Passive detection station distribution method and system based on preselected area, medium and product

Abstract

The invention discloses a passive detection station distribution method and system based on a preselected area, a medium and a product, and the method comprises the steps: selecting the position of a master station S0 as an original point O to establish a coordinate system O-XYZ, determining a point A and a point B which are farthest from each other on the boundary of the maximum activity area range of a detection target, and determining the preselected area of a circle and the center of the preselected area as a point C; determining an included angle difference between the projection points of the point A and the point C on the XOZ plane and the X axis as a detection area angle theta; if the angle theta of the detection area is smaller than or equal to the preset threshold value theta max, three auxiliary stations distributed in an inverted triangle mode are selected or arranged for the main station S0, otherwise, three auxiliary stations distributed in a star mode are selected or arranged for work for the main station S0. The invention aims at ensuring that a potential detected target area is always in a high-precision positioning range, simultaneously realizing non-delay dynamic switching of two station distribution modes, and supporting detection and positioning of a high-value target with electromagnetic radiation information.

Description

Technical Field

[0001] The present invention belongs to the technical field of ground-based multi-station passive positioning, and in particular relates to a method, system, medium and product for passive detection and station deployment based on a pre-selected area. Background Art

[0002] The multi-station passive positioning technology for non-cooperative targets has broad application prospects. For example, the Tamara system and Vera E system developed by the Czech Republic are successful examples of the application of this technology. The Tamara system consists of three passive measurement stations, namely the main station (main measurement station) and two sub-stations (sub-measurement stations). It intercepts electromagnetic waves emitted by radars and other equipment and measures the arrival time difference to achieve passive positioning. It can passively locate hundreds of moving radiation sources on the ground, in the air and at sea, and can automatically track dozens of them to form real-time motion tracks. The working range of the Tamara system can reach 400 kilometers. The two sub-stations of the Tamara system are located on both sides of the main station, and the distance between the stations is generally 10 kilometers to 35 kilometers. However, the disadvantage of the Tamara system is that it can only achieve two-dimensional passive positioning. The Vera E system is an improvement of the Tamara system. It adds a secondary station on the basis of the Tamara system. The ideal configuration of the Vera E system is that the main measurement station is located at the center of the triangle formed by three secondary stations (star-shaped station layout). The three secondary stations are about 30 kilometers away from the main measurement station located at the geometric center. This configuration method can ensure that the system can intercept, detect and passively locate the entire angle range. The Vera E system can locate the radiation source within 300 kilometers. The disadvantage of the Vera E system is that the station layout mode and detection accuracy cannot be quickly switched and adjusted according to the changes in the target area, and its own survivability is also greatly affected. Summary of the invention

[0003] The technical problem to be solved by the present invention is as follows: In view of the shortcomings of the existing ground-based multi-station passive positioning system, a passive detection station layout method, system, medium and product based on a pre-selected area are provided. The present invention aims to ensure that the potential target area to be detected is always within the high-precision positioning range, while realizing delay-free dynamic switching of the two station layout modes, and supporting the detection and positioning of high-value targets with electromagnetic radiation information.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: A passive detection station deployment method based on a pre-selected area comprises the following steps: S1, select the position of the main station S0 as the origin O to establish the coordinate system O-XYZ, determine the farthest points A and B on the boundary of the maximum activity area of ​​the detection target, use the line segment AB between points A and B as the diameter to determine the pre-selected area of ​​the circle, and the center of the pre-selected area is point C; determine the angle difference between the projection points of points A and C on the XOZ plane and the X-axis as the detection area angleθ ; S2, determine the detection area angle θ Less than or equal to the preset threshold θ max Is it established? If so, three sub-stations of the inverted triangle layout are selected for the main station S0 to work or three sub-stations of the inverted triangle layout are arranged; otherwise, three sub-stations of the star layout are selected for the main station S0 to work or three sub-stations of the star layout are arranged.

