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

Abstract

The application provides a radiation source cooperative positioning method and device, electronic equipment and storage medium, and belongs to the wireless positioning technical field. The predicted position of the radiation source is determined according to the time difference of arrival and the position information of the observation station, and the preliminary positioning of the radiation source is realized. The predicted position of the radiation source is iteratively updated according to the preset Jacobian determinant, and the single positioning information of the radiation source is obtained, so that the accuracy of the radiation source positioning is improved. 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 observation quantity and the time difference observation quantity, the continuous tracking and positioning of the radiation source are realized, and the accuracy of the radiation source positioning is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wireless positioning technology, and in particular to a radiation source cooperative positioning method and device, electronic equipment and storage medium. BACKGROUND

[0002] The core idea of the cooperative passive positioning system is to extract and analyze the characteristic parameters of the electromagnetic signal of the unknown radiation source received by the known observation station, and then calculate the position information of the radiation source signal. The existing cooperative passive positioning method mainly includes angle of arrival time measurement, time difference of arrival measurement, frequency difference of arrival measurement, and received signal strength measurement. Such methods rely on different observation devices to obtain different parameters, and the target position is obtained through geometric calculation. The cooperative passive positioning device based on the angle of arrival is large in size and high in requirement for antenna array; the cooperative passive positioning based on received signal strength requires less data, but has low precision; the cooperative passive positioning technology based on frequency difference of arrival requires high-speed motion difference.

[0003] In summary, the existing radiation source positioning has high requirement for hardware and low positioning accuracy. SUMMARY

[0004] The present application provides a radiation source cooperative positioning method and device, electronic equipment and storage medium, to solve the defects of high requirement for hardware and low positioning accuracy of the existing radiation source positioning, and to improve the accuracy of radiation source positioning.

[0005] The application provides a cooperative positioning method of a radiation source, comprising: acquiring position information of a plurality of observation stations, a time difference of arrival of a transmission signal of the radiation source received between the observation stations, and a received signal strength of the observation stations; acquiring predicted position information of the radiation source based on the position information of the observation stations and the time difference of arrival; 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 initial position information of the radiation source, wherein the preset Jacobian determinant is determined based on the time difference of arrival; when the received signal strength is lower than a set strength, acquiring a predicted value of current radiation source information and a time domain filtering gain of a current time based on radiation source information of a previous time, wherein the current radiation source information comprises position information and speed information of the radiation source at the current time, and the position information of the radiation source at the initial time is the initial position information; determining the current radiation source information based on the predicted value of the current radiation source information, the time domain filtering gain of the current time, and a first observation quantity of the current time, wherein the first observation quantity of the current time is determined based on a time difference observation quantity of the current time, and the time difference observation quantity represents a position difference between the radiation source and different observation stations; updating the time domain filtering gain of the current time and the predicted value of the current radiation source information to update the current radiation source information until the number of updates of the current radiation source information reaches a second set number to obtain final radiation source information.

[0006] The method for cooperative positioning of a radiation source according to the present application, the observation stations include a main observation station and an auxiliary observation station, the time difference of arrival is the time difference of arrival 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 stations and the time difference of arrival, including: obtaining at least two distance differences based on the time difference of arrival and the speed of light, obtaining the covariance coefficient of the distance differences, the distance difference being 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 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 being the distance from the radiation source to the main observation station; obtaining the least square estimation value of the second observation based on the observation matrix of the second observation, the observation noise of the second observation and the covariance coefficient of the distance differences, the least square estimation value of the second observation including the horizontal coordinate estimation value of the radiation source, the vertical coordinate estimation value of the radiation source and the radiation source distance estimation value; constructing a third observation 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; obtaining the least square estimation value of the third observation 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 square estimation value of the third observation including the estimation value of the square of the horizontal distance and the estimation value of the square of the vertical distance; obtaining the predicted horizontal coordinate of the radiation source based on the estimation value of the square of the horizontal distance, the horizontal coordinate estimation value of the radiation source and the horizontal coordinate of the main observation station; obtaining the predicted vertical coordinate of the radiation source based on the estimation value of the square of the vertical distance, the vertical coordinate estimation value of the radiation source and the vertical coordinate of the main observation station; and obtaining the predicted position information of the radiation source based on the predicted horizontal coordinate and the predicted vertical coordinate.

[0007] The method for cooperative positioning of a radiation source according to the present application, the covariance of the third observation is determined based on the following steps: constructing an observation error matrix based on the horizontal coordinate estimation value of the radiation source, the vertical coordinate estimation value of the radiation source, the radiation source distance estimation value, the horizontal coordinate of the main observation station and the vertical coordinate of the main observation station; and obtaining the covariance of the third observation based on the observation error matrix and the covariance of the second observation, the covariance of the second observation being determined based on the observation matrix of the second observation and the covariance coefficient of the distance differences.

