Pulse source positioning method and device, storage medium and processor

Abstract

The invention discloses a pulse source positioning method and device, a storage medium and a processor, and relates to the technical field of power dispatching. The method comprises the following steps: acquiring emission data of a plurality of pulses; based on the emission data, determining a similarity among the plurality of pulses, the similarity being used for indicating a similarity degree among the pulses; based on the similarity, homologous pulses in the multiple pulses are determined, and the homologous pulses are used for indicating the pulses emitted at the same time point; based on the homologous pulses, a pulse source is positioned, where the pulse source is used to indicate a device or system that transmits the pulses. The technical problem of low pulse source positioning precision is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of power system fault detection, and in particular to a pulse source positioning method, device, storage medium and processor. Background Art

[0002] At present, with the rapid development of modern communication technology, radar systems and Internet of Things (IoT) devices, accurate detection and precise positioning of signals have become the core requirements of various application fields. In a complex electromagnetic environment, the multipath effect of signals, noise interference and spectrum congestion have brought great challenges to the screening and positioning of homologous pulses.

[0003] In the related technologies, most of them use a single feature for pulse identification and screening, such as feature matching methods based on amplitude, frequency or phase. These methods usually rely on a specific feature of the signal and can achieve good results in an ideal noise environment. However, in practical applications, due to the complexity of the environment and the diversity of signals, single feature detection methods often cannot guarantee high accuracy. For example, in the case of obvious multipath effects, the amplitude and phase characteristics of the signal may change significantly, making it difficult for traditional methods based on these features to accurately identify homologous pulses. In addition, with the dynamic changes in the signal propagation environment, the existing pulse screening methods based on fixed thresholds are also difficult to adjust adaptively, resulting in a high false detection rate. At the same time, in terms of time correlation analysis, positioning technology mostly uses methods based on time difference of arrival (TDOA), which calculates the location of the signal source by analyzing the time difference of arrival of the signal at multiple receivers. However, these methods usually rely on precise time synchronization and high-performance hardware devices, and are difficult to apply for low-cost, widely distributed IoT devices. In addition, the existing technologies often ignore the comprehensive analysis of pulse characteristics, and only use time difference for positioning, which makes it difficult to maintain high accuracy in complex environments. Other improved methods in the prior art include pulse recognition technology combined with multi-feature fusion and pulse classification methods based on machine learning. These technologies have improved the recognition ability of homologous pulses and the adaptability of the system to a certain extent, but most methods still focus on improving one aspect, and it is difficult to take into account the comprehensive analysis of multi-dimensional features and accurate positioning in complex environments. Therefore, there is a technical problem of low pulse source positioning accuracy.

[0004] With respect to the above-mentioned technical problem of low pulse source positioning accuracy, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a pulse source positioning method, device, storage medium and processor to at least solve the technical problem of low pulse source positioning accuracy.

[0006] According to one aspect of an embodiment of the present invention, a method for locating a pulse source is provided. The method may include: acquiring emission data of multiple pulses; determining similarity between the multiple pulses based on the emission data, wherein the similarity is used to indicate the degree of similarity between the pulses; determining homologous pulses among the multiple pulses based on the similarity, wherein the homologous pulses are used to indicate pulses emitted at the same time point; locating the pulse source based on the homologous pulses, wherein the pulse source is used to indicate the device or system that emits the pulses.

[0007] Optionally, based on the emission data, the similarity between each pulse is determined, including: based on the emission data, extracting multiple characteristic parameters of each pulse, wherein the characteristic parameters are used to indicate time, amplitude, frequency and phase characteristics of the pulse; based on each characteristic parameter, determining the similarity between each pulse.

[0008] Optionally, based on the similarity, homologous pulses among multiple pulses are determined, including: based on the similarity, an initial pulse pair is determined, wherein the initial pulse pair is used to indicate two similar pulses among the multiple pulses; based on the initial pulse pair, a first time difference of the initial pulse pair is determined, wherein the first time difference is used to indicate the time difference of arrival of the initial pulse pair; based on the first time difference and the similarity, homologous pulses among the multiple pulses are determined.

[0009] Optionally, determining the initial pulse pair based on the similarity includes: comparing the similarity with a similarity threshold, and in response to the similarity being greater than or equal to the similarity threshold, determining the pulses corresponding to the similarity as the initial pulse pair.

[0010] Optionally, based on the first time difference and the similarity, homologous pulses among multiple pulses are determined, including: fusing the first time difference and the similarity to obtain a comprehensive pulse value; comparing the comprehensive pulse value with a comprehensive pulse threshold, and in response to the comprehensive pulse value being greater than the comprehensive pulse threshold, determining the pulse corresponding to the comprehensive pulse value as a homologous pulse.

[0011] Optionally, locating the pulse source based on the homologous pulse includes: determining the receiver position data of the homologous pulse and a second time difference, wherein the second time difference is used to indicate the time difference of arrival of the homologous pulse; locating the pulse source based on the receiver position data and the second time difference.

[0012] According to another aspect of an embodiment of the present invention, a pulse source positioning device is also provided. The device may include: an acquisition unit, configured to acquire emission data of multiple pulses; a first determination unit, configured to determine the similarity between the multiple pulses based on the emission data, wherein the similarity is used to indicate the degree of similarity between the pulses; a second determination unit, configured to determine homologous pulses among the multiple pulses based on the similarity, wherein the homologous pulses are used to indicate pulses emitted at the same time point; and a positioning unit, configured to locate the pulse source based on the homologous pulses, wherein the pulse source is used to indicate the device or system that emits the pulses.

