Method, device, equipment and medium for locating electromagnetic radiation source based on fusion information

Abstract

The present invention discloses an electromagnetic radiation source positioning method, device, equipment and medium based on fusion information, and relates to the field of radio monitoring technology. The method comprises: establishing a level probability distribution matrix based on the level measurement values ​​of multiple monitoring points in the target area to be searched; estimating the radiation source position based on the signal source level probability distribution matrix, and calculating the distance from each monitoring point to the radiation source position, intercepting effective direction-indicating line segments from the direction-indicating rays of the monitoring points based on the distance from the monitoring points to the radiation source positions, and converting the effective direction-indicating line segments into a direction-indicating probability distribution matrix; fusing the level probability distribution matrix and the direction-indicating probability distribution matrix, and locating the radiation source position based on the fusion matrix. The present invention extracts the most effective segment from the direction-indicating rays, converts it into a two-dimensional probability distribution and fuses it with the level probability distribution, thereby improving the reliability of the information, and the positioning result obtained by the fusion matrix is ​​more accurate.

Description

Technical Field

[0001] The present invention relates to the field of radio monitoring technology, and in particular to an electromagnetic radiation source positioning method, device, equipment and medium based on fusion information. Background Art

[0002] Locating targets, interference or illegal radio signal sources is the core work in the field of radio monitoring.

[0003] At present, the positioning of radiation sources mainly relies on indirect positioning technologies such as joint measurement of signal energy (POA) or angle of arrival (AOA) at multiple monitoring points, and the signal source position is calculated by the position with the highest signal level or the intersection of signal direction lines. In actual monitoring scenarios, the distance between different monitoring points is generally several to more than ten kilometers. The main disadvantages of indirect positioning methods such as POA and AOA are:

[0004] (1) In reality, the propagation distance between the signal source and the monitoring point is several to dozens of kilometers, which often contains a complex geographical refraction and reflection environment, which will affect the monitoring point's correct measurement of the signal wave angle. If any signal direction-indicating line deviates from a slight angle, the joint intersection positioning point of the direction-indicating line will deviate from several to dozens of kilometers;

[0005] (2) The complex propagation environment and the differences in antenna height gain at different monitoring points will also cause the signal level measurement value at the monitoring point to deviate from the theoretical value of the electromagnetic propagation model, resulting in the highest level position being inconsistent with the actual position of the radiation source;

[0006] (3) The signal level and bearing information measured jointly at multiple monitoring points may contain both correct and incorrect values. The incorrect information will disrupt the positioning results.

[0007] In summary, the POA or AOA indirect positioning method that the prior art mainly relies on may lead to inaccurate final positioning results in practical applications due to the deviation of the measurement values. Summary of the invention

[0008] The present invention provides an electromagnetic radiation source positioning method, device, equipment and medium based on fusion information to solve the problem that the measurement value deviation caused by the actual measurement environment has an adverse effect on the radiation source positioning result.

[0009] The present invention is achieved through the following technical solutions:

[0010] A first aspect of the present invention provides a method for locating an electromagnetic radiation source based on fusion information, comprising:

[0011] Create a grid matrix of the target area to be searched;

[0012] Establishing a level probability distribution matrix based on the level measurement values ​​of multiple monitoring points in the target area to be searched, wherein the dimension of the level probability distribution matrix is ​​the same as that of the grid matrix, and the value of the grid represents the probability that the radiation source is located in the grid;

[0013] estimating the radiation source position based on the level probability distribution matrix, and calculating the distance from each monitoring point to the radiation source position;

[0014] Based on the distance from the monitoring point to the radiation source position, intercepting effective direction-indicating line segments from the direction-indicating rays of the monitoring point, and converting the effective direction-indicating line segments into a direction-indicating probability distribution matrix;

[0015] The level probability distribution matrix and the direction probability distribution matrix are fused, and the radiation source is located based on the fused matrix.

