Single-station passive blind positioning method

Abstract

The invention belongs to the technical field of passive detection, and particularly relates to a single-station passive blind positioning method. The invention aims to solve the problem that the position of the radio radiation source is difficult to determine only by using the direct wave incoming direction of the radio radiation source measured by single-station passive detection equipment. And determining the positions of the plurality of radio radiation sources by using the arrival directions of the direct waves of the plurality of radio radiation sources, the arrival directions of the plurality of target reflection signals and the arrival time difference of the target reflection signals relative to the arrival time of the direct waves of the radio radiation sources, which are measured by the single-station passive detection equipment. According to the method, the positions of the multiple radio radiation sources are determined only through the single-station passive detection equipment, and the method is suitable for occasions where the radio radiation sources and the target positions are unknown.

Description

Technical Field

[0001] The invention belongs to the technical field of passive detection, and in particular relates to a single-station passive blind positioning method. Background Art

[0002] Using the antenna array of passive detection equipment to receive signals radiated by radio radiation sources and measure the direction of the radiation source signals is a commonly used radio monitoring method. It is of great significance in applications such as passive target detection and radio interference source positioning.

[0003] The passive positioning method often uses the direction finding cross positioning technology, which requires two or more passive detection devices located in different positions to receive the direct wave of the radio radiation source and measure the direction of the incoming wave. The position of the radiation source can be determined as the intersection of the straight lines corresponding to the direct wave and the incoming wave direction measurement determined by the passive detection device.

[0004] In complex scenarios, the more passive detection devices are used, the more complex the coordination between different passive detection devices is, and the more errors are prone to occur in the pairing of the incoming wave direction measurements determined by different passive detection devices, which affects the accuracy of locating the radiation source. However, it is difficult to determine the distance of the radiation source by only using a single-station passive detection device to receive the direct wave of the radiation source and measure the incoming wave direction, so it is difficult to locate the radiation source.

[0005] In fact, a single-station passive detection device can receive a direct wave from a radio radiation source while also receiving a reflected signal from a target that reflects the radiation source signal. Therefore, a single-station passive detection device can also determine the direction of the target reflected signal and the arrival time difference of the target reflected signal relative to the direct wave from the radio radiation source. However, when the positions of the radio radiation source and the target are unknown, it is still difficult to determine the position of the radiation source using only these measurements.

[0006] To this end, it is necessary to develop a method for calculating the distance to the radiation source by measuring the arrival direction of direct waves from multiple radio radiation sources determined by single-station passive detection equipment, measuring the arrival direction of reflected signals from targets that reflect each radio radiation source, and measuring the arrival time difference of the target reflected signal relative to the direct wave from the radio radiation source, thereby combining the measurement of the arrival direction of direct waves from the radio radiation source to determine the position of the radiation source. Summary of the invention

[0007] The purpose of the present invention is to address the problem that it is difficult to determine the position of a radio radiation source by only measuring the arrival direction of a direct wave of a radio radiation source determined by a single-station passive detection device. The present invention uses the arrival direction measurements of multiple direct waves of radio radiation sources determined by a single-station passive detection device, the arrival direction measurements of reflected signals of targets reflecting each radio radiation source, and the arrival time difference measurements of the target reflected signals relative to the direct waves of the radio radiation sources to solve the radiation source distance, thereby combining the arrival direction measurements of the direct waves of the radio radiation sources to determine the position of the radiation source.

[0008] The scheme of the present invention is a single-station passive blind positioning method, which first sets a passive detection device at the origin of coordinates, initializes the number of radio radiation sources, the radio radiation source serial numbers, the number of targets, and the target serial numbers detected by the single-station passive detection device; secondly, the single-station passive detection device determines the arrival direction measurement of the direct wave of the radio radiation source, the arrival direction measurement of the reflected signal of the target reflecting the radio radiation source signal, and the arrival time difference measurement of the reflected signal of the target reflecting the radio radiation source signal relative to the direct wave of the radio radiation source; then determines the time difference vector of the radio radiation source and the azimuth cosine vector of the radio radiation source; then determines four groups of intermediate vectors corresponding to the radio radiation source; then determines the radiation source positioning matrix and the positioning vector; finally determines the radiation source distance vector, thereby combining the arrival direction measurement of the direct wave of the radio radiation source to determine the position measurement of the radio radiation source.