[0013] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, which includes a stored program, wherein when the program is executed by a processor, the device where the storage medium is located is controlled to execute the pulse source positioning method in the embodiment of the present invention.

[0014] According to another aspect of an embodiment of the present invention, a processor is further provided. The processor is used to run a program, wherein when the program is run, the pulse source positioning method in the embodiment of the present invention is executed.

[0015] According to another aspect of the embodiment of the present invention, a computer program product is also provided, which includes computer instructions, and when the computer instructions are executed by a processor, the pulse source positioning method in the embodiment of the present invention is implemented.

[0016] In an embodiment of the present invention, the emission data of multiple pulses are acquired; based on the emission data, the similarity between the multiple pulses is determined, wherein the similarity is used to indicate the degree of similarity between the pulses; based on the similarity, homologous pulses among the multiple pulses are determined, wherein the homologous pulses are used to indicate pulses emitted at the same time point; based on the homologous pulses, the pulse source is located, wherein the pulse source is used to indicate the device or system that emits the pulse. That is to say, the present invention determines the homologous pulses among the multiple pulses by comparing the similarity of the emission data of the multiple pulses, thereby locating the pulse source according to the homologous pulses, thereby solving the technical problem of low pulse source positioning accuracy and achieving the technical effect of improving the efficiency of establishing a database of the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a flow chart of a pulse source positioning method according to an embodiment of the present invention;

[0019] Figure 2is a flow chart of a pulse positioning method based on homologous pulse screening according to an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of a pulse source positioning device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, functional component or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, functional components or devices.

[0023] According to an embodiment of the present invention, an embodiment of a method for positioning a pulse source is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0024] Figure 1 is a flow chart of a pulse source positioning method according to an embodiment of the present invention. Figure 1 As shown, the method may include the following steps:

[0025] Step S101, acquiring transmission data of multiple pulses.

[0026] In the technical solution provided in the above step S101 of the present invention, the transmitted data may also be referred to as a pulse signal.

[0027] In this embodiment, the emission data of a plurality of pulses are obtained, for example, by using a pulse counter or a data acquisition card, etc. This is only an example and does not limit the specific method of obtaining the emission data of the pulses.

[0028] For example, assuming that the received signal is r(t), the decision condition of the threshold detection can be expressed by the following formula (1):

[0029] r(t)>Threshold (1)

[0030] Wherein, Threshold is the set threshold value. If the amplitude of the received signal r(t) exceeds the threshold value at a certain moment, the system considers that a pulse signal is detected at this moment, and then extracts the pulse transmission data according to the set pulse length.

[0031] Step S102, determining similarities between multiple pulses based on the transmitted data.

[0032] In the technical solution provided in the above step S102 of the present invention, the similarity is used to indicate the degree of similarity between pulses, and the similarity may also be referred to as similarity.

[0033] In this embodiment, after the emission data of a plurality of pulses are acquired in step S101, the similarity between the plurality of pulses is determined according to the emission data.

[0034] Optionally, multiple characteristic parameters of each of the pulses are extracted based on the emission data, wherein the characteristic parameters are used to indicate the time, amplitude, frequency and phase characteristics of the pulse, and the characteristic parameters may also be referred to as characteristic values.

[0035] For example, for pulse characteristic value calculation, in order to improve the accuracy of arrival time, the sampling points near the pulse peak can be processed by interpolation method to accurately calculate the arrival time of the pulse. The present invention uses the quadratic interpolation method to fit a parabola based on the three sampling points near the pulse peak, and solve the vertex position of the parabola as the timestamp. Assume that the amplitude value of the pulse signal at three adjacent sampling points is A n-1 ,A n ,A n+1 , and the corresponding times are t n-1 ,t n ,t n+1 The arrival time calculation formula is shown in the following formula (2):

[0036]

[0037] Where Δt represents the sampling time interval. For amplitude characteristics: analyze the pulse signal, the highest point (peak value) after the signal exceeds the threshold, the peak value is the amplitude A of the pulse signal. For frequency characteristics: for non-sinusoidal pulse signals, use fast Fourier transform to analyze the frequency component of the pulse signal. After detecting the pulse signal, the signal in the time window where the pulse is located can be transformed by FFT to analyze its main frequency component F. For the frequency domain representation R(f) of the discrete signal r(t), its main frequency F can be expressed by the following formula (3):

[0038] F = arg max f |R(f)| (3)

[0039] Where R(f) represents the Fourier transform result of the signal r(t). For the phase feature: the signal is converted from the real domain to the complex domain using the Hilbert transform to extract the instantaneous phase of the pulse signal. By performing the Hilbert transform on the pulse signal, its instantaneous phase can be obtained, and the phase φ of the pulse signal can be calculated at the peak point. The calculation formula is shown in the following formula (4):

[0040]

[0041] Wherein, Hilbert(r(t)) represents the Hilbert transform of the signal r(t). The phase φ corresponding to the main frequency can be expressed by the following formula (5):

[0042]

[0043] Optionally, the similarity between the pulses is determined based on the characteristic parameters.