[0016] The positioning method of the present invention integrates level information and direction information, integrates two kinds of monitoring information for positioning, avoids the accumulation of single monitoring data errors, automatically reduces the weight of erroneous information, and makes the positioning result more reliable. At the same time, considering that even a slight deviation of the direction line has a great influence on the positioning point, the position of the radiation source is estimated by using the level probability distribution, and then the approximate distance from the monitoring point to the radiation source is estimated. Based on this, the direction line segment that is more effective for locating the radiation source is screened and converted into a two-dimensional probability distribution, which not only considers the situation that the signal source distribution probability will be reduced when approaching or moving away from the monitoring point from the highest probability point, but also considers the situation that the signal source is located within a certain range on both sides of the direction line segment. The two-dimensional probability distribution matrix based on the two kinds of information is fused, and the level information and direction probability distribution of all positions are comprehensively considered, so that each measurement information can be mutually corroborated, and the correct information utility is maximized, so that the positioning result is close to the real position.

[0017] In one implementation, the step of establishing a level probability distribution matrix based on the level measurement values ​​of a plurality of monitoring points in the target area to be searched includes:

[0018] A level observation matrix is ​​established based on the grid matrix, wherein the value of the grid where the monitoring point is located in the level observation matrix is ​​the level measurement value of the monitoring point, and the values ​​of the remaining grids are zero;

[0019] The level observation matrix is ​​convolved using an electromagnetic wave free space attenuation model to obtain a level probability distribution matrix.

[0020] In one implementation, the use of an electromagnetic wave free space attenuation model to convolve the level observation matrix to obtain a level probability distribution matrix includes:

[0021] An ideal propagation surface based on the electromagnetic wave free space attenuation model is established, which is expressed as:

[0022] ;

[0023] in, It indicates that when electromagnetic waves are transmitted in free space, they are transmitted from the radiation source to the The attenuation at is the electromagnetic wave propagation distance, is the frequency of the radiated signal, is the speed of light;

[0024] When the center of the ideal propagation surface coincides with each grid in the level measurement matrix, the loss between the level measurement matrix and the ideal propagation surface is calculated as:

[0025] ;

[0026] in, Surface center and grid representing the ideal propagation surface When the measurement matrix and the ideal propagation surface are overlapped, the loss between them is Two-dimensional coordinates used to represent the grid, , For monitoring point n The level measurement value of is the monitoring point on the ideal propagation curve n The theoretical level value of the projection point, , A Indicates the level value at the center of the surface, for The mean of ;

[0027] The loss corresponding to each grid As the level probability distribution matrix with the grid The corresponding element values ​​​​are obtained to obtain a level probability distribution matrix with the same dimension as the grid matrix.

[0028] In one embodiment, estimating the radiation source position based on the level probability distribution matrix includes: calculating The grid coordinates corresponding to the minimum , the coordinates Determine the estimated radiation source location.

[0029] In one embodiment, based on the distance from the monitoring point to the radiation source position, intercepting a valid direction-indicating line segment from the direction-indicating ray of the monitoring point, and converting the valid direction-indicating line segment into a direction-indicating probability distribution matrix comprises:

[0030] Select the distance monitoring point on the direction ray n The distance is The point is taken as the center point, and the center point to the monitoring point is interceptedn The direction-indicating line segments between are taken as valid direction-indicating line segments; among which, It is a monitoring point n The distance to the location of the radiation source;

[0031] Taking the central point as the center of Gaussian distribution, a two-dimensional direction-indicating Gaussian distribution is established along the ray direction of the effective direction-indicating line segment and the direction perpendicular to the ray, so as to obtain the direction-indicating probability distribution matrix of the effective direction-indicating line segment.

[0032] In one embodiment, the fusing the level probability distribution matrix and the direction probability distribution matrix, and locating the radiation source based on the fused matrix, comprises:

[0033] Normalizing the level probability distribution matrix and each direction probability distribution matrix;

[0034] Superimposing the normalized level probability distribution matrix and corresponding elements of all azimuth probability distribution matrices to obtain a fusion matrix;

[0035] The grid coordinates corresponding to the maximum probability value in the fusion matrix are determined as the radiation source position.

[0036] In one implementation, normalizing the level probability distribution matrix and each direction probability distribution matrix includes:

[0037] Normalize the level probability distribution matrix and the direction probability distribution matrix generated by the monitoring points where the measured level exceeds 20dBuV from 0 to 1;

[0038] The directional probability distribution matrix generated by the monitoring points with measurement levels less than 20dBuV is normalized to 0~0.5.

