioning method of radiation sources provided by the present invention.

[0020] Figure 4 It is a schematic diagram of the change of the positioning error of the collaborative positioning method of the radiation source provided by the present invention with the tracking time.

[0021] Figure 5 It is a schematic structural diagram of the collaborative positioning device of the radiation source provided by the present invention.

[0022] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Combine the following Figure 1-Figure 6 The present invention describes a method, device and electronic device for co-locating radiation sources.

[0025] Figure 1 is one of the flow charts of the collaborative positioning method of the radiation source provided by the present invention, such as Figure 1 As shown, the collaborative positioning method of radiation sources includes S100 to S600, and each step is specifically as follows.

[0026] S100: Acquire location information of multiple observation stations, arrival time differences of transmission signals of radiation sources received between the observation stations, and received signal strengths of the observation stations.

[0027] The location information of multiple observation stations is obtained, for example, the horizontal coordinate and the vertical coordinate of each observation station in the coordinate system are obtained to obtain the location information of each observation station. Each observation station obtains the received signal strength of the radiation source. The arrival time difference is obtained according to the difference in arrival time of the received signal of the radiation source between the two observation stations.

[0028] S200: Acquire the predicted position information of the radiation source based on the position information and arrival time difference of the observation station.

[0029] The distance difference between the radiation source and the observation station is obtained according to the arrival time difference. A nonlinear equation group is constructed according to the distance difference, the location information of the observation station and the location information of the radiation source. The nonlinear equation group is solved to obtain the predicted location information of the radiation source.

[0030] S300: Iteratively update the predicted position information of the radiation source based on a preset Jacobian determinant until the number of iterations reaches a first set number, thereby obtaining the initial position information of the radiation source.

[0031] The preset Jacobian is determined based on the arrival time difference.

[0032] The distance difference between the radiation source and the observation station is obtained according to the arrival time difference, and a preset Jacobian determinant containing the distance difference is constructed according to the distance difference. The observation residual of the radiation source is calculated according to the preset Jacobian determinant. The predicted position information of the radiation source is iteratively updated according to the observation residual of the radiation source. When the number of iterations reaches the first set number, the iteration is terminated, and the predicted position information of the radiation source updated by the last iteration is used as the initial position information.

[0033] S400: When the received signal strength is lower than the set strength, a predicted value of the radiation source information at the current moment and a time domain filtering gain at the current moment are obtained based on the radiation source information at the previous moment.

[0034] The radiation source information at the current moment includes the position information and speed information of the radiation source at the current moment, and the position information of the radiation source at the initial moment is the initial position information.

[0035] When the received signal strength of the radiation source is lower than the set strength, the radiation source needs to be tracked. The initial position information is used as the position information of the radiation source at the initial moment. The previous moment is close to the current moment, and the predicted value of the radiation source information at the current moment and the time domain filter gain at the current moment are calculated based on the radiation source information at the previous moment. Set a fixed time interval between the previous moment and the current moment, for example, 5s, and update the radiation source information according to the time interval.

[0036] The predicted value of the radiation source information at the current moment is determined based on the following steps: based on the current moment and the previous moment, construct a state transfer matrix between the radiation source information at the current moment and the radiation source information at the previous moment; based on the state transfer matrix and the radiation source information at the previous moment, obtain the predicted value of the radiation source information at the current moment.

[0037] The speed information of the radiation source is further obtained, and the radiation source information is obtained according to the speed information of the radiation source and the position information of the radiation source. At the initial moment of updating the radiation source information (the first update), the position information of the radiation source is the initial position information.

[0038] ; in, For the current moment, is the radiation source information at the current moment, For the previous moment, is the radiation source information at the previous moment, is the observation noise of the radiation source information at the previous moment, , , and is the noise factor of the observation noise of the radiation source information at the previous moment, is the location information of the radiation source at the current moment (the horizontal and vertical coordinates of the radiation source at the current moment), is the velocity information of the radiation source at the current moment (the lateral velocity and longitudinal velocity of the radiation source at the current moment), is the state transfer matrix between the radiation source information at the current moment and the radiation source information at the previous moment, is the predicted value of the radiation source information at the current moment.

[0039] The time domain filtering gain at the current moment is determined based on the following steps: determining the variance at the current moment of the predicted value of the radiation source information at the previous moment based on the variance of the radiation source information at the previous moment, the covariance of the observation noise of the radiation source information at the previous moment, and the state transfer matrix; obtaining the first-order differential matrix of the time difference observation quantity at the previous moment with respect to the radiation source information to obtain the derivative of the time difference observation quantity at the previous moment; obtaining the time domain filtering gain at the current moment based on the variance at the current moment, the derivative of the time difference observation quantity at the previous moment, the variance at the previous moment of the predicted value of the radiation source information at the previous moment, and the covariance of the observation noise of the first observation quantity at the current moment.

[0040] The calculation formulas of the variance of the predicted value of the radiation source information at the current moment, the derivative of the time difference observation at the previous moment, and the time domain filter gain at the current moment are as follows.

[0041] ; in, For the current moment, For the previous moment, is the radiation source information at the current moment, is the time domain filter gain at the current moment, is the radiation source information at the previous moment, is the derivative of the time difference observation at the previous moment, The variance of the predicted value of the radiation source information at the previous moment, The variance of the predicted value of the radiation source information at the current moment, is the covariance of the observation noise of the first observation at the current moment, is the covariance of the observation noise of the radiation source information at the previous moment, is the state transfer matrix between the radiation source information at the current moment and the radiation source information at the previous moment, is the variance of the radiation source information at the previous moment.