[0044] For example, the definition of each feature similarity measurement function is as follows: t : Time similarity measures the proximity of the arrival times of two pulses. It can be defined as the following formula (6):

[0045]

[0046] Among them, s t (T i ,T j ) represents the pulse p i and p j The closer the value is to 1, the closer the two pulses are in time. γ is a positive constant that controls the degree of influence of the time difference on the similarity. The larger the γ value, the smaller the influence of the time difference on the similarity. a : Amplitude similarity measures the closeness of two pulse amplitudes. It is defined as the following formula (7):

[0047]

[0048] Among them, s a (A i ,A j ) represents the pulse p i and p j The closer the value is to 1, the closer the amplitudes of the two pulses are. f : Frequency similarity measures the closeness of two pulse frequencies. It is defined as the following formula (8):

[0049]

[0050] Among them, s f (F i ,F j ) represents the pulse p i and p j The closer the value is to 1, the closer the frequencies of the two pulses are. Phase similarity measures the closeness of the phases of two pulses. It is defined as the following formula (9):

[0051]

[0052] in, Indicates pulse p i and p j The closer the value is to 1, the closer the phases of the two pulses are.

[0053] For another example, the similarity between pulses is calculated by a custom pulse similarity function. This similarity function needs to comprehensively consider the time, amplitude, frequency and phase characteristics of the pulse to quantify the similarity between the two pulses. The definition is shown in the following formula (10):

[0054]

[0055] Among them, p i and p j Respectively represent two pulses to be compared; S(p i ,p j ) represents the pulse p i and p j The overall similarity score between them. This score combines the similarity of time, amplitude, frequency and phase features; T i ,T j Respectively represent pulse p i and p j The arrival time is used to measure the proximity of two pulses in time; Ai ,A j Respectively represent pulse p i and p j Amplitude similarity is used to measure the closeness of the signal strength of two pulses; F i ,F j Respectively represent pulse p i and p j The main frequency of the pulse. Frequency similarity is used to determine whether the frequency components of two pulses are similar; Respectively represent pulse p i and p j Phase information. Phase similarity helps to further distinguish pulses that are similar in time, amplitude, and frequency but different in phase; w1, w2, w3, and w4 represent the weight coefficients of the corresponding features, representing the importance of time similarity, amplitude similarity, frequency similarity, and phase similarity in the overall score. These weight coefficients satisfy w1+w2+w3+w4=1.

[0056] Step S103: determining homologous pulses among the multiple pulses based on the similarity.

[0057] In the technical solution provided in the above step S103 of the present invention, the homologous pulses are used to indicate pulses emitted at the same time point.

[0058] In this embodiment, after the similarity between the multiple pulses is determined in step S102, the homologous pulses among the multiple pulses are determined according to the similarity.

[0059] Optionally, an initial pulse pair is determined based on the similarity, wherein the initial pulse pair is used to indicate two similar pulses among multiple pulses, and the initial pulse pair may also be referred to as a pulse pair.

[0060] For example, the similarity is compared with a similarity threshold, and in response to the similarity being greater than or equal to the similarity threshold, the pulse corresponding to the similarity is determined as the initial pulse pair, wherein the similarity threshold may also be a similarity score threshold S th , the initial pulse pair can also be called a high similarity pulse pair (p i ,p j ).

[0061] Optionally, a first time difference of the initial pulse pair is determined based on the initial pulse pair, wherein the first time difference is used to indicate a time difference of arrival of the initial pulse pair.

[0062] For example, for a selected high similarity pulse pair (p i ,p j ), calculate the arrival time difference ΔT ij It can be expressed by the following formula (11):

[0063] ΔT ij =|T i -T j | (11)

[0064] Where, ΔT ij is the pulse p i and p j The arrival time difference, T i and T j Respectively represent pulse p i and p j Arrival time.

[0065] Optionally, the first time difference is fused with the similarity to obtain a comprehensive pulse value.

[0066] For example, define a comprehensive decision function D(p i ,p j ), as shown in the following formula (12), the similarity score and time correlation are combined to further improve the screening accuracy:

[0067]

[0068] Among them, D(p i ,p j ) represents the pulse p i and p j The comprehensive judgment score of , which combines the similarity and time correlation of the pulses. β1β2 are weight coefficients, which control the importance of the similarity score and time correlation in the comprehensive score respectively. They satisfy β1+β2=1. γ is a positive constant that controls the influence of the time difference on the judgment function. The larger the γ value, the smaller the influence of the time difference on the judgment function.

[0069] Optionally, the integrated pulse value is compared with the integrated pulse threshold, and when the integrated pulse value is greater than the integrated pulse threshold, the pulse corresponding to the integrated pulse value is determined as the homologous pulse.

[0070] For example, setting a decision threshold D th , if D(p i ,p j ) is less than or equal to D th , then it is considered that the pulse pair is temporally correlated and may come from the same signal source, that is, homologous pulses. th It is the threshold of time difference judgment, which is used to judge whether the pulse pair is temporally related. The threshold is set according to the application scenario and system requirements, and all pulse pairs are traversed to calculate their judgment function value D(p i ,p j ), and select homologous pulse pairs according to the judgment conditions.

[0071] Step S104: locating the pulse source based on the homologous pulse.