[0039] A second aspect of the present invention provides an electromagnetic radiation source positioning device based on fusion information, comprising:

[0040] A creation module is used to create a grid matrix of the target area to be searched;

[0041] A first calculation module is used to establish a level probability distribution matrix based on the level measurement values ​​of multiple monitoring points in the target area to be searched, wherein the dimension of the level probability distribution matrix is ​​the same as that of the grid matrix, and the value of the grid represents the probability that the radiation source is located in the grid;

[0042] A first positioning module, used for estimating the radiation source position based on the signal source level probability distribution matrix, and calculating the distance from each monitoring point to the radiation source position;

[0043] A second calculation module is used to intercept a valid direction-indicating line segment from the direction-indicating ray of the monitoring point based on the distance from the monitoring point to the position of the radiation source, and convert the valid direction-indicating line segment into a direction-indicating probability distribution matrix;

[0044] The second positioning module is used to fuse the level probability distribution matrix and the direction probability distribution matrix, and locate the radiation source based on the fused matrix.

[0045] According to a third aspect of the present invention, an electronic device is provided, 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 electromagnetic radiation source positioning method based on fusion information as described in any one of the first aspects of the present invention is implemented.

[0046] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the electromagnetic radiation source positioning method based on fusion information as described in any one of the first aspects of the present invention.

[0047] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0048] The two types of information, level and azimuth, are integrated to make them mutually corroborative, automatically reducing the weight of erroneous information, and the final positioning result conforms to the maximum probability position of the global observation result;

[0049] Compared with the problem that the level measured by traditional POA deviates from the theoretical model due to the influence of the propagation environment, the convolution observation level distribution method is adopted to comprehensively consider the level information of all positions, so that the obtained level probability is the most credible;

[0050] Compared with the traditional AOA direction-line intersection positioning method, which considers the distribution probability of each signal source on the ray equivalently, the most effective section is extracted from the direction-line according to the distance between the monitoring point and the radiation source, and converted into a two-dimensional probability distribution. It takes into account the situation that the distribution probability of the signal source will decrease when it is close to or far away from the monitoring point from the highest probability point, and also takes into account the situation that the signal source is located within a certain range on both sides of the direction-line segment, thereby improving the reliability of the positioning result. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0052] Figure 1is a flow chart of an electromagnetic radiation source positioning method based on fusion information according to an embodiment of the present invention;

[0053] Figure 2 is a schematic diagram of level and direction ray observation data according to an embodiment of the present invention;

[0054] Figure 3 is a schematic diagram of a level observation matrix convolved using an ideal level surface according to an embodiment of the present invention;

[0055] Figure 4 is a schematic diagram of a level probability distribution according to an embodiment of the present invention;

[0056] Figure 5 is a schematic diagram showing a directional probability distribution according to an embodiment of the present invention;

[0057] Figure 6 It is a schematic diagram of a fusion distribution of a level probability distribution and a direction probability distribution according to an embodiment of the present invention. DETAILED DESCRIPTION

[0058] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0059] It should be noted that the terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to or inherent to other steps or units of the device.

[0060] The terms used in various embodiments of the present invention are only used for the purpose of describing specific embodiments and are not intended to limit various embodiments of the present invention. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise limited, all terms used here (including technical terms and scientific terms) have the same meaning as the meaning generally understood by those of ordinary skill in the art to which the various embodiments of the present invention belong. The terms (such as the terms defined in the dictionary generally used) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in various embodiments of the present invention.

[0061] The embodiments of the present invention provide an electromagnetic radiation source positioning method, device, equipment and medium based on fusion information, which are suitable for positioning and tracking signal sources, are conducive to reducing the impact of measurement deviations on positioning results, and improve positioning accuracy.

[0062] like Figure 1 FIG. 1 is a flow chart of an electromagnetic radiation source positioning method based on fusion information according to an embodiment of the present invention, which includes the following steps.

[0063] S1, create a grid matrix of the target area to be searched.

[0064] S2, establishing a level probability distribution matrix based on the level measurement values ​​of multiple monitoring points in the target area to be searched, wherein the dimension of the level probability distribution matrix is ​​the same as the grid matrix, and the value of the grid represents the probability that the radiation source is located in the grid.

[0065] S3, estimating the radiation source position based on the level probability distribution matrix, and calculating the distance from each monitoring point to the radiation source position.