[0008] The method for cooperative positioning of a radiation source provided by the application comprises: determining a first Jacobian term based on the horizontal coordinate of the primary observation station, the horizontal coordinate of the secondary observation station, the predicted horizontal coordinate, the distance from the radiation source to the secondary observation station and the distance difference; determining a second Jacobian term based on the vertical coordinate of the primary observation station, the vertical coordinate of the secondary observation station, the predicted vertical coordinate, the distance from the radiation source to the secondary observation station and the distance difference; obtaining a preset Jacobian determinant based on the first Jacobian term and the second Jacobian term; determining the observation residual of the fourth observation based on the fourth observation, the observation matrix of the fourth observation, the observation noise of the fourth observation, the measurement noise of the fourth observation, the predicted position information of the radiation source and the preset Jacobian determinant, wherein the fourth observation is constructed based on the horizontal coordinate of the radiation source and the vertical coordinate 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; taking 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] The method for cooperative positioning of a radiation source provided by the application comprises: constructing a state transition matrix between the radiation source information at the current time and the radiation source information at the previous time based on the current time and the previous time; obtaining the predicted value of the radiation source information at the current time based on the state transition matrix and the radiation source information at the previous time.

[0010] The method for cooperative positioning of a radiation source provided by the application comprises: determining the current time variance of the predicted value of the radiation source information at the current time based on the variance of the radiation source information at the previous time, the covariance of the observation noise of the radiation source information at the previous time and the state transition matrix; obtaining the first-order differential matrix of the time difference observation at the previous time on the radiation source information to obtain the derivative of the time difference observation at the previous time; obtaining the time domain filtering gain at the current time based on the current time variance, the derivative of the time difference observation at the previous time, the previous time variance of the predicted value of the radiation source information at the previous time and the covariance of the observation noise of the first observation at the current time.

[0011] The method for cooperative positioning of a radiation source provided by the application comprises: obtaining the first position difference between the radiation source and the primary observation station based on the position information of the radiation source at the current time and the position information of the primary observation station; obtaining the second position difference between the radiation source and the secondary observation station based on the position information of the radiation source at the current time and the position information of the secondary observation station; obtaining the time difference observation at the current time based on the difference between the first position difference and the second position difference.

[0012] The application further provides a cooperative positioning device of a radiation source, comprising: an acquisition module, configured to acquire position information of a plurality of observation stations, a time difference of arrival of a transmission signal of the radiation source received by the observation stations, and a received signal strength of the observation stations; a prediction module, configured to acquire predicted position information of the radiation source based on the position information of the observation stations and the time difference of arrival; a first iteration module, configured to iteratively update the predicted position information of the radiation source based on a preset Jacobian determinant until a number of iterations reaches a first preset number, to obtain initial position information of the radiation source, the preset Jacobian determinant being determined based on the time difference of arrival; a first tracking module, configured to, when the received signal strength is lower than a preset strength, acquire a predicted value of current radiation source information and a time domain filtering gain at a current moment based on radiation source information at a previous moment, the current radiation source information comprising 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 being the initial position information; a second tracking module, configured to determine the current radiation source information based on the predicted value of the current radiation source information, the time domain filtering gain at the current moment, and a first observation quantity at the current moment, the first observation quantity at the current moment being determined based on a time difference observation quantity, the time difference observation quantity representing a position difference between the radiation source and different observation stations; and a second iteration module, configured to update the time domain filtering gain at the current moment and the predicted value of the current radiation source information, to update the current radiation source information until a number of updates of the current radiation source information reaches a second preset number, to obtain final radiation source information.

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

[0014] The application further provides a non-transitory computer readable storage medium, having a computer program stored thereon, and the computer program implements any of the above cooperative positioning methods of a radiation source when executed by a processor.

[0015] The cooperative positioning method, device, electronic device, and storage medium of the radiation source provided by the embodiments of the present application can determine the predicted position of the radiation source according to the time difference of arrival and the position information of the observation stations, and thus the preliminary positioning of the radiation source is realized. The predicted position of the radiation source is iteratively updated according to the preset Jacobian determinant, and thus the single positioning information of the radiation source is obtained, and the accuracy of the positioning of the radiation source is improved. 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 observation quantity, and the time difference observation quantity, and thus the continuous tracking and positioning of the radiation source are realized, and the accuracy of the positioning of the radiation source is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to make the technical solutions in the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those of ordinary skill in the art without any creative effort.

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

[0018] Figure 2 is a distribution diagram of the observation station provided by the present application.

[0019] Figure 3 is the second flowchart of the cooperative positioning method of the radiation source provided by the present application.

[0020] Figure 4 is a diagram showing the change of the positioning error of the cooperative positioning method of the radiation source with the tracking time provided by the present application.

[0021] Figure 5 is a structural diagram of the cooperative positioning device of the radiation source provided by the present application.

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

[0023] In order to make the technical solutions in the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those of ordinary skill in the art without any creative effort.

[0024] The cooperative positioning method, device and electronic device of the radiation source of the present application will be described below. Figures 1-6

[0025] Figure 1 is one of the flowcharts of the cooperative positioning method of the radiation source provided by the present application, as shown in Figure 1 The cooperative positioning method of the radiation source includes S100 to S600, and each step is specifically as follows.

[0026] S100: Obtain the position information of multiple observation stations, the time difference of arrival of the emission signal of the radiation source received between the observation stations and the received signal strength of the observation stations.

[0027] ​Obtaining position information of a plurality of observation stations, for example, obtaining horizontal coordinates and vertical coordinates of each observation station in a coordinate system to obtain position information of each observation station. Each observation station obtains the received signal strength of the radiation source. According to the difference between the arrival times of the received signals of the radiation source between two observation stations, the time difference of arrival is obtained.