[0072] In the technical solution provided in the above step S104 of the present invention, the pulse source is used to indicate the device or system that transmits the pulse.

[0073] In this embodiment, after the homologous pulses are determined in step S103, the pulse source is located according to the homologous pulses.

[0074] Optionally, receiver position data of homologous pulses and a second time difference are determined, wherein the second time difference is used to indicate a time difference of arrival of homologous pulses.

[0075] For example, to determine the receiver position: Assume that there are multiple receivers whose positions are known, and their coordinates are (x k ,y k ), where k = 1, 2, ..., N. The layout of these receivers is usually fixed and their spatial positions are known.

[0076] Optionally, calculate the arrival time difference: For the selected homologous pulses, calculate their arrival time difference at different receivers. For example, select a reference receiver (such as receiver 1) and calculate the arrival time difference ΔT of other receivers relative to the reference receiver. 1k As shown in the following formula (13):

[0077] ΔT 1k =T k -T1 (13)

[0078] Where, ΔT 1k represents the arrival time difference between receiver k and reference receiver 1.

[0079] Optionally, the pulse source is located based on the receiver position data and the second time difference.

[0080] For example, based on the arrival time difference, a set of nonlinear equations is established to solve the position (x, y) of the pulse source. Assuming that the pulse propagates at the speed of light c, for each receiver k, the following equation system can be constructed as shown in formula (14):

[0081]

[0082] Solve the equations: Assume there are three receivers at positions (x1, y1), (x2, y2), and (x3, y3), and the reference receiver is receiver 1. Establish the equations shown in the following formula (15):

[0083]

[0084] By solving the above equations, the position of the pulse source (x, y)(x, y)(x, y) can be obtained. This process can be achieved by numerical solution method, and the positioning result will be used to determine the spatial position of the pulse source, that is, the pulse source position.

[0085] It should be noted that the above embodiment can be implemented by a positioning device of a pulse source.

[0086] In the above steps S101 to S104 of the present invention, the emission data of multiple pulses are acquired; based on the emission data, the similarity between the multiple pulses is determined, wherein the similarity is used to indicate the degree of similarity between the pulses; based on the similarity, homologous pulses among the multiple pulses are determined, wherein the homologous pulses are used to indicate pulses emitted at the same time point; based on the homologous pulses, the pulse source is located, wherein the pulse source is used to indicate the device or system that emits the pulse. In other words, the present invention determines the homologous pulses among the multiple pulses by comparing the similarity of the emission data of the multiple pulses, thereby locating the pulse source according to the homologous pulses, thereby solving the technical problem of low pulse source positioning accuracy and achieving the technical effect of improving the efficiency of establishing a database of the power system.

[0087] The above method of this embodiment is further introduced below.

[0088] As an optional implementation method, based on the emission data, the similarity between each pulse is determined, including: based on the emission data, extracting multiple characteristic parameters of each pulse, wherein the characteristic parameters are used to indicate the time, amplitude, frequency and phase characteristics of the pulse; based on each characteristic parameter, determining the similarity between each pulse.

[0089] In this embodiment, a plurality of characteristic parameters of each pulse are extracted based on the emission data, and the similarity between the pulses is determined based on the characteristic parameters.

[0090] Optionally, after extracting the features of each pulse, the similarity between the pulses can be calculated by a custom pulse similarity function. The similarity function needs to comprehensively consider the time, amplitude, frequency and phase features of the pulse to quantify the similarity between the two pulses. The calculation of each pulse characteristic parameter and the calculation of the similarity are shown in the above formulas (2) to (10), which will not be repeated here.

[0091] Optionally, the accuracy of homologous pulse screening is improved by comprehensively considering the time, amplitude, frequency and phase characteristics of the pulses and performing weighted similarity scoring.

[0092] As an optional implementation method, based on similarity, homologous pulses among multiple pulses are determined, including: based on the similarity, an initial pulse pair is determined, wherein the initial pulse pair is used to indicate two similar pulses among the multiple pulses; based on the initial pulse pair, a first time difference of the initial pulse pair is determined, wherein the first time difference is used to indicate the time difference of arrival of the initial pulse pair; based on the first time difference and the similarity, homologous pulses among the multiple pulses are determined.

[0093] In this embodiment, an initial pulse pair is determined according to the similarity, a first time difference of the initial pulse pair is determined according to the initial pulse pair, and a homologous pulse among multiple pulses is determined according to the first time difference and the similarity.

[0094] Optionally, the time difference analysis is combined with the similarity score to further screen out high-confidence homologous pulse pairs, thereby improving the robustness of the system. In the case of large noise or unclear signal characteristics, this multi-dimensional analysis method can effectively improve the reliability of recognition.

[0095] As an optional embodiment, determining the initial pulse pair based on the similarity includes: comparing the similarity with a similarity threshold, and in response to the similarity being greater than or equal to the similarity threshold, determining the pulse corresponding to the similarity as the initial pulse pair.

[0096] In this embodiment, the similarity is compared with a similarity threshold. When the similarity is greater than or equal to the similarity threshold, it indicates that the two pulses corresponding to the similarity are highly similar. Based on this, the pulses corresponding to the similarity can be determined as an initial pulse pair.

[0097] For example, by setting a similarity score threshold S th , filter out the similarity scores greater than or equal to S th These pulse pairs have high similarity in multiple features and are therefore likely to be homologous pulses.