[0066] S4, based on the distance from the monitoring point to the radiation source, intercepting effective direction-indicating line segments from the direction-indicating rays of the monitoring point, and converting the effective direction-indicating line segments into a direction-indicating probability distribution matrix.

[0067] S5, fusing the level probability distribution matrix and the direction probability distribution matrix, and locating the radiation source based on the fused matrix.

[0068] In step S1, the geographic area to be searched is divided into two-dimensional grids according to a specific resolution, such as 1km×1km or 0.5km×0.5km per grid. The two-dimensional grids constitute a two-dimensional grid matrix. Each grid corresponds to a matrix element position in the grid matrix. The monitoring data of multiple monitoring points are projected into the grid matrix to establish a probability distribution matrix of each monitoring parameter. The numerical value of the grid represents the probability that the radiation source is located in the grid. According to the association between the elements corresponding to the grid in the matrix and the geographical location of the target area to be searched, the positioning of the radiation source is achieved based on the level probability distribution matrix.

[0069] like Figure 2 The schematic diagram of the level and direction ray observation data shown in the figure. The blue dots represent the monitoring points, the red dots represent the radiation sources, the red lines represent the direction rays, the grid represents the grid matrix, and the grid coordinates refer to the coordinate system. xyz The data monitored by the monitoring point include level information and bearing information (the angle between the direction of the true north of the earth meridian of the observation point and the direction of the line connecting the observation point and the radio emission source under test, rotating clockwise). Each monitoring point can monitor one or both of the level information and the bearing information.

[0070] The coarseness of the grid (i.e., resolution) does not affect the implementation of this method. The finer the grid resolution, the greater the amount of calculation required, and the higher the accuracy of the output positioning result. The coarser the grid, the smaller the amount of calculation, but the positioning result accuracy is low. The appropriate resolution can be set according to the actual search area size and geographical environment.

[0071] In step S2, firstly, a level observation matrix is ​​established based on the grid matrix, and then the level observation matrix is ​​converted into a level probability distribution matrix.

[0072] Specifically, according to the position of each monitoring point in the two-dimensional grid, the level measurement value of each monitoring point is projected into the grid matrix to establish a level observation matrix for multiple monitoring points. That is, the dimension of the level observation matrix is ​​the same as that of the grid matrix, and the position of each grid corresponds one-to-one to the element position in the level observation matrix. The value of the grid where the monitoring point is located in the level observation matrix (corresponding to the matrix element position) is the level measurement value of the monitoring point, and the values ​​of the remaining grids are zero.

[0073] In one embodiment, the level observation matrix is ​​converted into a level probability distribution matrix through the maximum likelihood estimation concept. Compared with the problem that the traditional POA measurement level deviates from the theoretical model due to the influence of the propagation environment, the present invention uses the electromagnetic wave free space attenuation model to convolve the level observation matrix to obtain the level probability distribution matrix, comprehensively considering the level information of all positions, so that the obtained level probability is the most credible. Figure 3 The figure shows a schematic diagram of the convolution level observation matrix using the electromagnetic wave free space attenuation model (ideal propagation surface), as shown in Figure 4 The figure shows a schematic diagram of the level probability distribution obtained after convolution processing, where the color depth indicates the probability size, and the darker the color, the greater the probability of the position. The specific steps are as follows.

[0074] S3-1, firstly, an ideal propagation surface based on the electromagnetic wave free space attenuation model is established, which is expressed as:

[0075] ;

[0076] In the formula, It indicates that when electromagnetic waves are transmitted in free space, they are transmitted from the radiation source to the The attenuation at is the electromagnetic wave propagation distance, is the frequency of the radiated signal, is the speed of light, m / s, the unit of attenuation is dB.

[0077] Ideal propagation surface of electromagnetic waves is the propagation distance The center of the surface is the location of the preset radiation source, that is, the distance between the point on the surface and the center of the surface The closer the attenuation is, the The smaller the value, the greater the attenuation. The bigger.

[0078] S3-2, convolve the level observation matrix using the electromagnetic wave free space attenuation model.