[0042] Assuming that the speed of the time difference observation does not change in a short period of time, the derivative of the time difference observation with respect to speed is 0.

[0043] The present application determines the variance of the predicted value of the radiation source information according to the variance of the radiation source information, the covariance of the observation noise of the radiation source information and the state transfer matrix, which is conducive to improving the accuracy of determining the time domain filtering gain.

[0044] The time difference observation at the current moment is determined based on the following steps: based on the position information of the radiation source at the current moment and the position information of the main observation station, a first position difference between the radiation source and the main observation station is obtained; based on the position information of the radiation source at the current moment and the position information of the auxiliary observation station, a second position difference between the radiation source and the auxiliary observation station is obtained; based on the difference between the first position difference and the second position difference, the time difference observation at the current moment is obtained.

[0045] ; in, is the first observation at the current moment, is the observation noise of the first observation at the current moment, is the radiation source information at the current moment, is the time difference observation at the current moment, For the current moment The time variance observation factor, is the location information of the radiation source at the current moment, For the The location information of the auxiliary observation stations, is the location information of the main observation station, is the location information of the radiation source at the current moment (the horizontal and vertical coordinates of the radiation source at the current moment), For the The horizontal and vertical coordinates of the auxiliary observation stations, are the horizontal and vertical coordinates of the main observation station, is the first position difference, For the radiation source and The second position difference of the auxiliary observation stations.

[0046] The present application realizes the determination of the time difference observation amount based on the location information of the radiation source, the location information of the main observation station and the location information of the auxiliary observation station, which is conducive to improving the accuracy of determining the radiation source information at the current moment.

[0047] S500: Determine the radiation source information at the current moment based on the predicted value of the radiation source information at the current moment, the time domain filter gain at the current moment, and the first observation value at the current moment.

[0048] The first observation at the current moment is determined based on the time difference observation at the current moment, and the time difference observation represents the position difference between the radiation source and different observation stations.

[0049] According to the location information of the radiation source at the current moment, the time difference observation at the current moment is obtained. According to the time difference observation at the current moment and the observation noise at the current moment, the first observation at the current moment is obtained. The radiation source information at the current moment is determined according to the predicted value of the radiation source information at the current moment, the time domain filter gain at the current moment, the first observation at the current moment and the time difference observation at the current moment. The calculation formula of the radiation source information at the current moment is as follows.

[0050] ; in, For the current moment, is the radiation source information at the current moment, is the predicted value of the radiation source information at the current moment, is the time domain filter gain at the current moment, is the first observation at the current moment, is the time difference observation at the current moment, is the observation noise of the first observation at the current moment, and the observation noise at the current moment is Gaussian white noise with zero mean and covariance.

[0051] Further, the variance of the radiation source information at the current moment is calculated, and the variance of the radiation source information at the current moment is calculated according to the unit matrix, the time domain filter gain at the current moment, the derivative of the time difference observation quantity at the previous moment, and the variance of the predicted value of the radiation source information at the previous moment.

[0052] ; in, For the current moment, For the previous moment, is the variance of the radiation source information at the current moment, is the identity matrix, is the time domain filter gain at the current moment, is the derivative of the time difference observation at the previous moment, The variance of the predicted value of the radiation source information at the previous moment at the previous moment.

[0053] S600: Update the time domain filter gain at the current moment and the predicted value of the radiation source information at the current moment to update the radiation source information at the current moment, until the number of updates of the radiation source information at the current moment reaches a second set number of times, to obtain the final radiation source information.

[0054] The radiation source information at the current moment is used as the radiation source information at the previous moment to update the time domain filter gain at the current moment and the predicted value of the radiation source information at the current moment. The radiation source information at the current moment is updated according to the updated time domain filter gain at the current moment and the updated predicted value of the radiation source information at the current moment to iteratively update the radiation source information at the current moment. When the number of updates of the radiation source information at the current moment reaches a second set number of times, for example, 4 times, it is determined that the radiation source information is updated and the final radiation source information is obtained.

[0055] The collaborative positioning method of the radiation source provided in the embodiment of the present application determines the predicted position of the radiation source according to the arrival time difference and the position information of the observation station, thereby realizing the preliminary positioning of the radiation source. The predicted position of the radiation source is iteratively updated according to the preset Jacobian determinant to obtain the single positioning information (initial position information) of the radiation source, thereby improving the accuracy of positioning the radiation source. The radiation source information is determined and updated according to the predicted value of the radiation source information, the time domain filter gain, the first observation amount and the time difference observation amount, thereby realizing the continuous tracking and positioning of the radiation source and improving the accuracy of positioning the radiation source.

[0056] Based on the above embodiment, the observation station includes a main observation station and an auxiliary observation station, the arrival time difference is the arrival time difference between the main observation station and the auxiliary observation station, the position information includes a horizontal coordinate and a vertical coordinate, the coordinate origin is the main observation station, and the predicted position information of the radiation source is obtained based on the position information of the observation station and the arrival time difference, including S210 to S280, and each step is specifically as follows.

[0057] S210: Obtain at least two distance differences based on the arrival time difference and the speed of light, and obtain a covariance coefficient of the distance difference, where the distance difference is the difference between the distance from the radiation source to the primary observation station and the distance from the radiation source to the auxiliary observation station.