[0005] Optionally, the maximum activity area range of the detected target in step S1 is a two-dimensional area parallel to the XOZ plane on the two-dimensional map, or a three-dimensional area formed by adding a target cruising altitude constraint to the two-dimensional area parallel to the XOZ plane on the two-dimensional map.

[0006] Optionally, in step S1, the angle difference between the projection points of point A and point C on the XOZ plane and the X-axis is determined as the detection area angle θ Including: determine the projection point AP of point A on the XOZ plane, the projection point CP of point C on the XOZ plane, determine the angle between the line segment OAP between the origin O and the projection point AP and the X-axis α , the angle between the line segment OCP between the origin O and the projection point CP and the X-axis β , and according to θ = β - α Calculate the detection area angle θ .

[0007] Optionally, the angle between the line segment OAP between the origin O and the projection point AP and the X-axis is determined as α , the angle between the line segment OCP between the origin O and the projection point CP and the X-axis β The function expression is: , , In the above formula, is the tangent function, is the z coordinate of the projection point AP, is the x coordinate of the projection point AP, is the z coordinate of the projection point CP, is the x coordinate of the projection point CP.

[0008] Optionally, the position of the master station S0 as the origin O means taking the bottom position of the master station S0 antenna as the coordinate origin O, and the height of the master station S0 antenna is h0, so that the coordinates of the top O' of the master station S0 antenna are (0, 0, h0).

[0009] Optionally, the three sub-stations of the inverted triangle arrangement include sub-station S1, sub-station S2 and sub-station S3, and the coordinates of sub-station S1, sub-station S2 and sub-station S3 are: , , ; , , ; , , ; In the above formula, is the coordinate of the secondary station S1, is the coordinate of the secondary station S2, is the coordinate of the secondary station S3, , and are the heights of substation S1, substation S2 and substation S3 respectively, is the projection distance between the origin O and the secondary stations S1 and S2 on the XOZ plane, is the angle between the line segment OCP and the X-axis.

[0010] Optionally, the three sub-stations of the star-shaped station arrangement include sub-station P1, sub-station P2 and sub-station P3, and the coordinates of sub-station P1, sub-station P2 and sub-station P3 are: , , ; , , ; , , ; In the above formula, is the coordinate of the secondary station P1, is the coordinate of the secondary station P2, are the coordinates of the secondary station P3, , and are the heights of the secondary stations P1, P2 and P3 respectively, is the projection distance between the origin O and the secondary stations P1, P2 and P3 on the XOZ plane, and the maximum distance between the secondary stations P1, P2 and P3 and point C for: , In the above formula, is the antenna height of the secondary station, is the target height.

[0011] In addition, the present invention also provides a passive detection station layout system based on a preselected area, including a group A detection subsystem and a group B detection subsystem sharing a common main station S0, the group A detection subsystem includes a substation S1, a substation S2 and a substation S3 arranged in an inverted triangle shape, the group B detection subsystem includes a substation P1, a substation P2 and a substation P3 arranged in a star shape, the substation S1, the substation S2, the substation S3, the substation P1, the substation P2 and the substation P3 are fixed stations or mobile stations, the main station S0 includes a microprocessor and a memory connected to each other, the microprocessor is programmed or configured to execute the passive detection station layout method based on the preselected area.

[0012] In addition, the present invention also provides a computer-readable storage medium, in which a computer program or instruction is stored. The computer program or instruction is programmed or configured to execute the passive detection station deployment method based on a pre-selected area through a processor.

[0013] In addition, the present invention also provides a computer program product, including a computer program or instructions, which are programmed or configured to execute the passive detection station deployment method based on a pre-selected area through a processor.