[0079] In this embodiment, the level observation matrix is ​​convolved through the electromagnetic wave free space attenuation model, that is, the loss between the level observation matrix and the ideal propagation surface when the surface center of the ideal propagation surface coincides with each grid in the level observation matrix is ​​calculated, and the loss value corresponding to each grid is used as the matrix element of the corresponding grid position in the level probability distribution matrix. The dimension of the level probability distribution matrix is ​​also the same as the grid matrix, and the element position corresponds one-to-one to the grid coordinates.

[0080] Among them, the loss function between the level observation matrix and the ideal propagation surface is expressed as follows:

[0081] ;

[0082] In the formula, Surface center and grid representing the ideal propagation surface When the observation matrix overlaps with the ideal propagation surface, the loss reflects the difference between the level measurement value of each monitoring point and the level value of the corresponding position on the ideal propagation surface. Used to represent the grid in a two-dimensional coordinate system x - y For the location in Figure 3 The coordinate system shown, Indicates monitoring point n Level measurement value The ideal propagation curve and the monitoring point n The level value of the corresponding position The difference between , for The mean of .

[0083] When the center of the surface is When overlapped, see Figure 3 As shown, each monitoring point n Coordinates Can be projected onto the ideal propagation surface along the z-axis ,calculate Distance from the center of the surface d , and then the theoretical level value of this point can be calculated according to the attenuation formula, the formula is: , A It is used to represent the level value at the center of the surface, that is, the radiation intensity of the radiation source. Since the center of the ideal propagation surface is the assumed radiation source position, when the center of the surface is When they overlap, if the loss function The smallest value indicates that the level probability distribution is more consistent with the electromagnetic wave free space attenuation model, and the grid can be preliminarily determined. is the location of the radiation source.

[0084] The first term of the loss function represents the theoretical propagation surface center located at each grid When the level measurement value of each measurement point is The mean of the theoretical value The second term of the loss function indicates that the center of the theoretical propagation surface is located at each grid When the level measurement value at each measurement point is .

[0085] It should be noted that through the above convolution method, the final level probability distribution matrix is ​​a matrix containing unknown quantities. A distribution. A No matter how the value is taken, it will not change the distribution characteristics it reflects, and therefore will not affect the final positioning result.

[0086] Furthermore, the radiation source position is estimated according to the level probability distribution matrix, that is, by calculating When the ideal level surface is at its minimum, the center position of the ideal level surface is the same as which grid overlap, solved Position is the location of the radiation source.

[0087] The loss function can be understood as: when the center of the surface is When , the center position of the ideal propagation surface and the corresponding position of the level measurement matrix are If the grid coordinates coincide with the ideal propagation surface, then the mean value is and variance Compared to any other position, it is the minimum Corresponding ideal level surface position This is the desired radiation source position. Therefore, by solving the minimum objective function, the corresponding is the estimated radiation source position, such as Figure 4 As shown, mark the location as .

[0088] Furthermore, after obtaining the estimated radiation source position, the distance between each monitoring point and the radiation source can be obtained based on the monitoring point position and the radiation source position, which can reflect the distance relationship between the monitoring point and the radiation source. The distances are , , 、 , is the location of monitoring point 1, is the location of monitoring point 2, is the location of monitoring point 3, is the location of monitoring point 4.

[0089] Through experimental simulation verification, the method of this embodiment has been verified that in most cases the distance between the monitoring point and the real signal source is is very close, so you can It is roughly regarded as the distance from the monitoring point to the radiation source. The higher the measured level value of the monitoring point, the closer it is to the radiation source. Usually the smaller; The bigger.

[0090] In step S4, the conventional directional rays starting from the monitoring point and pointing to the direction of the signal wave are converted into directional probability distribution, so as to be merged with the level probability distribution. In addition, the present invention screens the directional information according to the estimated radiation source position, that is, according to the distance from the monitoring point to the estimated radiation source position, the directional line segments located in the distance are intercepted from the directional rays, and the directional probability distribution matrix is ​​extracted based on the intercepted line segments, thereby avoiding the interference of errors in information that is not so important for positioning on the positioning result.

[0091] In one implementation, step S4 is specifically as follows.

[0092] S4-1, select the distance monitoring point on the direction ray n The distance is The point is taken as the center point, and the center point to the monitoring point is intercepted n The direction-indicating line segment between them is regarded as a valid direction-indicating line segment.

