Single station passive blind location method

Abstract

The present application belongs to the field of passive detection technology, and particularly relates to a single-station passive blind positioning method. The present application aims at the problem that it is difficult to determine the position of a radio radiation source by using the direct wave direction of the radio radiation source measured by a single-station passive detection device. The position of multiple radio radiation sources is determined by using the direct wave direction of the multiple radio radiation sources measured by the single-station passive detection device, the wave direction of multiple target reflection signals, and the time difference of the target reflection signals relative to the arrival time of the radio radiation source direct wave. The present application determines the position of multiple radio radiation sources by using only the single-station passive detection device, and is suitable for occasions where the positions of both the radio radiation source and the target are unknown.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of passive detection technology, and particularly relates to a single-station passive blind positioning method. BACKGROUND

[0002] It is a common radio monitoring method to measure the direction of arrival of signals radiated by radio sources by using an antenna array of a passive detection device to receive the signals, which is of great significance in passive target detection and radio interference source positioning.

[0003] The passive positioning method usually adopts direction-finding cross positioning technology, which requires two or more passive detection devices located at different positions to receive direct waves of radio sources and measure the direction of arrival, so as to determine the position of the radio source as the intersection of straight lines corresponding to the direction of arrival of direct waves measured by the passive detection devices.

[0004] In a complex scene, the more passive detection devices used, the more complex the coordination between different passive detection devices, and the more prone to errors in pairing the direction of arrival measurements determined by different passive detection devices, which affects the positioning accuracy of the radio source. However, it is difficult to determine the distance of the radio source by using only a single-station passive detection device to receive direct waves of the radio source and measure the direction of arrival, so it is difficult to position the radio source.

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

[0006] Therefore, it is necessary to develop a method for determining the distance of a radio source by using multiple direction of arrival measurements of direct waves of the radio source, direction of arrival measurements of reflected signals of targets reflecting each radio source, and time difference of arrival measurements of the reflected signals of the targets relative to the direct waves of the radio sources determined by a single-station passive detection device, so as to determine the position of the radio source in combination with the direction of arrival measurements of the direct waves of the radio source. SUMMARY

[0007] The application aims at solving the problem that it is difficult to determine the position of a radio radiation source by using only the direct wave of the radio radiation source determined by a single passive detection device.

[0008] The technical scheme of the application is as follows:

[0009] The technical scheme of the application is as follows:

[0010] A single passive blind positioning method, characterized by comprising the following steps:

[0011] S1: setting a positioning system composed of a single passive detection device, a radio radiation source and a target reflecting the signal of the radio radiation source, constructing a space rectangular coordinate system, setting the passive detection device at the coordinate origin, and dispersing the radio radiation source and the target 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; defining the number of the radio radiation source and the target detected by the passive detection device as N and M respectively, and numbering them, wherein the serial number of the numbered radio radiation source is n=1, 2, …, N, and the serial number of the target is m=1, 2, …, M;

[0012] S2: measuring the direction of arrival and the time difference of the radio radiation source and the target by the passive detection device, and defining the direct wave direction of arrival of the nth radio radiation source determined by the passive detection device as θ n , and the reflection signal direction of arrival of the mth target reflecting the signal of the nth radio radiation source as The reflection signal of the mth target reflecting the nth radio radiation source signal has a time difference of arrival relative to the nth radio radiation source direct wave of τ n,m ;

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

[0014]

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

[0016]

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

[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] Wherein, c represents the speed of light, and ⊙ represents that the corresponding elements of vectors are multiplied, 2≤n≤N;

[0023] S5: Determine the (M(N-1))×(2N+1) order radiation source positioning matrix A from the four groups of intermediate vectors of the radio radiation source determined by S4

[0024]

[0025] and a (M(N-1))x1 order positioning vector h is

[0026]

[0027] S6: The radiation source positioning matrix and the positioning vector determined by S5 are used to determine a (2N+1)x1 order radiation source distance vector q as

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

[0029] wherein ( ) -1 represents the inverse matrix of a matrix, T represents the transpose matrix of a matrix;

[0030] S7: The nth radio radiation source distance measurement is determined as the 1+2n element q of the radiation source distance vector q determined by S6 1+2n , so as to determine the nth radio radiation source position measurement as

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

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

[0033] The beneficial effects of the present application are: the present application only uses a single station passive detection device to determine the positions of multiple radio radiation sources, and is suitable for occasions where the positions of radio radiation sources and targets are both unknown. DETAILED DESCRIPTION

[0034] The practicability of the present application is analyzed below in combination with examples.

[0035] Example:

[0036] In the example, the single-station passive detection device is located at the coordinate origin, 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, with units of kilometers; the actual directions of arrival of the first and second radiation sources relative to the single-station passive detection device 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 targets are [14.3150, 43.8987], [-21.8963, 34.1978] and [-3.1091, 35.0305] respectively, with units of kilometers, and the directions of arrival relative to the single-station passive detection device are 71.9393 degrees, 122.6308 degrees and 95.0719 degrees respectively; the first, second and third targets reflect the signal of the first radiation source, and the time differences of arrival relative to the direct wave of the first radiation source are 275.0697, 250.6609 and 206.6796 microseconds respectively; the first, second and third targets reflect the signal of the second radiation source, and the time differences of arrival relative to the direct wave of the second radiation source are 277.9225, 236.0054 and 200.6534 microseconds respectively.

[0037] Considering measurement noise, the single-station passive detection device determines that the directions of arrival of the direct waves of the first and second radiation sources are 44.6782 degrees and 114.2681 degrees respectively, with errors of -0.0234 degrees and 0.0842 degrees respectively; the directions of arrival of the reflected signals of the first, second and third targets are 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 times of arrival of the reflected signals of the first, second and third targets relative to the direct wave of the first radiation source are 275.5197, 249.8953 and 206.9319 microseconds respectively, with errors of 0.45, -0.7656 and 0.2523 microseconds respectively; the times of arrival of the reflected signals of the first, second and third targets relative to the direct wave of the second radiation source are 277.4904, 235.8172 and 201.0474 microseconds respectively, with errors of -0.4321, -0.1882 and 0.394 microseconds respectively.

[0038] The position coordinates of the first determined radiation source are [3.7020, 3.6606], the position coordinate error is [-0.0048, -0.0336], the position coordinates of the second determined radiation source are [-2.1790, 4.8330], and the position coordinate error is [0.0328, 0.0539], with the unit being kilometer. It can be seen that by using the single-station passive detection equipment, the direct wave direction measurement of two radio radiation sources, the reflected signal wave direction measurement of three targets reflecting the signals of the two radio radiation sources, and the time difference measurement relative to the direct wave of the radiation source, the passive blind positioning of the two radio radiation sources is realized.

[0039] The present application is not limited to the foregoing specific embodiments. The present application extends to any novel one, or any novel combination, of the characteristics disclosed in this specification, as well as to any novel method or process steps disclosed, or any novel combination thereof.

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 disperse the radio radiation source and the target in the coordinate system. 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 sources are numbered as n = 1, 2, ..., N, and the target numbers are numbered as m = 1, 2, ..., M. S2: Measure the direction and time difference of the radio radiation source and the target through passive detection equipment, and define the direction of the direct wave of the nth radio radiation source determined by the passive detection equipment 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 emission 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 the matrix, T Represents the transposed matrix of a matrix; S7: Determine the nth radio radiation 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 of 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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