[0014] Compared with the prior art, the present invention mainly has the following advantages: (1) Compared with the four-station passive positioning system of the general ground station system, the high-precision passive detection station method based on the pre-selected area proposed in the present invention can better solve the difficulty of achieving high-precision positioning due to the change of the target movement area when the ground station selection is affected. Because the present invention considers the seamless switching between the inverted triangle station layout and the star station layout mode, the high-precision positioning can be ensured when the target moves in a large area.

[0015] (2) The method proposed in the present invention of determining a circular pre-selection area on a two-dimensional map using the maximum possible distance of the target as the diameter is simple and easy to operate and implement on the map, and can play an important role in the selection of subsequent station sites.

[0016] (3) The station layout system of the group A detection subsystem and the group B detection subsystem with a common main station proposed in the present invention can not only ensure the high-precision positioning of the pre-selected target movement area, but also can switch to another group of detection subsystems without delay when a secondary station of a group of detection subsystems fails or is damaged by an attack, thereby providing a guarantee for the continuous operation of the entire system, thereby improving the working reliability and survivability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the basic flow of the method of the embodiment of the present invention.

[0018] Figure 2 Schematic diagram of the principle of the method of the embodiment of the present invention.

[0019] Figure 3 Schematic diagram of the working process of the system of the embodiment of the present invention. DETAILED DESCRIPTION

[0020] The design idea of ​​the present invention is as follows: the passive detection station layout method based on the pre-selected area of ​​the present invention adopts the pre-selected area as a circular area that can be calibrated on a two-dimensional map (its corresponding altitude value can be determined according to the cruise altitude index of the target's normal activities); the high-precision passive detection station layout method is to quickly select the inverted triangle station layout or star station layout mode according to the size of the pre-selected area, and realize the non-delay switching operation; the passive detection system includes a group A detection subsystem of the inverted triangle station layout and a group B detection subsystem of the star station layout. The two groups of detection subsystems share a main measurement station, and each group of detection subsystems includes three substations. Each measurement station includes an antenna subsystem, a high-frequency signal receiving subsystem, a frequency conversion subsystem, an intermediate frequency signal processing subsystem, a time system subsystem and a communication subsystem, and the main station should also include a target track solution subsystem, a data display and storage subsystem, etc. The present invention aims to solve the problem that the existing Vera E system cannot select and deploy a high-precision positioning station layout mode according to the changes in the predetermined target area, and can realize high-precision positioning of targets with electromagnetic radiation characteristics in the air. The specific embodiments of the present invention are described below to facilitate those skilled in the art to understand the present invention.

[0021] like Figure 1 As shown, the passive detection station deployment method based on the pre-selected area in this embodiment includes the following steps: S1, select the position of the main station S0 as the origin O to establish the coordinate system O-XYZ, determine the farthest points A and B on the boundary of the maximum activity area of ​​the detection target, use the line segment AB between points A and B as the diameter to determine the pre-selected area of ​​the circle, and the center of the pre-selected area is point C; determine the angle difference between the projection points of points A and C on the XOZ plane and the X-axis as the detection area angle θ ; S2, determine the detection area angle θ Less than or equal to the preset threshold θ maxIs it established? If established, then select 3 secondary stations of the inverted triangle layout station for the main station S0 to work or arrange 3 secondary stations of the inverted triangle layout station, otherwise select 3 secondary stations of the star layout station for the main station S0 to work or arrange 3 secondary stations of the star layout station. It should be noted that the secondary station can be a fixed station or a mobile station, wherein "select 3 secondary stations of the inverted triangle layout station to work" means that when there are 3 secondary stations of the inverted triangle layout station in a fixed station or a mobile station that has been arranged, the 3 secondary stations of the inverted triangle layout station can be directly selected to work, otherwise it is necessary to arrange the 3 secondary stations of the inverted triangle layout station through a fixed station or a mobile station; similarly, "select 3 secondary stations of the star layout station to work" means that when there are 3 secondary stations of the star layout station in a fixed station or a mobile station that has been arranged, the 3 secondary stations of the star layout station can be directly selected to work, otherwise it is necessary to arrange the 3 secondary stations of the star layout station through a fixed station or a mobile station.