[0058] S220: constructing a second observation value based on the abscissa of the radiation source, the ordinate of the radiation source and the distance of the radiation source, where the distance of the radiation source is the distance between the radiation source and the main observation station.

[0059] S230: Based on the observation matrix of the second observation quantity, the observation noise of the second observation quantity and the covariance coefficient of the distance difference, obtain the least squares estimate of the second observation quantity, the least squares estimate of the second observation quantity includes the horizontal coordinate estimate of the radiation source, the vertical coordinate estimate of the radiation source and the distance estimate of the radiation source.

[0060] S240: Construct a third observation quantity based on the lateral distance from the radiation source to the main observation station and the longitudinal distance from the radiation source to the main observation station.

[0061] S250: Based on the covariance of the third observation, the observation matrix of the third observation and the observation noise of the third observation, obtain a least squares estimate of the third observation, wherein the least squares estimate of the third observation includes an estimate of the square of the horizontal distance and an estimate of the square of the vertical distance.

[0062] S260: Based on the estimated value of the square of the lateral distance, the estimated value of the lateral coordinate of the radiation source and the lateral coordinate of the main observation station, obtain the predicted lateral coordinate of the radiation source.

[0063] S270: Based on the estimated value of the square of the longitudinal distance, the estimated value of the longitudinal coordinate of the radiation source and the longitudinal coordinate of the main observation station, obtain the predicted longitudinal coordinate of the radiation source.

[0064] S280: Based on the predicted horizontal coordinate and the predicted vertical coordinate, obtain the predicted position information of the radiation source.

[0065] like Figure 3 As shown in the figure, when the initial observation stations are discretely distributed in space, the site planning module receives the Time of Detection (TOD) signal sent by the timing module. The site planning module selects the observation stations according to the TOD signal and the received signal strength of the radiation source. The observation stations include the main observation station and the auxiliary observation station. For example, there are a total of 3 observation stations, one of which is the main observation station and the other two are auxiliary observation stations. Further, the clock of each observation station is synchronized based on the Beidou timing signal (time synchronization signal). Each observation station pre-processes the received information of the radiation source (data processing), and transmits the received information of the auxiliary station through a wired or wireless network and finally summarizes it to the main observation station for solution to obtain the arrival time difference information between the main observation station and the auxiliary observation station. The predicted position information of the radiation source is obtained according to the position information and arrival time difference of each observation station (single positioning).

[0066] The arrival time difference is the difference between the arrival time of the received signal at the primary observation station and the arrival time of the received signal at the secondary observation station.

[0067] like Figure 2 As shown, S0 is the main observation station, and a rectangular coordinate system is established with the main observation station as the origin. The coordinates of the main observation station are S0 (x0, y0). The coordinates of the first auxiliary observation station are S1 (x1, y1), the coordinates of the second auxiliary observation station are S2 (x2, y2), and the coordinates of the radiation source are m (x, y). Construct a nonlinear system of equations.

[0068] ; in, are the horizontal and vertical coordinates of the radiation source, For the The horizontal and vertical coordinates of the auxiliary observation stations, , are the horizontal and vertical coordinates of the main observation station, For the radiation source to The distance between the auxiliary observation stations, For the The distance difference, is the distance from the radiation source to the main observation station, is the speed of light, The main observatory and The arrival time difference of the auxiliary observation stations.

[0069] By rearranging the nonlinear equation, we obtain the following equation.

[0070] ; in, are the horizontal and vertical coordinates of the radiation source, For the The horizontal and vertical coordinates of the auxiliary observation stations, are the horizontal and vertical coordinates of the main observation station, is the fourth observation, is the observation noise of the fourth observation quantity, For the The factor of observation noise, is the observation matrix of the fourth observation quantity, is the measurement noise of the fourth observation quantity, For the radiation source to The distance between the auxiliary observation stations, For the The distance difference, is the distance from the radiation source to the main observation station, For the A distance difference.

[0071] Get the covariance coefficient of the distance difference. The calculation formula of the covariance coefficient of the distance difference is as follows.

[0072] ; in, is the covariance coefficient of the distance difference, For the The distance difference, is the average of the distance differences.

[0073] A second observation quantity, an observation matrix of the second observation quantity and an observation noise of the second observation quantity are constructed according to the abscissa of the radiation source, the ordinate of the radiation source and the distance of the radiation source.

[0074] ; in, is the second observation, is the observation matrix of the second observation quantity, are the horizontal and vertical coordinates of the main observation station, For the The horizontal and vertical coordinates of the auxiliary observation stations, , For the The distance difference, is the distance from the radiation source to the main observation station, is the observation noise of the second observation, are the horizontal and vertical coordinates of the radiation source.

[0075] The covariance of the second observation is calculated according to the observation matrix of the second observation and the covariance coefficient of the distance difference. The least squares estimation value of the second observation is calculated according to the covariance of the second observation, the observation matrix of the second observation, the covariance coefficient of the distance difference and the observation noise of the second observation.

[0076] ; in, is the least squares estimate of the second observation, is the covariance of the second observation, is the observation noise of the second observation, is the observation matrix of the second observation quantity, is the covariance coefficient of the distance difference, is the estimated value of the horizontal coordinate of the radiation source, is the estimated value of the ordinate of the radiation source, is the estimated distance of the radiation source.