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

[0029] According to the distance difference between the radiation source and the observation station, a nonlinear equation set is constructed according to the distance difference, the position information of the observation station and the position information of the radiation source, and the nonlinear equation set is solved to obtain the predicted position information of the radiation source.

[0030] S300: iteratively updating the predicted position information of the radiation source based on the preset Jacobian determinant until the iteration number reaches a first set number to obtain the initial position information of the radiation source.

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

[0032] According to the distance difference between the radiation source and the observation station, a nonlinear equation set is constructed according to the distance difference, the position information of the observation station and the position information of the radiation source, and the nonlinear equation set is solved to obtain the predicted position information of the radiation source.

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

[0034] The radiation source information at the current time includes the position information and the speed information of the radiation source at the current time, and the position information of the radiation source at the initial time 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 taken as the position information of the radiation source at the initial time. The previous time and the current time are adjacent, and the predicted value of the radiation source information at the current time and the time domain filtering gain at the current time are calculated according to the radiation source information at the previous time. A fixed time interval, for example, 5s, is set between the previous time and the current time, and the radiation source information is updated according to the time interval.

[0036] The prediction value of the radiation source information at the current time is determined based on the following steps: constructing a state transition matrix between the radiation source information at the current time and the radiation source information at the previous time based on the current time and the previous time; and obtaining the prediction value of the radiation source information at the current time based on the state transition matrix and the radiation source information at the previous time.

[0037] Further, velocity information of the radiation source is obtained, and the radiation source information is obtained according to the velocity information of the radiation source and the position information of the radiation source. At the initial time of updating the radiation source information (for the first time), the position information of the radiation source is initial position information.

[0038] ;

[0039] Wherein, is the current time, is the radiation source information at the current time, is the previous time, is the radiation source information at the previous time, is the observation noise of the radiation source information at the previous time, , , and is a noise factor of the observation noise of the radiation source information at the previous time, is the position information of the radiation source at the current time (the horizontal coordinate and the vertical coordinate of the radiation source at the current time), is the velocity information of the radiation source at the current time (the horizontal velocity and the vertical velocity of the radiation source at the current time), is a state transition matrix between the radiation source information at the current time and the radiation source information at the previous time, is the prediction value of the radiation source information at the current time.

[0040] The time-domain filtering gain at the current time is determined based on the following steps: determining the current variance of the prediction value of the radiation source information at the current time based on the variance of the radiation source information at the previous time, the covariance of the observation noise of the radiation source information at the previous time, and the state transition matrix; obtaining the first-order differential matrix of the time difference observation quantity with respect to the radiation source information at the previous time to obtain the time difference observation quantity derivative at the previous time; and obtaining the time-domain filtering gain at the current time based on the current variance, the time difference observation quantity derivative at the previous time, the previous variance of the prediction value of the radiation source information at the previous time, and the covariance of the observation noise of the first observation quantity at the current time.

[0041] The calculation formulas of the current variance of the prediction value of the radiation source information at the current time, the time difference observation quantity derivative at the previous time, and the time-domain filtering gain at the current time are as follows.

[0042] ;

[0043] wherein, is a current time, is a previous time, is a radiation source information at the current time, is a time-domain filtering gain at the current time, is a radiation source information at the previous time, is a derivative of a time difference observation at the previous time, is a variance of a predicted value of the radiation source information at the previous time, is a variance of a predicted value of the radiation source information at the current time, is a covariance of an observation noise of the first observation at the current time, is a covariance of an observation noise of the radiation source information at the previous time, is a state transition matrix between the radiation source information at the current time and the radiation source information at the previous time, is a variance of the radiation source information at the previous time.

[0044] Suppose that the time difference observation has no change in speed in a short time, then the derivative of the time difference observation with respect to the speed is 0.

[0045] The 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 transition matrix, which is beneficial to improve the accuracy of determining the time-domain filtering gain.

[0046] The time difference observation at the current time is determined based on the following steps: based on the position information of the radiation source at the current time and the position information of the primary observation station, a first position difference between the radiation source and the primary observation station is obtained; based on the position information of the radiation source at the current time and the position information of the secondary observation station, a second position difference between the radiation source and the secondary 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 time is obtained.

[0047] ;

[0048] wherein, is a first observation at the current time, is an observation noise of the first observation at the current time, is a radiation source information at the current time, is a time difference observation at the current time, is a first time variance observation factor at the current time, is position information of the radiation source at the current time, is position information of the secondary observation station, position information of the primary observation station, position information of the radiation source at the current time (abscissa and ordinate of the radiation source at the current time), abscissa and ordinate of the first auxiliary observation station, abscissa and ordinate of the first auxiliary observation station, abscissa and ordinate of the primary observation station, first position difference, second position difference between the radiation source and the first auxiliary observation station.

[0049] The application determines the time difference observation quantity based on the position information of the radiation source, the position information of the primary observation station and the position information of the auxiliary observation station, which is beneficial to improve the accuracy of determining the radiation source information at the current time.

[0050] S500: determining the radiation source information at the current time based on the predicted value of the radiation source information at the current time, the time domain filtering gain at the current time and the first observation quantity at the current time.

[0051] The first observation quantity at the current time is determined based on the time difference observation quantity at the current time, and the time difference observation quantity represents the position difference between the radiation source and different observation stations.