[0022] In step S1 of this embodiment, the position of the master station S0 can be selected in a flat open area closest to the center point C of the pre-selected area, and its position is set as S0, and it should be ensured that S0 and the target pre-selected area can be in sight without obstruction. The bottom position of the antenna of the master station S0 is taken as the coordinate origin O, OX points to the north, and OY points vertically to the sky, and the North-Sky-East coordinate system O-XYZ is established. The position of the master station S0 as the origin O means that the bottom position of the antenna of the master station S0 is taken as the coordinate origin O, and the height of the antenna of the master station S0 is h0, so that the coordinates of the top O' of the antenna of the master station S0 are (0,0,h0). For example, in this embodiment, the height of the antenna of the master station S0 is h0=20 (m), and the coordinates of the top O' of the antenna of the master station S0 are (0,0,0.02).

[0023] In step S1 of this embodiment, the maximum activity area of ​​the detection target is a two-dimensional area parallel to the XOZ plane on the two-dimensional map, or a three-dimensional area formed by adding a target cruising altitude (Km) constraint to the two-dimensional area parallel to the XOZ plane on the two-dimensional map. On the two-dimensional map, assuming that the two points on the boundary of the maximum activity area of ​​the detection target are point A and point B, the range enclosed by the circle C with the midpoint C of the line segment AB as the center and the half of the length of the line segment AB as the radius is the plane pre-selected area of ​​the target activity. If the cruising altitude hm (Km) constraint of the corresponding target is added, it is the pre-selected area in the three-dimensional space.

[0024] like Figure 2 As shown, in step S1 of this embodiment, the angle difference between the projection points of point A and point C on the XOZ plane and the X-axis is determined as the detection area angle θ Including: determine the projection point AP of point A on the XOZ plane, the projection point CP of point C on the XOZ plane, determine the angle between the line segment OAP between the origin O and the projection point AP and the X-axis α, the angle between the line segment OCP between the origin O and the projection point CP and the X-axis β , and according to θ = β - α Calculate the detection area angle θ . Figure 2 In the example, the coordinates of point A are (xa, ya, za), the coordinates of point B are (xb, yb, zb), the coordinates of point C are (xc, yc, zc), the coordinates of projection point AP are (xa, 0, za), and the coordinates of projection point CP are (xc, 0, zc). In this embodiment, the angle between the line segment OAP between the origin O and the projection point AP and the X-axis is determined. α , the angle between the line segment OCP between the origin O and the projection point CP and the X-axis β The function expression is: , , In the above formula, is the tangent function, is the z coordinate of the projection point AP, is the x coordinate of the projection point AP, is the z coordinate of the projection point CP, is the x coordinate of the projection point CP. In this embodiment .

[0025] like Figure 2 As shown, the three sub-stations of the inverted triangle arrangement in this embodiment include sub-station S1, sub-station S2 and sub-station S3, and the coordinates of sub-station S1, sub-station S2 and sub-station S3 are: , , ; , , ; , , ; In the above formula, is the coordinate of the secondary station S1, is the coordinate of the secondary station S2, is the coordinate of the secondary station S3, , and are the heights of substation S1, substation S2 and substation S3 respectively (unit: km), is the projection distance between the origin O and the secondary station S1 and S2 on the XOZ plane (unit: km), is the angle between the line segment OCP and the X-axis. As an optional implementation, in this embodiment, the projection distances between point O and the secondary stations S1 and S2 are both d2=30 (Km), and the heights of the three secondary stations S1, S2 and S3 are h1=21 (m), h2=22 (m) and h3=23 (m), respectively, then: S1: , , ; S2: , , ; S3: , , .