[0077] According to the lateral distance from the radiation source to the main observation station and the longitudinal distance from the radiation source to the main observation station, the third observation quantity, the observation matrix of the third observation quantity and the observation noise of the third observation quantity are constructed.

[0078] ; in, is the observation matrix of the third observation quantity, are the horizontal and vertical coordinates of the radiation source, are the horizontal and vertical coordinates of the main observation station, is the estimated value of the horizontal coordinate of the radiation source, is the estimated value of the ordinate of the radiation source, is the estimated distance of the radiation source, is the third observation, is the observation noise of the third observation quantity, is the lateral distance from the radiation source to the main observation station, is the longitudinal distance from the radiation source to the main observation station.

[0079] Furthermore, the covariance of the third observation quantity is determined based on the following steps: constructing an observation error matrix based on the estimated value of the horizontal coordinate of the radiation source, the estimated value of the vertical coordinate of the radiation source, the estimated value of the distance of the radiation source, the horizontal coordinate of the main observation station and the vertical coordinate of the main observation station; obtaining the covariance of the third observation quantity based on the observation error matrix and the covariance of the second observation quantity, and the covariance of the second observation quantity is determined based on the observation matrix of the second observation quantity and the covariance coefficient of the distance difference.

[0080] The calculation formula of the observation error matrix and the covariance of the third observation is as follows.

[0081] ; in, is the observation error matrix, is a diagonal matrix, is the covariance of the second observation, is the covariance of the third observation, is the estimated value of the horizontal coordinate of the radiation source, is the estimated value of the ordinate of the radiation source, is the estimated distance of the radiation source, is the observation matrix of the second observation quantity, is the covariance coefficient of the distance difference.

[0082] The present application determines the covariance of the third observation quantity according to the observation error matrix and the covariance of the second observation quantity, thereby improving the accuracy of determining the covariance of the third observation quantity.

[0083] Compute the least squares estimate of the third observation.

[0084] ; in, is the least squares estimate of the third observation, is the estimated value of the square of the horizontal distance, is the estimated value of the square of the longitudinal distance, is the observation matrix of the third observation quantity, is the covariance of the third observation.

[0085] Calculate the predicted abscissa of the radiation source and the predicted ordinate of the radiation source.

[0086] ; in, is the predicted horizontal coordinate of the radiation source, is the predicted ordinate of the radiation source, are the horizontal and vertical coordinates of the main observation station, is the estimated value of the horizontal coordinate of the radiation source, is the estimated value of the ordinate of the radiation source, is the estimated value of the square of the horizontal distance, is the estimated value of the square of the longitudinal distance, is a symbolic function.

[0087] The predicted position information of the radiation source is obtained according to the predicted horizontal coordinate and the predicted vertical coordinate.

[0088] The present application obtains the covariance coefficient of the distance difference based on the arrival time difference, which is beneficial to the subsequent calculation of the predicted position information of the radiation source. The predicted position information of the radiation source is calculated by calculating the least squares estimate of the second observation quantity and the least squares estimate of the third observation quantity, thereby improving the accuracy of calculating the predicted position information of the radiation source.

[0089] Based on the above embodiment, the predicted position information of the radiation source is iteratively updated based on a preset Jacobian determinant, including S310 to S360, and each step is specifically as follows.

[0090] S310: Determine a first Jacobian term based on the abscissa of the primary observation station, the abscissa of the secondary observation station, the predicted abscissa, the distance from the radiation source to the secondary observation station, and the distance difference.

[0091] S320: Determine a second Jacobian term based on the ordinate of the primary observation station, the ordinate of the secondary observation station, the predicted ordinate, the distance from the radiation source to the secondary observation station, and the distance difference.

[0092] S330: Based on the first Jacobian term and the second Jacobian term, obtain a preset Jacobian determinant.

[0093] S340: Determine the observation residual of the fourth observation quantity based on the fourth observation quantity, the observation matrix of the fourth observation quantity, the observation noise of the fourth observation quantity, the measurement noise of the fourth observation quantity, the predicted position information of the radiation source and the preset Jacobian determinant, wherein the fourth observation quantity is constructed based on the horizontal coordinate and the vertical coordinate of the radiation source.

[0094] S350: Update the predicted position information of the radiation source based on the difference between the predicted position information of the radiation source and the observation residual.

[0095] S360: Using the updated predicted position information of the radiation source as the predicted position information of the radiation source to iteratively update the predicted position information of the radiation source.

[0096] Determine the first Jacobian term, the second Jacobian term, and the preset Jacobian determinant.

[0097] ; in, To presuppose the Jacobian determinant, For the The horizontal and vertical coordinates of the auxiliary observation stations, are the horizontal and vertical coordinates of the main observation station, For the radiation source to The distance between the auxiliary observation stations, For the The distance difference, , and is the first Jacobian term, and is the second Jacobian term, is the predicted horizontal coordinate of the radiation source, is the predicted ordinate of the radiation source.

[0098] Substitute the predicted position information of the radiation source into the fourth observation quantity to obtain a fourth observation value. Calculate the observation residual of the fourth observation quantity.

[0099] ; in, To presuppose the Jacobian determinant, is the fourth observation value after substituting the predicted position information of the radiation source, is the observation noise of the fourth observation quantity, is the observation matrix of the fourth observation quantity, is the measurement noise of the fourth observation quantity, is the observation residual of the fourth observation.