[0098] As an optional implementation method, based on the first time difference and the similarity, determining the homologous pulse among multiple pulses includes: fusing the first time difference and the similarity to obtain a comprehensive pulse value; comparing the comprehensive pulse value with a comprehensive pulse threshold, and in response to the comprehensive pulse value being greater than the comprehensive pulse threshold, determining the pulse corresponding to the comprehensive pulse value as a homologous pulse.

[0099] In this embodiment, the first time difference is fused with the similarity to obtain a comprehensive pulse value; the comprehensive pulse value is compared with the comprehensive pulse threshold, and when the comprehensive pulse value is greater than the comprehensive pulse threshold, the pulse corresponding to the comprehensive pulse value is determined as a homologous pulse.

[0100] Optionally, the specific method for obtaining the comprehensive pulse value is as shown in the aforementioned formula (12), which will not be repeated here.

[0101] As an optional embodiment, locating a pulse source based on homologous pulses includes: determining receiver position data of the homologous pulses and a second time difference, wherein the second time difference is used to indicate a time difference in arrival of the homologous pulses; locating the pulse source based on the receiver position data and the second time difference.

[0102] In this embodiment, the receiver position data and the second time difference of the pulses of the same source are determined, and the pulse source is located based on the receiver position data and the second time difference.

[0103] Optionally, the specific method for locating the pulse source is as shown in the above formulas (13) to (15), which will not be repeated here.

[0104] It should be noted that the above embodiment can be implemented by a positioning device of a pulse source.

[0105] In this embodiment, the emission data of multiple pulses are acquired; based on the emission data, the similarity between the multiple pulses is determined, wherein the similarity is used to indicate the degree of similarity between the pulses; based on the similarity, homologous pulses among the multiple pulses are determined, wherein the homologous pulses are used to indicate pulses emitted at the same time point; based on the homologous pulses, the pulse source is located, wherein the pulse source is used to indicate the device or system that emits the pulse. That is to say, the present invention determines the homologous pulses among the multiple pulses by comparing the similarity of the emission data of the multiple pulses, thereby locating the pulse source according to the homologous pulses, thereby solving the technical problem of low pulse source positioning accuracy and achieving the technical effect of improving the efficiency of establishing a database of the power system.

[0106] The technical solution of the embodiment of the present invention is illustrated below in conjunction with preferred implementation modes.

[0107] At present, with the rapid development of modern communication technology, radar systems and Internet of Things (IoT) devices, accurate detection and precise positioning of signals have become the core requirements of various application fields. In a complex electromagnetic environment, the multipath effect of signals, noise interference and spectrum congestion have brought great challenges to the screening and positioning of homologous pulses.

[0108] In the related technologies, most of them use a single feature for pulse identification and screening, such as feature matching methods based on amplitude, frequency or phase. These methods usually rely on a specific feature of the signal and can achieve good results in an ideal noise environment. However, in practical applications, due to the complexity of the environment and the diversity of signals, single feature detection methods often cannot guarantee high accuracy. For example, in the case of obvious multipath effects, the amplitude and phase characteristics of the signal may change significantly, making it difficult for traditional methods based on these features to accurately identify homologous pulses. In addition, with the dynamic changes in the signal propagation environment, the existing pulse screening methods based on fixed thresholds are also difficult to adjust adaptively, resulting in a high false detection rate. At the same time, in terms of time correlation analysis, positioning technology mostly uses methods based on time difference of arrival (TDOA), which calculates the location of the signal source by analyzing the time difference of arrival of the signal at multiple receivers. However, these methods usually rely on precise time synchronization and high-performance hardware devices, and are difficult to apply for low-cost, widely distributed IoT devices. In addition, the existing technologies often ignore the comprehensive analysis of pulse characteristics, and only use time difference for positioning, which makes it difficult to maintain high accuracy in complex environments. Other improved methods in the prior art include pulse recognition technology combined with multi-feature fusion and pulse classification methods based on machine learning. These technologies have improved the recognition ability of homologous pulses and the adaptability of the system to a certain extent, but most methods still focus on improvements in one aspect, and it is difficult to take into account the comprehensive analysis of multi-dimensional features and accurate positioning in complex environments. Therefore, there is a technical problem of low pulse source positioning accuracy. With respect to the above-mentioned technical problem of low pulse source positioning accuracy, no effective solution has been proposed so far.

[0109] However, the embodiment of the present invention proposes a pulse positioning method based on homologous pulse screening, which extracts the characteristics of the pulse by preprocessing the received signal, and calculates the similarity score between the pulse pairs by comprehensively considering these characteristics based on the custom pulse similarity function; on the basis of the similarity score, further time correlation analysis is performed on the high similarity pulse pairs; by calculating the arrival time difference (TDOA) of these pulse pairs, the pulse pairs with high temporal correlation are screened out, thereby identifying the most likely homologous pulses; and then the similarity score is combined with the time correlation to automatically screen out the most reliable homologous pulse pairs. After the homologous pulse screening is completed, the spatial position of the pulse source is calculated using a positioning method based on time difference. The technical problem of low pulse source positioning accuracy is solved, and the technical effect of improving the pulse source positioning accuracy is achieved.

[0110] The embodiments of the present invention are further described below.