[0026] like Figure 2 As shown, the three sub-stations of the star-shaped station arrangement in this embodiment include sub-station P1, sub-station P2 and sub-station P3, and the coordinates of sub-station P1, sub-station P2 and sub-station P3 are: , , ; , , ; , , ; In the above formula, is the coordinate of the secondary station P1, is the coordinate of the secondary station P2, are the coordinates of the secondary station P3, , and are the heights of the secondary stations P1, P2 and P3 respectively, is the projection distance between the origin O and the secondary stations P1, P2 and P3 on the XOZ plane (unit: km). It should be noted that due to the influence of the earth's curvature, the maximum distance between the secondary stations P1, P2 and P3 and point C (Unit: Km) is: , In the above formula, is the antenna height of the secondary station (unit: m), is the target height (unit: m). In this embodiment, the projection distance between point O and each secondary station on the XOZ plane is d1=31, unit: km, and the heights of the three secondary stations P1, P2 and P3 are h1=21 (m), h2=22 (m) and h3=23 (m), respectively, then: P1: , , ; P2: , , ; P3: , , ; Substitute the antenna height of the secondary station , target height , then: .

[0027] In summary, the method of this embodiment includes selecting the position of the main station S0 as the origin O to establish the coordinate system O-XYZ, determining the farthest points A and B on the boundary of the maximum activity area of ​​the detection target, using the line segment AB between point A and point B as the diameter to determine the pre-selected area of ​​the circle, the center of the pre-selected area is point C; determining the angle difference between the projection points of point A and point C on the XOZ plane and the X-axis as the detection area angle θ ; Determine the detection area angle θ Less than or equal to the preset threshold θ max Is it established? If established, then three sub-stations of the inverted triangle layout are selected for the main station S0 to work or three sub-stations of the inverted triangle layout are arranged; otherwise, three sub-stations of the star layout are selected for the main station S0 to work or three sub-stations of the star layout are arranged. The above method can solve the weakness of the existing ground-based four-station passive detection system that cannot quickly switch the high-precision positioning layout mode according to the target area, which is not conducive to the rapid conversion of the layout mode and the improvement of survivability. The advantages of different layout modes can be fully utilized to overcome their respective shortcomings, so as to effectively improve the detection efficiency of the entire system.

[0028] In addition, the present embodiment also provides a passive detection station layout system based on a preselected area, including a group A detection subsystem and a group B detection subsystem that share a main station S0, the group A detection subsystem includes a substation S1, a substation S2, and a substation S3 arranged in an inverted triangle, the group B detection subsystem includes a substation P1, a substation P2, and a substation P3 arranged in a star shape, the substation S1, the substation S2, the substation S3, the substation P1, the substation P2, and the substation P3 are fixed stations or mobile stations, the main station S0 includes a microprocessor and a memory connected to each other, the microprocessor is programmed or configured to execute the passive detection station layout method based on the preselected area. The passive detection station layout system based on the preselected area of ​​the present embodiment includes a group A detection subsystem and a group B detection subsystem. The two groups of detection subsystems share one main measurement station, and each includes 3 substations (a total of 6 substations). Among them, the three sub-stations and one main station of the detection subsystem of group A are deployed in an inverted triangle layout mode, and the three sub-stations and the same main station of the detection subsystem of group B are deployed in a star layout mode. When working, the two detection subsystems are switched according to the method of this embodiment and work seamlessly. Each measurement station sub-station includes an antenna subsystem, a high-frequency signal receiving subsystem, a frequency conversion subsystem, an intermediate frequency signal processing subsystem, a time system subsystem and a communication subsystem, and the main measurement station should also include a target track solution subsystem, a data display and storage subsystem, etc. Each sub-station can be designed as a fixed station or a mobile station. The mobile station can be installed on a carrier and mobile station layout can be achieved through the transportation of the carrier; the fixed station can achieve high-precision detection and positioning of the target through the networking of multiple sets of stations.