[0052] According to the position information of the radiation source at the current time, the time difference observation quantity at the current time is obtained. According to the time difference observation quantity at the current time and the observation noise at the current time, the first observation quantity at the current time is obtained. The radiation source information at the current time is determined according to the predicted value of the radiation source information at the current time, the time domain filtering gain at the current time, the first observation quantity at the current time and the time difference observation quantity at the current time. The calculation formula of the radiation source information at the current time is as follows.

[0053] ;

[0054] wherein, is the current time, is the radiation source information at the current time, is the predicted value of the radiation source information at the current time, is the time domain filtering gain at the current time, is the first observation quantity at the current time, is the time difference observation quantity at the current time, is the observation noise of the first observation quantity at the current time, and the observation noise at the current time is a zero-mean covariance Gaussian white noise.

[0055] Further, the variance of the radiation source information at the current time is calculated, and the variance of the radiation source information at the current time is calculated according to the unit matrix, the time domain filtering gain at the current time, the derivative of the time difference observation quantity at the previous time and the variance of the predicted value of the radiation source information at the previous time.​

[0056] ;

[0057] wherein, is a current time, is a previous time, is a variance of the radiation source information at the current time, is a unit matrix, is a time-domain filtering gain at the current time, is a time difference observation derivative at the previous time, is a variance of the predicted value of the radiation source information at the previous time.

[0058] S600: updating the time-domain filtering gain at the current time and the predicted value of the radiation source information at the current time to update the radiation source information at the current time until the number of times of updating the radiation source information at the current time reaches a second set number of times, to obtain the final radiation source information.

[0059] The radiation source information at the current time is taken as the radiation source information at the previous time to update the time-domain filtering gain at the current time and the predicted value of the radiation source information at the current time. The radiation source information at the current time is updated according to the updated time-domain filtering gain at the current time and the updated predicted value of the radiation source information at the current time to iteratively update the radiation source information at the current time. When the number of times of updating the radiation source information at the current time reaches the second set number of times, for example, 4 times, it is determined that the updating of the radiation source information is completed, and the final radiation source information is obtained.

[0060] The method for cooperatively locating a radiation source provided by the embodiment of the application determines a predicted position of the radiation source according to a time difference of arrival and position information of an observation station, and realizes preliminary positioning of the radiation source. The predicted position of the radiation source is iteratively updated according to a preset Jacobian determinant, and single positioning information (initial position information) of the radiation source is obtained, which improves the accuracy of positioning the radiation source. The radiation source information is determined and updated according to a predicted value of the radiation source information, a time-domain filtering gain, a first observation and a time difference observation, which realizes continuous tracking and positioning of the radiation source and improves the accuracy of positioning the radiation source.

[0061] Based on the above embodiment, the observation station includes a main observation station and an auxiliary observation station, the time difference of arrival is a time difference of arrival between the main observation station and the auxiliary observation station, the position information includes a horizontal coordinate and a vertical coordinate, and the coordinate origin is the main observation station. The predicted position information of the radiation source is obtained based on the position information of the observation station and the time difference of arrival, including S210 to S280, and each step is specifically as follows.

[0062] S210: Obtain at least two distance differences based on the time difference of arrival and the speed of light, and obtain a covariance coefficient of the distance differences, the distance difference being a difference between a distance of the radiation source to the primary observation station and a distance of the radiation source to the secondary observation station.

[0063] S220: Construct a second observation based on the abscissa of the radiation source, the ordinate of the radiation source, and a radiation source distance, the radiation source distance being a distance of the radiation source to the primary observation station.

[0064] S230: Obtain a least squares estimation of the second observation based on an observation matrix of the second observation, an observation noise of the second observation, and the covariance coefficient of the distance differences, the least squares estimation of the second observation including an abscissa estimation of the radiation source, an ordinate estimation of the radiation source, and a radiation source distance estimation.

[0065] S240: Construct a third observation based on a horizontal distance of the radiation source to the primary observation station and a vertical distance of the radiation source to the primary observation station.

[0066] S250: Obtain a least squares estimation of the third observation based on a covariance of the third observation, an observation matrix of the third observation, and an observation noise of the third observation, the least squares estimation of the third observation including an estimation of the square of the horizontal distance and an estimation of the square of the vertical distance.

[0067] S260: Obtain a predicted abscissa of the radiation source based on the estimation of the square of the horizontal distance, the abscissa estimation of the radiation source, and an abscissa of the primary observation station.

[0068] S270: Obtain a predicted ordinate of the radiation source based on the estimation of the square of the vertical distance, the ordinate estimation of the radiation source, and an ordinate of the primary observation station.

[0069] S280: Obtain predicted position information of the radiation source based on the predicted abscissa and the predicted ordinate.

[0070] As Figure 3As shown, when the initial observation stations are spatially discrete, the site planning module receives the Time of Detection (TOD) signal sent by the timing module. The site planning module selects observation stations based on the TOD signal and the received signal strength of the emitter. Observation stations include primary and secondary observation stations. For example, there are three observation stations, one of which is the primary and two are secondary. Furthermore, the clocks of each observation station are synchronized based on BeiDou timing signals (time synchronization signals). Each observation station pre-processes (data processing) the received information from the emitter and transmits the received information from the secondary stations via wired or wireless networks. The information is then aggregated and sent to the primary observation station for calculation to obtain information such as the time difference of arrival (TDOA) between the primary and secondary observation stations. The predicted position of the emitter (single-shot positioning) is obtained based on the position information and TDOA of each observation station.