[0100] The predicted position information of the radiation source is updated based on the difference between the predicted position information of the radiation source and the observed residual.

[0101] ; in, is the predicted horizontal coordinate of the radiation source, is the predicted ordinate of the radiation source, is the predicted location information of the radiation source, is the predicted location information of the updated radiation source, is the observation residual of the fourth observation.

[0102] The updated predicted position information of the radiation source is used as the predicted position information of the radiation source, the preset Jacobian determinant and the fourth observation value are updated, and then the predicted position information of the radiation source is iteratively updated.

[0103] The predicted position information of the radiation source is iteratively updated for multiple times until the number of iterations reaches a first set number, for example, 10 times, and then the iteration is terminated to obtain the initial position information of the radiation source.

[0104] The present application iteratively updates the predicted position of the radiation source according to a preset Jacobian determinant to obtain initial position information, thereby improving the accuracy of locating the radiation source.

[0105] Specifically, the Matlab software platform is used to simulate the collaborative positioning method of the radiation source of the present application. Two main observation stations and one auxiliary observation station are selected for the collaborative arrival time difference (TDOA) and received signal strength (RSSI). The time-frequency information of the radiation source is obtained simultaneously based on the three observation stations, and transmitted to the processing unit through the communication link. The processing unit estimates and compensates the arrival time difference for the aggregated data. The simulation conditions are as follows: Assuming that the arrival time difference accuracy is 20 ns, the coordinate positions of each observation station are (-1, 0), (0, 0) and (1, 0) respectively. The position range of the radiation source is (-2:2, -3:3). When the analytical method (calculating the predicted position information of the radiation source based on the position information of the observation station and the arrival time difference) plus the iterative method (preset Jacobian determinant iteration) are used for joint positioning, it can be found that, except for some detection blind areas, the positioning accuracy in other detection ranges is evenly distributed, and the positioning error basically increases linearly with the increase of the detection distance.

[0106] Furthermore, we conduct time domain tracking accuracy analysis, assuming that the location of the radiation source is (1, 3), the data refresh rate (the time interval between the current moment and the previous moment) is 5 times / second, and the mean square error of the observation noise of the first observation is estimated by RSSI, which is set to 0.005 here. The corresponding positioning error is as follows: Figure 4 It can be found that the accuracy of time domain filtering tracking increases with the increase of observation time. The tracking time only takes about 4 seconds, which can improve the detection accuracy from 70m to less than 20m, which is about 3.5 times higher than the traditional single positioning accuracy.

[0107] The collaborative positioning method of the radiation source provided in the embodiment of the present application determines the predicted position of the radiation source according to the arrival time difference and the position information of the observation station, thereby realizing the preliminary positioning of the radiation source. The predicted position of the radiation source is iteratively updated according to the preset Jacobian determinant to obtain the initial position information, thereby improving the accuracy of positioning the radiation source. The radiation source information is determined and updated according to the predicted value of the radiation source information, the time domain filter gain, the first observation amount and the time difference observation amount, thereby realizing the continuous tracking and positioning of the radiation source and improving the accuracy of positioning the radiation source.

[0108] The collaborative positioning device of the radiation source provided by the present invention is described below. The collaborative positioning device of the radiation source described below and the collaborative positioning method of the radiation source described above can be referenced to each other.

[0109] like Figure 5 As shown, a collaborative positioning device for a radiation source includes: an acquisition module 501, which is used to obtain the location information of multiple observation stations, the arrival time difference of the transmission signal of the radiation source received between the observation stations, and the received signal strength of the observation station.

[0110] The prediction module 502 is used to obtain the predicted position information of the radiation source based on the position information and the arrival time difference of the observation station.

[0111] The first iteration module 503 is used to iteratively update the predicted position information of the radiation source based on a preset Jacobian determinant until the number of iterations reaches a first set number of times to obtain the initial position information of the radiation source, and the preset Jacobian determinant is determined based on the arrival time difference.

[0112] The first tracking module 504 is used to obtain the predicted value of the radiation source information at the current moment and the time domain filtering gain at the current moment based on the radiation source information at the previous moment when the received signal strength is lower than the set strength. The radiation source information at the current moment includes the position information and speed information of the radiation source at the current moment, and the position information of the radiation source at the initial moment is the initial position information.

[0113] The second tracking module 505 is used to determine the radiation source information at the current moment based on the predicted value of the radiation source information at the current moment, the time domain filter gain at the current moment, and the first observation value at the current moment. The first observation value at the current moment is determined based on the time difference observation value at the current moment. The time difference observation value represents the position difference between the radiation source and different observation stations.

[0114] The second iteration module 506 is used to update the time domain filter gain at the current moment and the predicted value of the radiation source information at the current moment, so as to update the radiation source information at the current moment, until the number of updates of the radiation source information at the current moment reaches a second set number of times, thereby obtaining the final radiation source information.

[0115] The collaborative positioning device of the radiation source provided in the embodiment of the present application determines the predicted position of the radiation source according to the arrival time difference and the position information of the observation station, thereby realizing the preliminary positioning of the radiation source. The predicted position of the radiation source is iteratively updated according to the preset Jacobian determinant to obtain the single positioning information (initial position information) of the radiation source, thereby improving the accuracy of positioning the radiation source. The radiation source information is determined and updated according to the predicted value of the radiation source information, the time domain filter gain, the first observation amount and the time difference observation amount, thereby realizing the continuous tracking and positioning of the radiation source and improving the accuracy of positioning the radiation source.