[0093] S4-2, taking the center point as the center of the Gaussian distribution, a two-dimensional Gaussian distribution is established along the ray direction of the effective direction-indicating line segment and the direction perpendicular to the ray, and the direction-indicating probability distribution matrix of the effective direction-indicating line segment is obtained.

[0094] like Figure 5 Shown is a schematic diagram of the directional probability distribution obtained by the above method, where the darker the color, the greater the probability value. It is a monitoring point nThe distance to the estimated radiation source prd1, for the monitoring point with the orientation information, the orientation ray is processed by the above processing method to obtain the orientation probability distribution matrix based on the effective orientation line segment. It can be understood that the above processing method is described for a certain orientation ray, but for the case where there are multiple monitoring points monitoring to obtain multiple orientation rays in the method, the same processing is performed for each orientation ray, and the orientation probability distribution matrix of each effective orientation line segment is obtained. If there are M in total, the M orientation probability distribution matrices are all fused with the level probability distribution matrix.

[0095] The method of establishing a two-dimensional Gaussian distribution is as follows: first, a one-dimensional Gaussian distribution is established along the direction of the ray. The probability of the center point is the highest. As the signal source moves closer or farther away from the monitoring point, the probability of the signal source distribution will decrease. Then, each point on the one-dimensional Gaussian distribution along the guiding ray is taken as the center position, and a continuous Gaussian distribution perpendicular to the guiding ray is established to obtain the final two-dimensional Gaussian distribution.

[0096] The vertical Gaussian distribution represents the probability that there are signal sources within a certain range on both sides of the ray, which corresponds to the scenario where the ray "grazes" the signal source. In actual operation, the two-dimensional directional Gaussian distribution can be directly established through the covariance matrix, which is expressed as follows:

[0097] ;

[0098] in, Distribution Center , Indicates the point to be calculated , is the covariance matrix. The covariance matrix used in this method refers to the engineering experience value. .

[0099] This embodiment extracts the most effective section from the direction-indicating ray and converts it into a two-dimensional probability distribution. It takes into account the situation that the probability of signal source distribution will decrease when it is close to or far away from the monitoring point from the highest probability point, and also takes into account the situation that the signal source is located within a certain range on both sides of the direction-indicating line. When there is a conflict between multiple information, the method of the present invention can find the most reliable position, making the positioning result more accurate.

[0100] In step S5, the level probability distribution matrix and the direction probability distribution matrix are merged, that is, the elements at corresponding positions of the matrices are superimposed.

[0101] Specifically, the number of level probability distribution matrices is 1, each directional ray is represented by 1 directional probability distribution matrix, and the level probability distribution matrix and the directional probability distribution matrix have the same dimension, both equal to the grid matrix, and the 1 level probability distribution matrix of the same size is merged with the M directional probability distribution matrices to finally obtain a fusion matrix of the same dimension. The merging steps are as follows.

[0102] S5-1, normalizing the level probability distribution matrix and each direction probability distribution matrix.

[0103] S5-2, superimposing the normalized level probability distribution matrix and the elements at the same position of all the azimuth probability distribution matrices to obtain a fusion matrix.

[0104] In step S5-1, the two matrices are preferably normalized in the same way, such as normalizing them to 0~1. A The probability density of the matrix remains unchanged after normalization.

[0105] In one embodiment, the normalization process is as follows: normalizing the level probability distribution matrix and the direction probability distribution matrix generated by the monitoring points with a measurement level exceeding 20dBuV to 0~1; and normalizing the direction probability distribution matrix generated by the monitoring points with a measurement level less than 20dBuV to 0~0.5.

[0106] For monitoring points with a measurement level less than 20dBuV, since they are farther away from the signal source, the credibility of the direction finding results is lower. The normalized matrix of the direction finding probability generated by them is multiplied by 0.5, that is, normalized to 0~0.5, to reduce the weight of this part of the data, making the positioning result more reliable.

[0107] like Figure 6 The schematic diagram of the fusion distribution is shown, and the point with the highest probability in the fusion matrix is ​​the final predicted location of the radiation source. The results show that in the actual positioning scenario based on only a few fixed monitoring stations within a few square kilometers (such as a prefecture-level city), good results are obtained. Compared with the existing orientation line intersection positioning method, which often produces multiple contradictory intersections in the real environment or the orientation line deviates by a few degrees and then amplifies over a distance of tens of kilometers, eventually causing the intersection to deviate by tens of kilometers, the method proposed in the present invention combines the two types of information, level and orientation degree, to provide effective guidance for the approximate location of the signal source, greatly reducing the error and facilitating the subsequent mobile positioning of the monitoring vehicle.