[0071] 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.

[0072] like Figure 2 As shown, S0 is the primary observation station. A rectangular coordinate system is established with the primary observation station as the origin. The coordinates of the primary 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.

[0073] ;

[0074] 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.

[0075] Arranging the nonlinear equation, we get the following equation.

[0076] ;

[0077] 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.

[0078] Get the covariance coefficient of the distance difference. The calculation formula of the covariance coefficient of the distance difference is as follows.

[0079] ;

[0080] in, is the covariance coefficient of the distance difference, For the The distance difference, is the average of the distance differences.

[0081] 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 horizontal coordinate of the radiation source, the vertical coordinate of the radiation source, and the distance of the radiation source.

[0082] ;

[0083] in, is the second observation, is the measurement 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 quantity, are the horizontal and vertical coordinates of the radiation source.

[0084] The covariance of the second observation is calculated according to the observation matrix of the second observation, the covariance coefficient of the distance difference. The least square estimation 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.

[0085] ;

[0086] wherein, is the least square estimation 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, is the covariance coefficient of the distance difference, is the horizontal coordinate estimation of the radiation source, is the vertical coordinate estimation of the radiation source, is the distance estimation of the radiation source.

[0087] The third observation is constructed according to the horizontal distance of the radiation source to the main observation station and the vertical distance of the radiation source to the main observation station. The observation matrix of the third observation and the observation noise of the third observation are constructed.

[0088] ;

[0089] wherein, is the observation matrix of the third observation, is the horizontal coordinate and the vertical coordinate of the radiation source, is the horizontal coordinate and the vertical coordinate of the main observation station, is the horizontal coordinate estimation of the radiation source, is the vertical coordinate estimation of the radiation source, is the distance estimation of the radiation source, is the third observation, is the observation noise of the third observation, is the horizontal distance of the radiation source to the main observation station, is the vertical distance of the radiation source to the main observation station.

[0090] Further, the covariance of the third observation is determined based on the following steps: constructing an observation error matrix based on the horizontal coordinate estimation of the radiation source, the vertical coordinate estimation of the radiation source, the distance estimation 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 based on the observation error matrix and the covariance of the second observation, the covariance of the second observation being determined based on the observation matrix of the second observation and the covariance coefficient of the distance difference.

[0091] The calculation formula of the observation error matrix and the covariance of the third observation is as follows.

[0092] ;

[0093] wherein, is an observation error matrix, is a diagonal matrix, is a covariance of the second observation, is a covariance of the third observation, is an estimated value of the horizontal coordinate of the radiation source, is an estimated value of the vertical coordinate of the radiation source, is an estimated value of the distance of the radiation source, is an observation matrix of the second observation, is a covariance coefficient of the distance difference.

[0094] The application determines the covariance of the third observation according to the observation error matrix and the covariance of the second observation, and improves the accuracy of determining the covariance of the third observation.

[0095] The least square estimation value of the third observation is calculated.

[0096] ;

[0097] wherein, is the least square estimation value of the third observation, is an estimated value of the horizontal distance square, is an estimated value of the vertical distance square, is an observation matrix of the third observation, is a covariance of the third observation.

[0098] The predicted horizontal coordinate of the radiation source and the predicted vertical coordinate of the radiation source are calculated.

[0099] ;

[0100] wherein, is the predicted horizontal coordinate of the radiation source, is the predicted vertical coordinate of the radiation source, is the horizontal coordinate and the vertical coordinate of the primary observation station, is an estimated value of the horizontal coordinate of the radiation source, is an estimated value of the vertical coordinate of the radiation source, is an estimated value of the horizontal distance square, is an estimated value of the vertical distance square, is a sign function.

[0101] According to the predicted horizontal coordinate and the predicted vertical coordinate, the predicted position information of the radiation source is obtained.

[0102] 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. By calculating the least squares estimate of the second observation quantity and the least squares estimate of the third observation quantity, the predicted position information of the radiation source is calculated, thereby improving the accuracy of the calculated predicted position information of the radiation source.

[0103] Based on the above embodiment, the predicted position information of the radiation source is iteratively updated based on the preset Jacobian determinant, including S310 to S360, and each step is specifically as follows.

[0104] 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.

[0105] 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.

[0106] S330: Obtain a preset Jacobian determinant based on the first Jacobian term and the second Jacobian term.

[0107] 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 of the radiation source and the vertical coordinate of the radiation source.

[0108] S350: 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.

[0109] S360: Using the updated predicted position information of the radiation source as the predicted position information of the radiation source, so as to iteratively update the predicted position information of the radiation source.

[0110] Determine the first Jacobian term, the second Jacobian term, and the preset Jacobian determinant.

[0111] ;

[0112] in, is the default 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 a first Jacobian term, and is a second Jacobian term, is a predicted abscissa of the radiation source, is a predicted ordinate of the radiation source.

[0113] The predicted position information of the radiation source is substituted into the fourth observation quantity to obtain a fourth observation value. An observation residual of the fourth observation quantity is calculated.