[0029] like Figure 3 As shown, in order to ensure high accuracy of positioning in the pre-selected area, the passive detection station layout system based on the pre-selected area of ​​this embodiment adopts an alternating working mode of the detection subsystem of group A and the detection subsystem of group B, and the specific steps include: Step 1: Determine the angle of the high-precision detection area In the determined North Celestial East coordinate system, the projection of point A on the XOZ plane is AP, and the coordinates of AP are (xa,0,za)=(320,0,28); the projection of point C on the XOZ plane is CP, and the coordinates of CP are (xc,0,zc). Assume that the angle between OAP and the X axis is α=5, ; The angle between OCP and X-axis is β=24°, , which defines the high-precision detection area angle .

[0030] Step 2: Determine the maximum high-precision detection area angle According to the inverted triangle station layout with no blind spots and low GDOP (diluted positioning accuracy) value area range, determine the maximum high-precision detection area angle For example, as a specific implementation, in this embodiment .

[0031] Step 3: Determine the station layout mode by comparing angles. The value of the angle Compare to determine the selected station layout mode. When selecting the inverted triangle station arrangement determined above (group A detection subsystem working), The value is determined based on the optimal communication distance of the actual station layout and other conditions. , and The value is determined according to the actual measurement station antenna height; When the star-shaped station layout is selected (the detection subsystem of Group B works), , , and The principle of determining the value is the same as above. Step 4: Realize seamless switching of station layout mode. According to the above principles of station layout mode selection, determine the conditions for selecting different station layout modes. When the conditions are met, realize the delay-free switching of station layout modes through control instructions to ensure the continuity of target coordinate point trace data. As can be seen from the previous text, due to , , then If the above-determined inverted triangle layout is established (group A detection subsystem works), the above-determined inverted triangle layout is selected. According to the above-mentioned principles for selecting the layout mode, the conditions for selecting different layout modes are determined. When the conditions are met, the layout mode is switched without delay through control instructions to ensure the continuity of the target coordinate point data. In other words, in real-time calculation At this time , the star-shaped station layout determined above should be selected (group B detection subsystem is working). At the same time, the station layout mode is switched without delay through control instructions, and the previous group A detection subsystem working mode is seamlessly switched to the group B detection subsystem working mode to achieve continuous calculation and display of target points. Of course, while the system is working, it should be calculated continuously. value until When the task is completed, switch to the determined inverted triangle station layout mode (Group A detection subsystem working) again, and repeat this process until the task is completed.

[0032] In addition, this embodiment also provides a computer-readable storage medium, in which a computer program or instruction is stored. The computer program or instruction is programmed or configured to execute the passive detection station deployment method based on the pre-selected area through a processor.

[0033] In addition, this embodiment also provides a computer program product, including a computer program or instructions, which are programmed or configured to execute the passive detection station deployment method based on the pre-selected area through a processor.

[0034] Those skilled in the art should understand that the technical solutions provided by the embodiments of the present application may be in the form of methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the process Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the functions specified in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0035] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A passive detection station deployment method based on a pre-selected area, characterized in that: The steps include: S1, select the position of the main station S0 as the origin O to establish the coordinate system O-XYZ, determine the farthest points A and B on the boundary of the maximum activity area of ​​the detection target, use the line segment AB between points A and B as the diameter to determine the pre-selected area of ​​the circle, and the center of the pre-selected area is point C; determine the angle difference between the projection points of points A and C on the XOZ plane and the X-axis as the detection area angle θ ; S2, determine the detection area angle θ Less than or equal to the preset threshold θ max Is it established? If so, three sub-stations of the inverted triangle layout are selected for the main station S0 to work or three sub-stations of the inverted triangle layout are arranged; otherwise, three sub-stations of the star layout are selected for the main station S0 to work or three sub-stations of the star layout are arranged.