[0116] In one embodiment, the observation station includes a main observation station and an auxiliary observation station, the arrival time difference is the arrival time difference between the main observation station and the auxiliary observation station, the position information includes a horizontal coordinate and a vertical coordinate, the coordinate origin is the main observation station, and the prediction module 502 is used to: obtain at least two distance differences based on the arrival time difference and the speed of light, and obtain the covariance coefficient of the distance difference, the distance difference is the difference between the distance from the radiation source to the main observation station and the distance from the radiation source to the auxiliary observation station; construct a second observation quantity based on the horizontal coordinate of the radiation source, the vertical coordinate of the radiation source and the radiation source distance, the radiation source distance is the distance from the radiation source to the main observation station; obtain a least squares estimate of the second observation quantity based on the observation matrix of the second observation quantity, the observation noise of the second observation quantity and the covariance coefficient of the distance difference, and the least squares estimate of the second observation quantity includes the horizontal coordinate of the radiation source The invention discloses a method for obtaining a third observation quantity based on the covariance of the third observation quantity, the observation matrix of the third observation quantity and the observation noise of the third observation quantity, and obtains the least squares estimate of the third observation quantity, the least squares estimate of the third observation quantity includes the estimated value of the square of the horizontal distance and the estimated value of the square of the vertical distance; obtains the predicted horizontal coordinate of the radiation source based on the estimated value of the square of the horizontal distance, the estimated value of the horizontal coordinate of the radiation source and the horizontal coordinate of the main observation station; obtains the predicted vertical coordinate of the radiation source based on the estimated value of the square of the vertical distance, the estimated value of the vertical coordinate of the radiation source and the vertical coordinate of the main observation station; obtains the predicted horizontal coordinate of the radiation source based on the predicted horizontal coordinate and the predicted vertical coordinate, and obtains the predicted position information of the radiation source based on the predicted horizontal coordinate and the predicted vertical coordinate.

[0117] In one embodiment, the prediction module 502 is used to: construct an observation error matrix based on the estimated value of the horizontal coordinate of the radiation source, the estimated value of the vertical coordinate of the radiation source, the estimated value of the distance of the radiation source, the horizontal coordinate of the main observation station and the vertical coordinate of the main observation station; obtain the covariance of the third observation based on the observation error matrix and the covariance of the second observation, and the covariance of the second observation is determined based on the observation matrix of the second observation and the covariance coefficient of the distance difference.

[0118] In one embodiment, the first iterative module 503 is used to: determine the first Jacobian term based on the horizontal coordinate of the main observation station, the horizontal coordinate of the auxiliary observation station, the predicted horizontal coordinate, the distance from the radiation source to the auxiliary observation station, and the distance difference; determine the second Jacobian term based on the vertical coordinate of the main observation station, the vertical coordinate of the auxiliary observation station, the predicted vertical coordinate, the distance from the radiation source to the auxiliary observation station, and the distance difference; obtain a preset Jacobian determinant based on the first Jacobian term and the second Jacobian term; determine the observation residual of the fourth observation quantity based on the fourth observation quantity, the observation matrix of the fourth observation quantity, the observation noise of the fourth observation quantity, the measurement noise of the fourth observation quantity, the predicted position information of the radiation source, and the preset Jacobian determinant, the fourth observation quantity being constructed based on the horizontal coordinate of the radiation source and the vertical coordinate of the radiation source; update the predicted position information of the radiation source based on the difference between the predicted position information of the radiation source and the observation residual; use the updated predicted position information of the radiation source as the predicted position information of the radiation source to iteratively update the predicted position information of the radiation source.

[0119] In one embodiment, the first tracking module 504 is used to: construct a state transfer matrix between the radiation source information at the current moment and the radiation source information at the previous moment based on the current moment and the previous moment; and obtain a predicted value of the radiation source information at the current moment based on the state transfer matrix and the radiation source information at the previous moment.

[0120] In one embodiment, the first tracking module 504 is used to: determine the variance of the predicted value of the radiation source information at the current moment based on the variance of the radiation source information at the previous moment, the covariance of the observation noise of the radiation source information at the previous moment, and the state transfer matrix; obtain the first-order differential matrix of the time difference observation quantity at the previous moment with respect to the radiation source information to obtain the derivative of the time difference observation quantity at the previous moment; obtain the time domain filtering gain at the current moment based on the variance at the current moment, the derivative of the time difference observation quantity at the previous moment, the variance of the predicted value of the radiation source information at the previous moment, and the covariance of the observation noise of the first observation quantity at the current moment.

[0121] In one embodiment, the second tracking module 505 is used to: obtain a first position difference between the radiation source and the main observation station based on the position information of the radiation source at the current moment and the position information of the main observation station; obtain a second position difference between the radiation source and the auxiliary observation station based on the position information of the radiation source at the current moment and the position information of the auxiliary observation station; and obtain a time difference observation value at the current moment based on the difference between the first position difference and the second position difference.