[0114]

[0115] wherein, is a preset Jacobian determinant, is the fourth observation value after substituting the predicted position information of the radiation source, is an observation noise of the fourth observation quantity, is an observation matrix of the fourth observation quantity, is a measurement noise of the fourth observation quantity, is an observation residual of the fourth observation quantity.

[0116] The predicted position information of the radiation source is updated based on a difference between the predicted position information of the radiation source and the observation residual.

[0117]

[0118] wherein, is a predicted abscissa of the radiation source, is a predicted ordinate of the radiation source, is the predicted position information of the radiation source, is the updated predicted position information of the radiation source, is an observation residual of the fourth observation quantity.

[0119] The updated predicted position information of the radiation source is taken as the predicted position information of the radiation source, and the preset Jacobian determinant and the fourth observation value are updated, and then the predicted position information of the radiation source is iteratively updated.

[0120] The predicted position information of the radiation source is iteratively updated for a plurality of times until the number of iterations reaches a first set number of times, for example, 10 times, and then the iteration is ended to obtain initial position information of the radiation source.

[0121] The application iteratively updates the predicted position of the radiation source according to the preset Jacobian determinant to obtain the initial position information, and improves the accuracy of positioning the radiation source.

[0122] ​​The simulation experiment of the cooperative positioning method of the radiation source is specifically performed by using a Matlab software platform. Two main observation stations and one auxiliary observation station are selected according to the time difference of arrival (TDOA) and the received signal strength indicator (RSSI). The time-frequency information of the radiation source is simultaneously obtained by the three observation stations, and is transmitted to a processing unit through a communication link. The processing unit estimates and compensates the time difference of arrival of the collected data. The simulation conditions are as follows: the time difference of arrival accuracy is 20 ns, the coordinate positions of the observation stations are (-1, 0), (0, 0) and (1, 0) in sequence, and the position range of the radiation source is (-2:2, -3:3). When the analytical method (based on the position information of the observation station and the time difference of arrival to calculate the predicted position information of the radiation source) and the iterative method (preset Jacobian determinant iteration) are combined for positioning, it can be found that, except for some detection blind areas, the positioning accuracy in other detection ranges is uniformly distributed, and the positioning error basically increases linearly with the increase of the detection distance.

[0123] Further, the time domain tracking accuracy is analyzed, the position of the radiation source is (1, 3), the data refresh rate (time interval between the current time and the previous time) is 5 times per second, the observation noise variance of the first observation is estimated by the RSSI, which is 0.005 here, and the corresponding positioning error is as shown in Figure 4 It can be found that the accuracy of the time domain filter tracking increases with the increase of the observation time, and the tracking time only needs about 4s, that is, the detection accuracy can be improved from 70m to below 20m, which is about 3.5 times higher than the traditional single positioning accuracy.

[0124] The cooperative positioning method of the radiation source provided in the embodiment of the application determines the predicted position of the radiation source according to the time difference of arrival and the position information of the observation station, and realizes the preliminary positioning of the radiation source. The predicted position of the radiation source is iteratively updated according to the preset Jacobian determinant, and the initial position information is obtained, which improves the accuracy of the positioning of 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 and the time difference observation, which realizes the continuous tracking and positioning of the radiation source and improves the accuracy of the positioning of the radiation source.

[0125] The cooperative positioning device of the radiation source provided in the application is described below, and the cooperative positioning device of the radiation source described below can be correspondingly referred to the cooperative positioning method of the radiation source described above.

[0126] As Figure 5As shown in the figure, a cooperative positioning device of a radiation source comprises: an acquisition module 501 configured to acquire position information of a plurality of observation stations, a time difference of arrival of a transmission signal of the radiation source received between the observation stations, and a received signal strength of the observation stations.

[0127] A prediction module 502 configured to acquire predicted position information of the radiation source based on the position information of the observation stations and the time difference of arrival.

[0128] A first iteration module 503 configured to iteratively update the predicted position information of the radiation source based on a preset Jacobian determinant until a number of iterations reaches a first set number, to obtain initial position information of the radiation source, the preset Jacobian determinant being determined based on the time difference of arrival.

[0129] A first tracking module 504 configured to, when the received signal strength is lower than a set strength, acquire a predicted value of radiation source information at a current time and a time domain filtering gain at the current time based on radiation source information at a previous time, the radiation source information at the current time comprising position information and speed information of the radiation source at the current time, and the position information of the radiation source at the initial time being the initial position information.

[0130] A second tracking module 505 configured to determine the radiation source information at the current time based on the predicted value of the radiation source information at the current time, the time domain filtering gain at the current time, and a first observation at the current time, the first observation at the current time being determined based on a time difference observation at the current time, the time difference observation representing a position difference between the radiation source and different observation stations.

[0131] A second iteration module 506 configured to update the time domain filtering gain at the current time and the predicted value of the radiation source information at the current time, to update the radiation source information at the current time until a number of updates of the radiation source information at the current time reaches a second set number, to obtain final radiation source information.

[0132] The cooperative positioning device of the radiation source provided by the embodiments of the present application determines a predicted position of the radiation source according to the time difference of arrival and the position information of the observation stations, to realize preliminary positioning of the radiation source. The predicted position of the radiation source is iteratively updated according to the preset Jacobian determinant, to obtain single positioning information (initial position information) of the radiation source, to improve the accuracy of positioning of the radiation source. 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 observation, and the time difference observation, to realize continuous tracking and positioning of the radiation source, to improve the accuracy of positioning of the radiation source.