2. The passive detection station layout method based on the pre-selected area according to claim 1 is characterized in that: In step S1, the maximum activity area of ​​the detected target is a two-dimensional area parallel to the XOZ plane on the two-dimensional map, or a three-dimensional area formed by adding a target cruising altitude constraint to the two-dimensional area parallel to the XOZ plane on the two-dimensional map.

3. The passive detection station layout method based on the pre-selected area according to claim 1 is characterized in that: In step S1, the angle difference between the projection points of point A and point C on the XOZ plane and the X axis is determined as the detection area angle θ Including: determine the projection point AP of point A on the XOZ plane, the projection point CP of point C on the XOZ plane, determine the angle between the line segment OAP between the origin O and the projection point AP and the X-axis α , the angle between the line segment OCP between the origin O and the projection point CP and the X-axis β , and according to θ = β - α Calculate the detection area angle θ .

4. The passive detection station layout method based on the pre-selected area according to claim 3 is characterized in that: The angle between the line segment OAP between the origin O and the projection point AP and the X-axis is determined α , the angle between the line segment OCP between the origin O and the projection point CP and the X-axis β The function expression is: ， ， In the above formula, is the tangent function, is the z coordinate of the projection point AP, is the x coordinate of the projection point AP, is the z coordinate of the projection point CP, is the x coordinate of the projection point CP.

5. The passive detection station layout method based on pre-selected areas according to claim 1 is characterized in that: The position of the master station S0 as the origin O means that the bottom position of the master station S0 antenna is the coordinate origin O, and the height of the master station S0 antenna is h0, so that the coordinates of the top O' of the master station S0 antenna are (0, 0, h0).

6. The passive detection station layout method based on pre-selected areas according to claim 3 is characterized in that: The three sub-stations of the inverted triangle arrangement include sub-station S1, sub-station S2 and sub-station S3, and the coordinates of sub-station S1, sub-station S2 and sub-station S3 are: ， ， ； ， ， ； ， ， ； In the above formula, is the coordinate of the secondary station S1, is the coordinate of the secondary station S2, is the coordinate of the secondary station S3, , and are the heights of substation S1, substation S2 and substation S3 respectively, is the projection distance between the origin O and the secondary stations S1 and S2 on the XOZ plane, is the angle between the line segment OCP and the X-axis.

7. The method for passive detection and station deployment based on a pre-selected area according to claim 3 is characterized in that: The three sub-stations of the star-shaped station arrangement include sub-station P1, sub-station P2 and sub-station P3, and the coordinates of sub-station P1, sub-station P2 and sub-station P3 are: ， ， ； ， ， ； ， ， ； In the above formula, is the coordinate of the secondary station P1, is the coordinate of the secondary station P2, are the coordinates of the secondary station P3, , and are the heights of the secondary stations P1, P2 and P3 respectively, is the projection distance between the origin O and the secondary stations P1, P2 and P3 on the XOZ plane, and the maximum distance between the secondary stations P1, P2 and P3 and point C for: ， In the above formula, is the antenna height of the secondary station, is the target height.

8. A passive detection station deployment system based on a pre-selected area, characterized in that: It comprises a group A detection subsystem and a group B detection subsystem which share a common main station S0, the group A detection subsystem comprises substations S1, S2 and S3 arranged in an inverted triangle shape, the group B detection subsystem comprises substations P1, P2 and P3 arranged in a star shape, the substations S1, S2, S3, P1, P2 and P3 are fixed stations or mobile stations, the main station S0 comprises a microprocessor and a memory which are interconnected, the microprocessor is programmed or configured to execute the passive detection station arrangement method based on a preselected area as claimed in any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program or instruction stored therein, characterized in that: The computer program or instruction is programmed or configured to execute the passive detection station deployment method based on a pre-selected area as described in any one of claims 1 to 7 through a processor.

10. A computer program product comprising a computer program or instructions, characterized in that The computer program or instruction is programmed or configured to execute the passive detection station deployment method based on a pre-selected area as described in any one of claims 1 to 7 through a processor.

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