[0122] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 6As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630 and a communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 communicate with each other through the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute the above-mentioned collaborative positioning method of the radiation source, the method comprising: obtaining the position information of multiple observation stations, the arrival time difference of the transmission signal of the radiation source received between the observation stations and the received signal strength of the observation station; obtaining the predicted position information of the radiation source based on the position information and the arrival time difference of the observation station; iteratively updating the predicted position information of the radiation source based on the preset Jacobian determinant until the number of iterations reaches a first set number, and obtaining the initial position information of the radiation source, the preset Jacobian determinant is determined based on the arrival time difference; when the received signal strength is lower than the set strength, obtaining the predicted value of the radiation source information at the current moment and the current time based on the radiation source information at the previous moment The time domain filter gain at the current moment, the radiation source information at the current moment includes the position information and speed information of the radiation source at the current moment, and the position information of the radiation source at the initial moment is the initial position information; the radiation source information at the current moment is determined based on the predicted value of the radiation source information at the current moment, the time domain filter gain at the current moment, and the first observation at the current moment, the first observation at the current moment is determined based on the time difference observation at the current moment, and the time difference observation characterizes the position difference between the radiation source and different observation stations; the time domain filter gain at the current moment and the predicted value of the radiation source information at the current moment are updated to update the radiation source information at the current moment, until the number of updates of the radiation source information at the current moment reaches the second set number of times, and the final radiation source information is obtained.

[0123] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0124] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the collaborative positioning method of the radiation source provided by the above-mentioned methods, the method comprising: obtaining the position information of multiple observation stations, the arrival time difference of the transmitted signal of the radiation source received between the observation stations, and the received signal strength of the observation station; obtaining the predicted position information of the radiation source based on the position information and the arrival time difference of the observation station; iteratively updating the predicted position information of the radiation source based on a preset Jacobian determinant until the number of iterations reaches a first set number, to obtain the initial position information of the radiation source, the preset Jacobian determinant being determined based on the arrival time difference; when the received signal strength is lower than the set strength, obtaining the predicted position information of the radiation source based on the radiation source information at the previous moment The predicted value of the radiation source information at the current moment and the time domain filter gain at the current moment, the radiation source information at the current moment includes the position information and speed information of the radiation source at the current moment, and the position information of the radiation source at the initial moment is the initial position information; the radiation source information at the current moment is determined based on the predicted value of the radiation source information at the current moment, the time domain filter gain at the current moment, and the first observation at the current moment, the first observation at the current moment is determined based on the time difference observation at the current moment, and the time difference observation characterizes the position difference between the radiation source and different observation stations; the time domain filter gain at the current moment and the predicted value of the radiation source information at the current moment are updated to update the radiation source information at the current moment, until the number of updates of the radiation source information at the current moment reaches a second set number of times, and the final radiation source information is obtained.

[0125] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0126] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for collaborative positioning of radiation sources, characterized in that: include: Acquire location information of a plurality of observation stations, arrival time differences of transmission signals of the radiation source received between the observation stations, and received signal strengths of the observation stations; Acquire predicted position information of the radiation source based on the position information of the observation station and the arrival time difference; Iteratively updating the predicted position information of the radiation source based on a preset Jacobian determinant until the number of iterations reaches a first set number, thereby obtaining the initial position information of the radiation source, wherein the preset Jacobian determinant is determined based on the arrival time difference; When the received signal strength is lower than the set strength, obtaining a predicted value of the radiation source information at the current moment and a time domain filter gain at the current moment based on the radiation source information at the previous moment, wherein the radiation source information at the current moment includes the position information and speed information of the radiation source at the current moment, and the position information of the radiation source at the initial moment is the initial position information; Determine the radiation source information at the current moment based on the predicted value of the radiation source information at the current moment, the time domain filter gain at the current moment, and the first observation value at the current moment, wherein the first observation value at the current moment is determined based on the time difference observation value at the current moment, and the time difference observation value represents the position difference between the radiation source and different observation stations; Update the time domain filter gain at the current moment and the predicted value of the radiation source information at the current moment to update the radiation source information at the current moment until the number of updates of the radiation source information at the current moment reaches a second set number of times to obtain the final radiation source information.

2. The method for collaborative positioning of radiation sources according to claim 1, characterized in that: The observation station includes a main observation station and an auxiliary observation station, the arrival time difference is the arrival time difference between the main observation station and the auxiliary observation station, the position information includes a horizontal coordinate and a vertical coordinate, the coordinate origin is the main observation station, and the predicted position information of the radiation source is obtained based on the position information of the observation station and the arrival time difference, including: Acquire at least two distance differences based on the arrival time difference and the speed of light, and acquire a covariance coefficient of the distance difference, wherein the distance difference is a difference between a distance from the radiation source to the primary observation station and a distance from the radiation source to the secondary observation station; Constructing a second observation value based on the abscissa of the radiation source, the ordinate of the radiation source and the radiation source distance, wherein the radiation source distance is the distance between the radiation source and the main observation station; Obtaining a least squares estimate of the second observation based on an observation matrix of the second observation, an observation noise of the second observation, and a covariance coefficient of the distance difference, wherein the least squares estimate of the second observation includes an estimated value of the abscissa of the radiation source, an estimated value of the ordinate of the radiation source, and an estimated value of the distance of the radiation source; Constructing a third observation quantity based on a lateral distance from the radiation source to the main observation station and a longitudinal distance from the radiation source to the main observation station; Based on the covariance of the third observation, the observation matrix of the third observation and the observation noise of the third observation, obtaining a least squares estimate of the third observation, wherein the least squares estimate of the third observation includes an estimate of the square of the horizontal distance and an estimate of the square of the vertical distance; Based on the estimated value of the square of the lateral distance, the estimated value of the abscissa of the radiation source and the abscissa of the main observation station, obtaining the predicted abscissa of the radiation source; Based on the estimated value of the square of the longitudinal distance, the estimated value of the longitudinal coordinate of the radiation source and the longitudinal coordinate of the main observation station, obtaining the predicted longitudinal coordinate of the radiation source; Based on the predicted horizontal coordinate and the predicted vertical coordinate, the predicted position information of the radiation source is obtained.