[0133] In an embodiment, the observation stations include a primary observation station and a secondary observation station, the time difference of arrival is a time difference of arrival between the primary observation station and the secondary observation station, the position information includes a horizontal coordinate and a vertical coordinate, the coordinate origin is the primary observation station, and the prediction module 502 is configured to: obtain at least two distance differences based on the time difference of arrival and the speed of light, obtain a covariance coefficient of the distance differences, the distance difference being a difference between a distance of the radiation source to the primary observation station and a distance of the radiation source to the secondary observation station; construct a second observation based on the horizontal coordinate of the radiation source, the vertical coordinate of the radiation source, and a radiation source distance, the radiation source distance being a distance of the radiation source to the primary observation station; obtain a least squares estimation value of the second observation based on an observation matrix of the second observation, an observation noise of the second observation, and the covariance coefficient of the distance differences, the least squares estimation value of the second observation including a horizontal coordinate estimation value of the radiation source, a vertical coordinate estimation value of the radiation source, and a radiation source distance estimation value; construct a third observation based on a horizontal distance of the radiation source to the primary observation station and a vertical distance of the radiation source to the primary observation station; obtain a least squares estimation value of the third observation based on a covariance of the third observation, an observation matrix of the third observation, and an observation noise of the third observation, the least squares estimation value of the third observation including an estimation value of a square of the horizontal distance and an estimation value of a square of the vertical distance; obtain a predicted horizontal coordinate of the radiation source based on the estimation value of the square of the horizontal distance, the horizontal coordinate estimation value of the radiation source, and the horizontal coordinate of the primary observation station; obtain a predicted vertical coordinate of the radiation source based on the estimation value of the square of the vertical distance, the vertical coordinate estimation value of the radiation source, and the vertical coordinate of the primary observation station; and obtain predicted position information of the radiation source based on the predicted horizontal coordinate and the predicted vertical coordinate.

[0134] In an embodiment, the prediction module 502 is configured to: construct an observation error matrix based on the horizontal coordinate estimation value of the radiation source, the vertical coordinate estimation value of the radiation source, the radiation source distance estimation value, the horizontal coordinate of the primary observation station, and the vertical coordinate of the primary observation station; and obtain the covariance of the third observation based on the observation error matrix and a covariance of the second observation, the covariance of the second observation being determined based on the observation matrix of the second observation and the covariance coefficient of the distance differences.

[0135] In one embodiment, the first iteration module 503 is configured to: determine a first Jacobian based on the horizontal coordinate of the primary observation station, the horizontal coordinate of the secondary observation station, the predicted horizontal coordinate, the distance from the radiation source to the secondary observation station and the distance difference; determine a second Jacobian based on the vertical coordinate of the primary observation station, the vertical coordinate of the secondary observation station, the predicted vertical coordinate, the distance from the radiation source to the secondary observation station and the distance difference; obtain a preset Jacobian determinant based on the first Jacobian and the second Jacobian; determine an observation residual of the fourth observation based on the fourth observation, an observation matrix of the fourth observation, an observation noise of the fourth observation, a measurement noise of the fourth observation, the predicted position information of the radiation source and the preset Jacobian determinant, the fourth observation 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 a difference between the predicted position information of the radiation source and the observation residual; and take 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.

[0136] In one embodiment, the first tracking module 504 is configured to: construct a state transition 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 transition matrix and the radiation source information at the previous moment.

[0137] In one embodiment, the first tracking module 504 is configured to: determine a current moment variance of the predicted value of the radiation source information at the current moment based on a variance of the radiation source information at the previous moment, a covariance of an observation noise of the radiation source information at the previous moment and the state transition matrix; obtain a first-order differential matrix of the time difference observation at the previous moment with respect to the radiation source information to obtain a time difference observation derivative at the previous moment; and obtain a time domain filtering gain at the current moment based on the current moment variance, the time difference observation derivative at the previous moment, the previous moment variance of the predicted value of the radiation source information at the previous moment and a covariance of an observation noise of the first observation at the current moment.

[0138] In one embodiment, the second tracking module 505 is configured to: obtain a first position difference between the radiation source and the primary observation station based on the position information of the radiation source at the current moment and the position information of the primary observation station; obtain a second position difference between the radiation source and the secondary observation station based on the position information of the radiation source at the current moment and the position information of the secondary observation station; and obtain a time difference observation at the current moment based on a difference between the first position difference and the second position difference.