[0009] The technical solution of the present invention is:

[0010] A single-station passive blind positioning method, characterized in that it comprises the following steps:

[0011] S1: Set up a positioning system consisting of a single passive detection device, a radio radiation source, and a target that reflects the radio radiation source signal, construct a spatial rectangular coordinate system, set the passive detection device at the coordinate origin, and the radio radiation source and the target are scattered in the coordinate system, wherein the passive detection device receives the signal emitted by the radio radiation source, the target reflects the signal emitted by the radio radiation source, and the passive detection device receives the signal reflected by the target; define the number of radio radiation sources and targets detected by the passive detection device as N and M respectively, and number them respectively, the numbered radio radiation source serial number is n = 1, 2, ..., N, and the target serial number is m = 1, 2, ..., M;

[0012] S2: The direction and time difference of the waves from the radio radiation source and the target are measured by the passive detection equipment, and the direction of the direct wave from the nth radio radiation source determined by the passive detection equipment is defined as θ n , the direction of the reflected signal from the mth target reflecting the nth radio radiation source signal is The arrival time difference of the reflected signal of the mth target reflecting the signal of the nth radio radiation source relative to the direct wave of the nth radio radiation source is τ n,m ;

[0013] S3: Determine the time difference vector a of the nth radio radiation source n for

[0014]

[0015] and the azimuth cosine vector b of the nth radio source n for

[0016]

[0017] S4: Determine the four sets of intermediate vectors g of the nth radio radiation source using the time difference vector and azimuth cosine vector of the 1st and nth radio radiation sources determined by S3 n1 , g n2 , g n3 and g n4 They are

[0018] g n1 =(ca n ⊙a n )⊙(1-b n )-2ca n ⊙a1

[0019] g n2 =2a n ⊙(1-b n )-2a1⊙(1-b n )

[0020] g n3 =-(ca1⊙a1)⊙(1-b n )+2ca n ⊙a1

[0021] g n4 =c 2 a1⊙a n ⊙(a1-a n )

[0022] Where c represents the speed of light, ⊙ represents the multiplication of the corresponding elements of the vector, 2≤n≤N;

[0023] S5: Determine the four sets of intermediate vectors of the radio radiation source by S4, and determine the (M(N-1))×(2N+1) order radiation source positioning matrix A as follows:

[0024]

[0025] And the (M(N-1))×1-order positioning vector h is

[0026]

[0027] S6: Based on the radiation source positioning matrix and positioning vector determined by S5, the (2N+1)×1 order radiation source distance vector q is determined as

[0028] q=(A T A) -1 A T h

[0029] in,( ) -1 represents the inverse matrix of a matrix, T Represents the transposed matrix of a matrix;

[0030] S7: Determine the nth radio source distance measurement as the 1+2nth element q of the radiation source distance vector q determined in S6 1+2n , thus combining the measurement of the direct wave direction of the radio radiation source, the position measurement of the nth radio radiation source is determined as

[0031] (q 1+2n cosθ n ,q 1+2n sinθ n )

[0032] Where n=1,...,N.

[0033] The beneficial effect of the present invention is that the present invention determines the positions of multiple radio radiation sources using only a single-station passive detection device, and is suitable for situations where the positions of the radio radiation source and the target are unknown. DETAILED DESCRIPTION

[0034] The practicability of the present invention is analyzed below in conjunction with embodiments.

[0035] Example:

[0036] In this example, the single-station passive detection device is set at the origin of the coordinate system, and the number of detected radio radiation sources N = 2; the coordinates of the first and second radiation sources are [3.7068, 3.6942] and [-2.1462, 4.7791], respectively, in kilometers; relative to the single-station passive detection device, the actual wave directions of the first and second radiation sources are 44.9025 degrees and 114.1839 degrees, respectively; the number of targets is set to M = 3, and the coordinates of the first, second, and third target positions are [14.3150, 43.8987], [-21.8963, 34.1978], and [-3 .1091,35.0305], the unit is kilometers. Relative to the single-station passive detection equipment, the directions of the incoming waves are 71.9393 degrees, 122.6308 degrees and 95.0719 degrees respectively; the 1st, 2nd and 3rd targets reflect the signal of the 1st radiation source, and the arrival time differences relative to the direct wave of the 1st radiation source are 275.0697, 250.6609 and 206.6796 microseconds respectively; the 1st, 2nd and 3rd targets reflect the signal of the 2nd radiation source, and the arrival time differences relative to the direct wave of the 2nd radiation source are 277.9225, 236.0054 and 200.6534 microseconds respectively.