[0111] Figure 21 is a flow chart of a pulse localization method based on homologous pulse screening according to an embodiment of the present invention. The analysis method comprises the following steps:

[0112] Step S201, extracting pulse features.

[0113] In this embodiment, after the signal is received, it is first necessary to pre-process the signal to extract characteristic parameters of each pulse.

[0114] Optionally, the original received signal often contains a lot of noise and interference signals, which may come from environmental noise, other signal sources or internal noise of the device. In order to extract the effective pulse signal, the signal needs to be preprocessed first. Common preprocessing methods include bandpass filters, low-pass filters or high-pass filters, which can effectively remove unnecessary frequency bands, thereby enhancing the quality of the target pulse signal.

[0115] Optionally, in the preprocessed signal, a valid pulse signal is identified by a pulse detection algorithm. The pulse detection algorithm may use a threshold detection technique. The core idea of ​​threshold detection is to monitor the amplitude of the signal and determine that a valid pulse signal exists when the amplitude of the signal exceeds a preset threshold.

[0116] Optionally, assuming that the received signal is r(t), the decision condition of the threshold detection can be expressed by the aforementioned formula (1), which will not be described in detail here.

[0117] Optionally, for the calculation of pulse characteristic values, in order to improve the accuracy of arrival time, the sampling points near the pulse peak can be processed by interpolation method to accurately calculate the arrival time of the pulse. The present invention uses a quadratic interpolation method to fit a parabola based on three sampling points near the pulse peak, and solve the vertex position of the parabola as the timestamp. Assume that the amplitude value of the pulse signal at three adjacent sampling points is A n-1 ,A n ,A n+1 , and the corresponding times are t n-1 ,t n ,t n+1 The calculation formula of arrival time is as shown in the above formula (2), which will not be repeated here.

[0118] Optionally, with respect to the amplitude feature: analyze the pulse signal, the highest point (peak value) after the signal exceeds the threshold, and the peak value is the amplitude A of the pulse signal.

[0119] Optionally, for frequency characteristics: For non-sinusoidal pulse signals, use fast Fourier transform to analyze the frequency components of the pulse signal. After the pulse signal is detected, the signal in the time window where the pulse is located can be transformed by FFT to analyze its main frequency component F. For the frequency domain representation R(f) of the discrete signal r(t), its main frequency F can be expressed by the above formula (3), which will not be repeated here.

[0120] Optionally, for the phase feature: use Hilbert transform to convert the signal from the real domain to the complex domain, so as to extract the instantaneous phase of the pulse signal. By performing Hilbert transform on the pulse signal, its instantaneous phase can be obtained, and the phase φ of the pulse signal can be calculated at the peak point. The calculation formula is shown in the above formula (4), which will not be repeated here.

[0121] Optionally, the phase φ corresponding to the main frequency can be expressed by the aforementioned formula (5), which will not be described in detail here.

[0122] Step S202, calculating pulse similarity.

[0123] In this embodiment, after extracting the features of each pulse, the similarity between the pulses needs to be calculated by a custom pulse similarity function. This similarity function needs to comprehensively consider the time, amplitude, frequency and phase features of the pulse to quantify the similarity between the two pulses. The definition is shown in the above formula (10), which will not be repeated here.

[0124] Optionally, the definition of each feature similarity measurement function is as follows: t : The temporal similarity measures the proximity of the arrival times of two pulses. It can be defined as the aforementioned formula (6), which will not be repeated here.

[0125] Optionally, with respect to the magnitude similarity s a : Amplitude similarity measures the closeness of the amplitudes of two pulses. It is defined as the above formula (7) and will not be repeated here.

[0126] Optionally, regarding the frequency similarity s f : Frequency similarity measures the closeness of two pulse frequencies. It is defined as the above formula (8) and will not be repeated here.

[0127] Optionally, regarding phase similarity Phase similarity measures the closeness of the phases of two pulses. It is defined as the above formula (9) and will not be repeated here.

[0128] Optionally, the present invention comprehensively considers the time, amplitude, frequency and phase characteristics of the pulse, and improves the accuracy of homologous pulse screening by weighted similarity scoring. Traditional methods often rely on only a single feature. The innovation of this solution is that it can comprehensively integrate multiple features to more accurately identify homologous pulses.

[0129] Step S203, analyzing time correlation.

[0130] In this embodiment, after calculating the similarity scores of all pulse pairs, the temporal correlation of pulse pairs with high similarity is further analyzed to screen out more likely homologous pulses.

[0131] Optionally, high similarity pulse pairs are selected by setting a similarity score threshold S th , filter out the similarity scores greater than or equal to S th These pulse pairs have high similarity in multiple features and are therefore likely to be homologous pulses.

[0132] Optionally, for calculating the arrival time difference: for the selected high similarity pulse pair (p i ,p j ), calculate the arrival time difference ΔT ij It can be expressed by the aforementioned formula (11), which will not be elaborated here.

[0133] Optionally, for time correlation judgment: set a time difference threshold ΔT th , if ΔT ij Less than or equal to ΔT th , then the pulse pair is considered to be temporally correlated and may come from the same signal source. th It is the threshold for time difference judgment, which is used to judge whether the pulse pair is temporally correlated. The threshold is set according to the application scenario and system requirements.