3. The method for collaborative positioning of radiation sources according to claim 2, characterized in that: The covariance of the third observation is determined based on the following steps: Constructing an observation error matrix based on the estimated value of the abscissa of the radiation source, the estimated value of the ordinate of the radiation source, the estimated value of the distance of the radiation source, the abscissa of the main observation station and the ordinate of the main observation station; The covariance of the third observation is obtained based on the observation error matrix and the covariance of the second observation, wherein the covariance of the second observation is determined based on the observation matrix of the second observation and the covariance coefficient of the distance difference.

4. The method for collaborative positioning of radiation sources according to claim 2, characterized in that: The iterative updating of the predicted position information of the radiation source based on a preset Jacobian determinant includes: Determine a first Jacobian term based on the abscissa of the primary observation station, the abscissa of the secondary observation station, the predicted abscissa, the distance from the radiation source to the secondary observation station, and the distance difference; Determine a second Jacobian term based on the ordinate of the primary observation station, the ordinate of the secondary observation station, the predicted ordinate, the distance from the radiation source to the secondary observation station, and the distance difference; Based on the first Jacobian term and the second Jacobian term, obtaining the preset Jacobian determinant; Determining an observation residual of a fourth observation based on a fourth observation, an observation matrix of the fourth observation, an observation noise of the fourth observation, a measurement noise of the fourth observation, predicted position information of the radiation source, and the preset Jacobian determinant, wherein the fourth observation is constructed based on the abscissa of the radiation source and the ordinate of the radiation source; Updating the predicted position information of the radiation source based on the difference between the predicted position information of the radiation source and the observation residual; The updated predicted position information of the radiation source is used as the predicted position information of the radiation source to iteratively update the predicted position information of the radiation source.

5. The method for collaborative positioning of radiation sources according to claim 1, characterized in that: The predicted value of the radiation source information at the current moment is determined based on the following steps: Based on the current moment and the previous moment, constructing a state transfer matrix between the radiation source information at the current moment and the radiation source information at the previous moment; Based on the state transfer matrix and the radiation source information at the previous moment, a predicted value of the radiation source information at the current moment is obtained.

6. The method for collaborative positioning of radiation sources according to claim 5, characterized in that: The time domain filter gain at the current moment is determined based on the following steps: Determine the variance of the predicted value of the radiation source information at the current moment based on the variance of the radiation source information at the previous moment, the covariance of the observation noise of the radiation source information at the previous moment, and the state transfer matrix; Obtain the first-order differential matrix of the time difference observation quantity at the previous moment with respect to the radiation source information to obtain the derivative of the time difference observation quantity at the previous moment; The time domain filtering gain at the current moment is obtained based on the variance at the current moment, the derivative of the time difference observation quantity at the previous moment, the variance at the previous moment of the predicted value of the radiation source information at the previous moment, and the covariance of the observation noise of the first observation quantity at the current moment.

7. The method for collaborative positioning of radiation sources according to claim 1, characterized in that: The time difference observation at the current moment is determined based on the following steps: Based on the position information of the radiation source and the position information of the main observation station at the current moment, obtaining a first position difference between the radiation source and the main observation station; Based on the position information of the radiation source and the position information of the auxiliary observation station at the current moment, obtaining a second position difference between the radiation source and the auxiliary observation station; Based on the difference between the first position difference and the second position difference, the time difference observation value at the current moment is obtained.

8. A radiation source co-location device, characterized in that: include: An acquisition module, used to acquire location information of multiple observation stations, arrival time differences of the transmission signals of the radiation source received between the observation stations, and received signal strengths of the observation stations; A prediction module, used for obtaining predicted position information of the radiation source based on the position information of the observation station and the arrival time difference; A first iteration module, configured to iteratively update the predicted position information of the radiation source based on a preset Jacobian determinant until the number of iterations reaches a first set number of times, thereby obtaining the initial position information of the radiation source, wherein the preset Jacobian determinant is determined based on the arrival time difference; a first tracking module, configured to, when the received signal strength is lower than a set strength, obtain a predicted value of the radiation source information at a current moment and a time domain filter gain at a current moment based on the radiation source information at a previous moment, wherein the radiation source information at the current moment includes position information and speed information of the radiation source at the current moment, and the position information of the radiation source at an initial moment is the initial position information; A second tracking module is used to determine the radiation source information at the current moment based on the predicted value of the radiation source information at the current moment, the time domain filter gain at the current moment, and the first observation value at the current moment, wherein the first observation value at the current moment is determined based on the time difference observation value at the current moment, and the time difference observation value represents the position difference between the radiation source and different observation stations; The second iterative module is used to update the time domain filter gain at the current moment and the predicted value of the radiation source information at the current moment, so as to update the radiation source information at the current moment, until the number of updates of the radiation source information at the current moment reaches a second set number of times, thereby obtaining the final radiation source information.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method for collaborative positioning of radiation sources according to any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for collaborative positioning of radiation sources according to any one of claims 1 to 7 is implemented.

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