[0037] Taking into account the measurement noise, the single-station passive detection equipment determined that the arrival directions of the direct waves of the first and second radiation sources were 44.6782 degrees and 114.2681 degrees, respectively, with errors of -0.0234 degrees and 0.0842 degrees, respectively; the arrival directions of the reflected wave signals of the first, second and third targets were 71.3790 degrees, 122.8311 degrees and 95.4415 degrees, respectively, with errors of -0.5603 degrees, 0.2003 degrees and 0.3696 degrees, respectively; the arrival directions of the reflected wave signals of the first, second and third targets determined by the single-station passive detection equipment .... The arrival times of the reflected signals relative to the direct wave of the first radiation source are 275.5197, 249.8953 and 206.9319 microseconds, with errors of 0.45, -0.7656 and 0.2523 microseconds, respectively; the arrival times of the reflected signals of the 1st, 2nd and 3rd targets that reflect the signal of the second radiation source relative to the direct wave of the second radiation source are 277.4904, 235.8172 and 201.0474 microseconds, with errors of -0.4321, -0.1882 and 0.394 microseconds, respectively.

[0038] By using a single-station passive blind positioning method proposed by the present invention, the position coordinates of the first radiation source are determined to be [3.7020, 3.6606], and the position coordinate error is [-0.0048, -0.0336], and the position coordinates of the second radiation source are determined to be [-2.1790, 4.8330], and the position coordinate error is [0.0328, 0.0539], in kilometers. It can be seen that by using the method of the present invention using a single-station passive detection device, using the measurement of the arrival direction of the direct waves of the two radio radiation sources, the measurement of the arrival direction of the reflected signals of the three targets that reflect the signals of the two radio radiation sources, and the measurement of the arrival time difference relative to the direct waves of the radiation sources, the purpose of passive blind positioning of the two radio radiation sources is achieved.

[0039] The present invention is not limited to the above-mentioned specific embodiments, but extends to any new features or any new combination disclosed in this specification, as well as any new method or process steps or any new combination disclosed.

Claims

1. A single-station passive blind positioning method, characterized in that: The following steps are involved: S1: Set up a positioning system consisting of a single passive detection device, a radio radiation source, and a target that reflects the radio radiation source signal, construct a spatial rectangular coordinate system, set the passive detection device at the coordinate origin, and the radio radiation source and the target are scattered in the coordinate system, wherein the passive detection device receives the signal emitted by the radio radiation source, the target reflects the signal emitted by the radio radiation source, and the passive detection device receives the signal reflected by the target; define the number of radio radiation sources and targets detected by the passive detection device as N and M respectively, and number them respectively, the numbered radio radiation source serial number is n = 1, 2, ..., N, and the target serial number is m = 1, 2, ..., M; S2: The direction and time difference of the waves from the radio radiation source and the target are measured by the passive detection equipment, and the direction of the direct wave from the nth radio radiation source determined by the passive detection equipment is defined as θ n , the direction of the reflected signal from the mth target reflecting the nth radio radiation source signal is The arrival time difference of the reflected signal of the mth target reflecting the signal of the nth radio radiation source relative to the direct wave of the nth radio radiation source is τ n,m ; S3: Determine the time difference vector a of the nth radio radiation source n for and the azimuth cosine vector b of the nth radio source n for S4: Determine the four sets of intermediate vectors g of the nth radio radiation source using the time difference vector and azimuth cosine vector of the 1st and nth radio radiation sources determined by S3 n1 , g n2 , g n3 and g n4 They are g n1 =(as n ⊙a n )⊙(1-b n )-2ca n ⊙a1 g n2 =2a n ⊙(1-b n )-2a1⊙(1-b n ) g n3 =-(ca1⊙a1)⊙(1-b n )+2ca n ⊙a1 g n4 =c 2 a1⊙a n ⊙(a1-a n ) Where c represents the speed of light, ⊙ represents the multiplication of the corresponding elements of the vector, 2≤n≤N; S5: Determine the four sets of intermediate vectors of the radio radiation source by S4, and determine the (M(N-1))×(2N+1) order radiation source positioning matrix A as follows: And the (M(N-1))×1-order positioning vector h is S6: Based on the radiation source positioning matrix and positioning vector determined by S5, the (2N+1)×1 order radiation source distance vector q is determined as q=(A T A) -1 A T h in,() -1 represents the inverse matrix of a matrix, T Represents the transposed matrix of a matrix; S7: Determine the nth radio source distance measurement as the 1+2nth element q of the radiation source distance vector q determined in S6 1+2n , thus combining the measurement of the direction of the direct wave from the radio radiation source to determine the position of the nth radio radiation source (q 1+2n cosθ n ,q 1+2n sinθ n ) Where n=1,…,N.

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