[0134] Optionally, the present invention combines time difference analysis with similarity scoring to further screen out high-confidence homologous pulse pairs, thereby improving the robustness of the system. In the case of large noise or unclear signal characteristics, this multi-dimensional analysis method can effectively improve the reliability of recognition.

[0135] Step S204, automatically screening homologous pulses.

[0136] In this embodiment, pulse similarity and time correlation are combined to automatically screen out homologous pulses through a multi-dimensional decision function.

[0137] Optionally, comprehensive decision function: define a comprehensive decision function D(p i ,p j), as shown in the above formula (12), the similarity score and time correlation are combined to further improve the screening accuracy, which will not be described in detail here.

[0138] Optionally, the judgment condition: set a judgment threshold D th , if D(p i ,p j ) is less than or equal to D th , then the pulse pair is considered to be temporally correlated and may come from the same signal source. th It is the threshold for time difference determination, which is used to determine whether the pulse pair is temporally correlated. This threshold is set according to the application scenario and system requirements.

[0139] Optionally, the screening process: traverse all pulse pairs and calculate their decision function value D(p i ,p j ), and select homologous pulse pairs according to the judgment conditions.

[0140] Step S205, locating homologous pulses.

[0141] In this embodiment, a method based on time difference is used to locate the selected homologous pulse pairs.

[0142] Optionally, determine the receiver position: Assume that there are multiple receivers whose positions are known and their coordinates are (x k ,y k ), where k = 1, 2, ..., N. The layout of these receivers is usually fixed and their spatial positions are known.

[0143] Optionally, calculate the arrival time difference: For the selected homologous pulses, calculate their arrival time difference at different receivers. For example, select a reference receiver (such as receiver 1) and calculate the arrival time difference ΔT of other receivers relative to the reference receiver. 1k As shown in the above formula (13), it will not be repeated here.

[0144] Optionally, construct a set of equations: Based on the arrival time difference, a set of nonlinear equations is established to solve the position (x, y) of the pulse source. Assuming that the pulse propagates at the speed of light c, for each receiver k, a set of equations as shown in the above formula (14) can be constructed, which will not be repeated here.

[0145] Optionally, solve the equation group: Assume that there are three receivers, with positions (x1, y1), (x2, y2), (x3, y3), and the reference receiver is receiver 1. Establish the equation group shown in the above formula (15), which will not be repeated here. By solving the equation group, the position of the pulse source can be obtained (x, y)(x, y)(x, y). This process can be achieved by numerical solution method, and the positioning result will be used to determine the spatial position of the pulse source.

[0146] Optionally, the present invention adopts TDOA (Time Difference of Arrival) positioning method, and realizes high-precision pulse source positioning through the collaborative work of multiple receivers. This method not only has high accuracy, but also can adapt to complex signal propagation environments, ensuring the accuracy of positioning results.

[0147] In this embodiment, the received signal is preprocessed to extract the characteristics of the pulse, and based on the custom pulse similarity function, these characteristics are comprehensively considered to calculate the similarity score between the pulse pairs; based on the similarity score, the high similarity pulse pairs are further analyzed for time correlation; by calculating the arrival time difference (TDOA) of these pulse pairs, the pulse pairs with high temporal correlation are screened out, thereby identifying the most likely homologous pulses; and then the similarity score is combined with the time correlation to automatically screen out the most reliable homologous pulse pairs. After the homologous pulse screening is completed, the spatial position of the pulse source is calculated using a positioning method based on time difference. The technical problem of low pulse source positioning accuracy is solved, and the technical effect of improving the pulse source positioning accuracy is achieved.

[0148] According to an embodiment of the present invention, a pulse source positioning device is also provided. It should be noted that the pulse source positioning device can be used to execute the pulse source positioning method in the method embodiment.

[0149] Figure 3 Schematic diagram of a pulse source positioning device according to an embodiment of the present invention. Figure 3 As shown, the pulse source positioning device 300 may include: an acquisition unit 301 , a first determination unit 302 , a second determination unit 303 and a positioning unit 304 .

[0150] The acquisition unit 301 is used to acquire the transmission data of multiple pulses.

[0151] The first determining unit 302 is configured to determine similarities between multiple pulses based on the transmitted data, wherein the similarities are used to indicate the degree of similarity between the pulses.

[0152] The second determining unit 303 is configured to determine homologous pulses among the multiple pulses based on the similarity, wherein the homologous pulses are used to indicate pulses emitted at the same time point.

[0153] The positioning unit 304 is used to locate the pulse source based on the homologous pulse, wherein the pulse source is used to indicate the device or system that transmits the pulse.

[0154] Optionally, the first determination unit 302 may include: an extraction module, used to extract multiple characteristic parameters of each pulse based on the transmission data, wherein the characteristic parameters are used to indicate the time, amplitude, frequency and phase characteristics of the pulse; and a first determination module, used to determine the similarity between each pulse based on each characteristic parameter.

[0155] Optionally, the pulse source positioning device 300 may further include: a third determination unit, used to determine an initial pulse pair based on similarity, wherein the initial pulse pair is used to indicate two similar pulses among multiple pulses; a fourth determination unit, used to determine a first time difference of the initial pulse pair based on the initial pulse pair, wherein the first time difference is used to indicate a time difference in the arrival of the initial pulse pair; and a fifth determination unit, used to determine homologous pulses among multiple pulses based on the first time difference and the similarity.