[0108] An embodiment of the present invention further provides an electromagnetic radiation source positioning device based on fusion information, which is used to execute the electromagnetic radiation source positioning method based on fusion information of the above embodiment, and the device includes:

[0109] A creation module is used to create a grid matrix of the target area to be searched;

[0110] A first calculation module is used to establish a level probability distribution matrix based on the level measurement values ​​of multiple monitoring points in the target area to be searched, wherein the dimension of the level probability distribution matrix is ​​the same as the grid matrix, and the value of the grid represents the probability that the signal source is located in the grid;

[0111] A first positioning module is used to estimate the radiation source position based on the signal source level probability distribution matrix and calculate the distance from each monitoring point to the radiation source position;

[0112] A second calculation module is used to intercept effective direction-indicating line segments from the direction-indicating rays of the monitoring point based on the distance from the monitoring point to the radiation source position, and convert the effective direction-indicating line segments into a direction-indicating probability distribution matrix;

[0113] The second positioning module is used to fuse the level probability distribution matrix and the direction probability distribution matrix, and locate the radiation source based on the fused matrix.

[0114] Among them, the second positioning module includes a fusion submodule and a positioning submodule, the fusion submodule is used to fuse the level probability distribution matrix and the direction probability distribution matrix, and the positioning submodule is used to locate the radiation source position based on the fused matrix.

[0115] Specifically, the execution methods of the above modules can also be found in the above embodiments, which will not be repeated here.

[0116] An embodiment of the present invention further provides an electronic device, which includes a processor and a memory, and the number of processors may be one or more. The memory, as a computer-readable storage medium, can be used to store software programs, computer executable programs, and modules. The processor executes various functional applications and data processing of the electronic device by running the software programs, instructions, and modules stored in the memory, so as to implement the electromagnetic radiation source positioning method based on fusion information of any of the above embodiments of the present invention.

[0117] The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0118] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the electromagnetic radiation source positioning method based on fusion information according to any embodiment of the present invention.

[0119] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0120] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0121] An embodiment of the present invention further provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the electromagnetic radiation source positioning method based on fusion information of any of the above embodiments of the present invention.

[0122] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An electromagnetic radiation source positioning method based on fusion information, characterized in that: include: Create a grid matrix of the target area to be searched; A level observation matrix is ​​established based on the grid matrix, wherein the value of the grid where the monitoring point is located in the level observation matrix is ​​the level measurement value of the monitoring point, and the values ​​of the remaining grids are zero; Establish an ideal propagation surface based on the free space attenuation model of electromagnetic waves; Calculate the surface center of the ideal propagation surface and each grid (x i ,y i ) coincides, the loss f(x i ,y i ), where (x i ,y i ) is used to represent the two-dimensional coordinates of the grid; The loss f(x i ,y i ) as the level probability distribution matrix and the grid (x i ,y i ) to obtain a level probability distribution matrix; wherein the dimension of the level probability distribution matrix is ​​the same as that of the grid matrix, and the value of the grid represents the probability that the radiation source is located in the grid; estimating the radiation source position based on the level probability distribution matrix, and calculating the distance from each monitoring point to the radiation source position; Based on the distance from the monitoring point to the radiation source position, intercepting effective direction-indicating line segments from the direction-indicating rays of the monitoring point, and converting the effective direction-indicating line segments into a direction-indicating probability distribution matrix; The level probability distribution matrix and the direction probability distribution matrix are fused, and the radiation source is located based on the fused matrix.

2. The electromagnetic radiation source positioning method based on fusion information according to claim 1 is characterized in that: The ideal propagation surface is expressed as: Wherein, F(d) represents the attenuation of electromagnetic waves when they are transmitted in free space from the radiation source to a point d away from the radiation source, d is the propagation distance of the electromagnetic wave, f is the frequency of the radiation signal, and c is the speed of light.