[0139] Figure 6 An example of a schematic diagram of the physical structure of an electronic device is shown in FIG. 1. Figure 6As shown, the electronic device can include a processor 610, a communications interface 620, a memory 630, and a communications bus 640, wherein the processor 610, the communications interface 620, and the memory 630 complete mutual communication through the communications bus 640. The processor 610 can invoke a logical instruction in the memory 630 to execute the above-mentioned cooperative positioning method of the radiation source, which includes: acquiring position information of a plurality of observation stations, a time difference of arrival of a transmitted signal of the radiation source received between the observation stations, and a received signal strength of the observation stations; acquiring predicted position information of the radiation source based on the position information of the observation stations and the time difference of arrival; iteratively updating the predicted position information of the radiation source based on a preset Jacobian determinant until an iteration number reaches a first set number, to obtain initial position information of the radiation source, the preset Jacobian determinant being determined based on the time difference of arrival; when the received signal strength is lower than a set strength, acquiring a predicted value of current time radiation source information and a time domain filtering gain of the current time based on radiation source information of a previous time, the current time radiation source information including position information and speed information of the radiation source at the current time, and the position information of the radiation source at the initial time being the initial position information; determining the current time radiation source information based on the predicted value of the current time radiation source information, the time domain filtering gain of the current time, and a first observation quantity of the current time, the first observation quantity of the current time being determined based on a time difference observation quantity of the current time, the time difference observation quantity representing a position difference between the radiation source and different observation stations; updating the time domain filtering gain of the current time and the predicted value of the current time radiation source information, to update the current time radiation source information, until an update number of the current time radiation source information reaches a second set number, to obtain final radiation source information.

[0140] In addition, the logical instruction in the memory 630 described above can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0141] In yet another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the method for cooperative positioning of a radiation source provided by any of the above methods, and the method comprises: obtaining position information of a plurality of observation stations, a time difference of arrival of a transmission signal of the radiation source received between the observation stations, and a received signal strength of the observation stations; obtaining predicted position information of the radiation source based on the position information of the observation stations and the time difference of arrival; iteratively updating the predicted position information of the radiation source based on a preset Jacobian determinant until a number of iterations reaches a first set number, to obtain initial position information of the radiation source, the preset Jacobian determinant being determined based on the time difference of arrival; when the received signal strength is lower than a set strength, obtaining a predicted value of current time radiation source information and a time domain filtering gain of the current time based on the radiation source information of a previous time, the current time radiation source information comprising position information and velocity information of the radiation source at the current time, and the position information of the radiation source at the initial time being the initial position information; determining the current time radiation source information based on the predicted value of the current time radiation source information, the time domain filtering gain of the current time, and a first observation quantity of the current time, the first observation quantity of the current time being determined based on a time difference observation quantity, the time difference observation quantity representing a position difference between the radiation source and different observation stations; updating the time domain filtering gain of the current time and the predicted value of the current time radiation source information, to update the current time radiation source information, until a number of updates of the current time radiation source information reaches a second set number, to obtain final radiation source information.

[0142] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0143] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software plus necessary general hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions, essentially or in terms of the contribution to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0144] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; and although the present application has been described in detail with reference to the foregoing embodiments, it should be appreciated by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for collaborative positioning of radiation sources, characterized in that: include: Obtaining 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; Acquiring predicted position information of a 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; Determining 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 a first observation value at the current moment, wherein the first observation value at the current moment is determined based on a time difference observation value at the current moment, and the time difference observation value represents a position difference between the radiation source and different observation stations; Updating 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, thereby obtaining final radiation source information; 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; Obtaining 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; The time domain filter gain at the current moment is determined based on the following steps: Determining 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.

2. The method for collaborative positioning of radiation sources according to claim 1, characterized in that: The observation station includes a primary observation station and an auxiliary observation station, the arrival time difference is the arrival time difference between the primary observation station and the auxiliary observation station, the position information includes a horizontal coordinate and a vertical coordinate, and the coordinate origin is the primary observation station, and obtaining the predicted position information of the radiation source based on the position information of the observation station and the arrival time difference includes: Obtaining at least two distance differences based on the arrival time difference and the speed of light, and obtaining a covariance coefficient of the distance differences, 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 auxiliary 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, where 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 quantity based on an observation matrix of the second observation quantity, an observation noise of the second observation quantity, and a covariance coefficient of the distance difference, wherein the least squares estimate of the second observation quantity 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; Obtaining a least squares estimate of the third observation based on a covariance of the third observation, an observation matrix of the third observation, and observation noise 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 longitudinal distance; Obtaining a predicted abscissa of the radiation source based on the estimated value of the square of the lateral distance, the estimated abscissa of the radiation source, and the abscissa of the main observation station; Obtaining a predicted vertical coordinate of the radiation source based on the estimated value of the square of the vertical distance, the estimated vertical coordinate of the radiation source, and the vertical coordinate of the main observation station; 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, where 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, wherein: The iterative updating of the predicted position information of the radiation source based on a preset Jacobian determinant includes: Determining 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; Determining 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; Obtaining the preset Jacobian determinant based on the first Jacobian term and the second Jacobian term; determining an observation residual of a fourth observation based on a fourth observation, an observation matrix of the fourth observation, observation noise of the fourth observation, 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 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, so as to iteratively update the predicted position information of the radiation source.

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

6. A radiation source collaborative positioning device, characterized in that: include: an acquisition module, configured to acquire location information of a plurality of 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, configured to obtain predicted position information of a radiation source based on the position information of the observation station and the arrival time difference; a first iterative 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, 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 the 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 velocity 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, configured 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 a first observation value at the current moment, wherein the first observation value at the current moment is determined based on a time difference observation value at the current moment, wherein the time difference observation value represents a position difference between the radiation source and different observation stations; a second iterative module, configured 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 final radiation source information; The first tracking module is further configured 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; Obtaining 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; The first tracking module is further configured to determine a variance of a 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 a 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 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. 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 5 is implemented.

8. 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 co-locating a radiation source according to any one of claims 1 to 5 is implemented.

Images