[0156] Optionally, the third determination unit may include: a first comparison module, configured to compare the similarity with a similarity threshold, and in response to the similarity being greater than or equal to the similarity threshold, determine the pulse corresponding to the similarity as the initial pulse pair.

[0157] Optionally, the fifth determination unit may include: a fusion module, used to fuse the first time difference and the similarity to obtain a comprehensive pulse value; a second comparison module, used to compare the comprehensive pulse value with the comprehensive pulse threshold, and in response to the comprehensive pulse value being greater than the comprehensive pulse threshold, determining the pulse corresponding to the comprehensive pulse value as a homologous pulse.

[0158] Optionally, the positioning unit 304 may include: a second determination module, used to determine the receiver position data of the homologous pulse and a second time difference, wherein the second time difference is used to indicate the time difference of arrival of the homologous pulse; and a positioning module, used to locate the pulse source based on the receiver position data and the second time difference.

[0159] In this embodiment, the emission data of multiple pulses are acquired; based on the emission data, the similarity between the multiple pulses is determined, wherein the similarity is used to indicate the degree of similarity between the pulses; based on the similarity, homologous pulses among the multiple pulses are determined, wherein the homologous pulses are used to indicate pulses emitted at the same time point; based on the homologous pulses, the pulse source is located, wherein the pulse source is used to indicate the device or system that emits the pulse. That is to say, the present invention determines the homologous pulses among the multiple pulses by comparing the similarity of the emission data of the multiple pulses, thereby locating the pulse source according to the homologous pulses, thereby solving the technical problem of low pulse source positioning accuracy and achieving the technical effect of improving the efficiency of establishing a database of the power system.

[0160] According to an embodiment of the present invention, a computer-readable storage medium is further provided. The storage medium includes a stored program, wherein the program executes the pulse source positioning method in the method embodiment.

[0161] According to an embodiment of the present invention, a processor is further provided. The processor is used to run a program, wherein the pulse source positioning method in the method embodiment is executed when the program is run.

[0162] According to an embodiment of the present invention, a computer program product is further provided. The computer program product includes computer instructions. When the computer instructions are executed by a processor, the pulse source positioning method in the method embodiment is implemented.

[0163] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0164] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0165] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0166] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0167] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0168] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent functional component, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software functional component, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc., which can store program codes.

[0169] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A pulse source positioning method, characterized in that: include: Acquire emission data of multiple pulses; Determining similarities between the plurality of pulses based on the emission data, wherein the similarities are used to indicate a degree of similarity between the pulses; Based on the similarity, determining homologous pulses among the plurality of pulses, wherein the homologous pulses are used to indicate the pulses emitted at the same time point; Based on the homologous pulses, a pulse source is located, wherein the pulse source is used to indicate a device or system that transmits the pulses.

2. The method according to claim 1, characterized in that Determining similarities between the pulses based on the emission data includes: Extracting a plurality of characteristic parameters of each of the pulses based on the emission data, wherein the characteristic parameters are used to indicate the time, amplitude, frequency and phase characteristics of the pulses; Based on each of the characteristic parameters, the similarity between each of the pulses is determined.

3. The method according to claim 1, characterized in that Determining homologous pulses among the plurality of pulses based on the similarity comprises: Based on the similarity, determining an initial pulse pair, wherein the initial pulse pair is used to indicate two similar pulses among the plurality of pulses; Based on the initial pulse pair, determining a first time difference of the initial pulse pair, wherein the first time difference is used to indicate a time difference when the initial pulse pair arrives; The homologous pulses among the plurality of pulses are determined based on the first time difference and the similarity.

4. The method according to claim 3, characterized in that Based on the similarity, determining an initial pulse pair includes: The similarity is compared with a similarity threshold, and in response to the similarity being greater than or equal to the similarity threshold, the pulse corresponding to the similarity is determined as the initial pulse pair.

5. The method according to claim 3, characterized in that: Determining the homologous pulse among the plurality of pulses based on the first time difference and the similarity includes: Merging the first time difference with the similarity to obtain a comprehensive pulse value; The integrated pulse value is compared with an integrated pulse threshold, and in response to the integrated pulse value being greater than the integrated pulse threshold, the pulse corresponding to the integrated pulse value is determined as the homologous pulse.

6. The method according to any one of claims 1 to 5, characterized in that: Based on the homologous pulse, locating the pulse source comprises: determining receiver position data of the homologous pulses and a second time difference, wherein the second time difference is used to indicate a time difference of arrival of the homologous pulses; The pulse source is located based on the receiver position data and the second time difference.

7. A pulse source positioning device, characterized in that: include: An acquisition unit, used for acquiring transmission data of a plurality of pulses; a first determining unit, configured to determine a similarity between the plurality of pulses based on the transmission data, wherein the similarity is used to indicate a degree of similarity between the pulses; A second determining unit, configured to determine homologous pulses among the plurality of pulses based on the similarity, wherein the homologous pulses are used to indicate the pulses emitted at the same time point; A positioning unit is used to locate a pulse source based on the homologous pulse, wherein the pulse source is used to indicate a device or system that transmits the pulse.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed by a processor, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 6.

9. A processor, characterized in that: The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 6 when running.

10. A computer program product, characterized in that The computer program product comprises computer instructions, which implement the method according to any one of claims 1 to 6 when executed by a processor.

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