3. The electromagnetic radiation source positioning method based on fusion information according to claim 2 is characterized in that: The loss f(x) between the level observation matrix and the ideal propagation surface i ,y i ), calculated as: Among them, f(x i ,y i ) represents the center of the ideal propagation surface and the grid (x i ,y i ) coincides, the loss between the observation matrix and the ideal propagation surface is, P n is the level measurement value of monitoring point n, is the theoretical level value of the projection point of monitoring point n on the ideal propagation surface, A represents the level value at the center of the surface, ΔP n The mean of 4. The electromagnetic radiation source positioning method based on fusion information according to claim 1, characterized in that: The estimating the radiation source position based on the level probability distribution matrix includes: calculating f(x i ,y i ) is the smallest grid coordinate (x i ,y i ), the coordinate (x i ,y i ) is determined as the estimated radiation source position.

5. The electromagnetic radiation source positioning method based on fusion information according to claim 1, characterized in that: The method of intercepting effective direction-indicating line segments from the direction-indicating rays of the monitoring point based on the distance from the monitoring point to the radiation source position, and converting the effective direction-indicating line segments into a direction-indicating probability distribution matrix comprises: Select the distance from the monitoring point n on the directional ray as L n As the center point, the direction-indicating line segment between the center point and the monitoring point n is intercepted as the effective direction-indicating line segment; wherein, L n is the distance from the monitoring point n to the location of the radiation source; Taking the central point as the center of Gaussian distribution, a two-dimensional direction-indicating Gaussian distribution is established along the ray direction of the effective direction-indicating line segment and the direction perpendicular to the ray, so as to obtain the direction-indicating probability distribution matrix of the effective direction-indicating line segment.

6. The electromagnetic radiation source positioning method based on fusion information according to claim 5, characterized in that: The step of fusing the level probability distribution matrix and the direction probability distribution matrix and locating the radiation source based on the fused matrix includes: Normalizing the level probability distribution matrix and each direction probability distribution matrix; Superimposing the normalized level probability distribution matrix and corresponding elements of all direction probability distribution matrices to obtain a fusion matrix; The grid coordinates of the maximum probability value in the fusion matrix are determined as the radiation source position.

7. The electromagnetic radiation source positioning method based on fusion information according to claim 6, characterized in that: The step of normalizing the level probability distribution matrix and each direction probability distribution matrix comprises: Normalize the level probability distribution matrix and the direction probability distribution matrix generated by the monitoring points where the measured level exceeds 20dBuV from 0 to 1; The direction-indicating probability distribution matrix generated by the monitoring points with measurement levels less than 20 dBuV is normalized to 0 to 0.

5.

8. An electromagnetic radiation source positioning device based on fusion information, characterized in that: include: A creation module is used to create a grid matrix of the target area to be searched; The first calculation module is used to establish a level probability distribution matrix based on the level measurement values ​​of multiple monitoring points in the target area to be searched, including: A level observation matrix is ​​established based on the grid matrix, wherein the value of the grid where the monitoring point is located in the level observation matrix is ​​the level measurement value of the monitoring point, and the values ​​of the remaining grids are zero; Establish an ideal propagation surface based on the free space attenuation model of electromagnetic waves; Calculate the surface center of the ideal propagation surface and each grid (x i ,y i ) coincides, the loss f(x i ,y i ), where (x i ,y i ) is used to represent the two-dimensional coordinates of the grid; The loss f(x i ,y i ) as the level probability distribution matrix and the grid (x i ,y i ) to obtain a level probability distribution matrix; wherein the dimension of the level probability distribution matrix is ​​the same as that of the grid matrix, and the value of the grid represents the probability that the radiation source is located in the grid; A first positioning module, used for estimating the radiation source position based on the level probability distribution matrix, and calculating the distance from each monitoring point to the radiation source position; A second calculation module is used to intercept a valid direction-indicating line segment from the direction-indicating ray of the monitoring point based on the distance from the monitoring point to the position of the radiation source, and convert the valid direction-indicating line segment into a direction-indicating probability distribution matrix; The second positioning module is used to fuse the level probability distribution matrix and the direction probability distribution matrix, and locate the radiation source based on the fused matrix.

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 electromagnetic radiation source positioning method based on fusion information described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the electromagnetic radiation source positioning method based on fusion information described in any one of claims 1 to 7 is implemented.

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