Target position determination method and device

Abstract

The invention belongs to the technical field of data processing, and particularly discloses a target position determination method and device. According to the application, the target position (including longitude and latitude heights) is positively solved through the coordinate conversion relation between the target observation value under the local observation coordinate system and the target position under the geographic coordinate system, and then the actually detected observation height of the target is used for replacing the solved target height to update the target position. And according to the updated target position, calculating the distance, the azimuth and the initial elevation angle value of the target in the target observation value, retaining the calculated elevation angle information, and replacing the calculated distance and azimuth with the detected target distance and azimuth to form a new target observation value calculation element to be substituted into the next round of calculation. And iteratively repeating to obtain a gradually convergent target elevation angle for resolving the target position. Under the condition that three-dimensional detection elements of a single detection source are incomplete, complex earth curved surface geometric calculation is avoided, and a more accurate target final position is calculated by directly utilizing a coordinate conversion formula.

Description

Technical Field

[0001] The present application belongs to the field of data processing technology, and more specifically, relates to a method and device for determining a target position. Background Art

[0002] In complex scenarios, it is difficult for a single detection device to obtain comprehensive target detection information, and therefore it is difficult to effectively control the scene dynamics. In order to obtain comprehensive and stable situation information, the detection platform is often equipped with a variety of detection devices, and the detection information of multiple detection devices is used for comprehensive information processing to obtain unified situation information. Due to different detection principles and systems, various sensors obtain a variety of information. Detection capabilities have their own advantages and disadvantages. Therefore, it is necessary to combine and process multi-sensor information.

[0003] The calculation of the target position under multi-sensor detection conditions is often involved in multi-sensor data processing. Commonly used two-coordinate radars can detect the target distance and azimuth. Only the target distance and azimuth cannot uniquely calculate the final position of the target. There is an application scenario where our target can report its own accurate height information through altimeters and other equipment, and at the same time, the two-coordinate radar of the observation platform can give detection values ​​for the target distance and azimuth. Since the distance and azimuth and the target height are not detected under the same detection system, the two cannot directly calculate the target position. The elevation angle of the target detection can be calculated by the target height information and the platform position information to obtain the final position of the target. If the target elevation angle is calculated directly using the relationship between the target height and the trigonometric function, a large error will be caused due to the influence of the earth's curved surface. If the target elevation angle is calculated directly using the relationship between the curved surface angles, the target analysis form is more complicated and the error is difficult to estimate. Summary of the invention

[0004] In view of the defects of the prior art, the purpose of this application is to provide a method and device for determining a target position, aiming to solve the problem in the prior art that the final target position calculated has large errors when the three-dimensional detection elements of a single detection source are incomplete.

[0005] To achieve the above objectives, in a first aspect, the present application provides a method for determining a target position, comprising:

[0006] The target position is obtained according to the coordinate conversion relationship between the target observation value in the local observation coordinate system and the target position in the geographic coordinate system and the target observation value;

[0007] According to the observed height of the target, the target height in the target position is updated;

[0008] According to the coordinate transformation relationship and the updated target position, the initial value of the elevation angle in the target observation value is updated;

[0009] According to the observed target distance and azimuth, the target distance and azimuth in the target observation value are updated, and the target position is obtained according to the coordinate transformation relationship between the target observation value in the local observation coordinate system and the target position in the geographic coordinate system and the target observation value, until the iteration termination condition is met;

[0010] The final position of the target is determined based on the observation height, coordinate transformation relationship and the target observation value after the last execution.

[0011] In some embodiments, obtaining the target position according to the coordinate conversion relationship between the target observation value in the local observation coordinate system and the target position in the geographic coordinate system and the target observation value includes:

[0012] The target position is obtained based on the first coordinate transformation relationship from the target observation value in the local observation coordinate system to the target position in the geographic coordinate system, the target observation value and the observation point position in the geographic coordinate system.

[0013] In some embodiments, updating the initial value of the elevation angle in the target observation value according to the coordinate transformation relationship and the updated target position includes:

[0014] The initial value of the elevation angle in the target observation value is updated according to the second coordinate transformation relationship from the target position in the geographic coordinate system to the target observation value in the local observation coordinate system, the updated target position and the observation point position in the geographic coordinate system.

[0015] In some embodiments, a method for obtaining an initial value of an elevation angle in a target observation value includes:

[0016] Determine the initial value of the elevation angle in the target observation value based on the target's observed height and the observed target distance.

[0017] In some embodiments, the iteration termination condition includes:

[0018] The number of executions reaches the preset upper limit of iterative calculations or the target elevation angle change rate is less than the preset value.

[0019] In some embodiments, determining the final position of the target according to the observed height, the coordinate transformation relationship, and the target observation value after the last execution includes:

[0020] Determine the target position according to the target observation value after the last execution, the first coordinate transformation relationship from the target observation value in the local observation coordinate system to the target position in the geographic coordinate system, and the observation point position in the geographic coordinate system;

[0021] According to the observed height, the target height in the target position is updated to determine the final position of the target.

[0022] In a second aspect, the present application provides a target position determination device, comprising:

[0023] A first acquisition module is used to acquire the target position according to the coordinate conversion relationship between the target observation value in the local observation coordinate system and the target position in the geographic coordinate system and the target observation value;

[0024] A first updating module, used for updating the target height in the target position according to the observed height of the target;

[0025] The second updating module is used to update the initial value of the elevation angle in the target observation value according to the coordinate transformation relationship and the updated target position;

[0026] The second acquisition module is used to update the target distance and orientation in the target observation value according to the observed target distance and orientation, and return to execute the coordinate transformation relationship between the target observation value in the local observation coordinate system and the target position in the geographic coordinate system and the target observation value to obtain the target position until the iteration termination condition is met;

[0027] The third acquisition module is used to determine the final position of the target based on the observation height, the coordinate conversion relationship and the target observation value after the last execution.

[0028] In a third aspect, the present application provides an electronic device comprising: at least one memory for storing programs; and at least one processor for executing the programs stored in the memory. When the programs stored in the memory are executed, the processor is used to execute the target position determination method described in the first aspect or any embodiments of the first aspect.

[0029] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the target position determination method described in the first aspect or any embodiments of the first aspect.

[0030] In a fifth aspect, the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the target position determination method described in the first aspect or any embodiments of the first aspect.

[0031] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the prior art:

[0032] A method and device for determining a target position provided in an embodiment of the present application forwardly solves the target position (including longitude and latitude) through the coordinate conversion relationship between the target observation value in the local observation coordinate system and the target position in the geographic coordinate system, and then replaces the solved target height with the observed height of the target actually detected, updates the target position, calculates the distance, azimuth and elevation initial values ​​of the target in the target observation value according to the updated target position, retains the calculated elevation information, and replaces the calculated distance and azimuth with the detected target distance and azimuth to form a new target observation value solution element for the next round of calculation. In this way, it is iterated back and forth to obtain a gradually converging target elevation angle for solving the target position. Under the condition that the three-dimensional detection elements of a single detection source are incomplete, it is achieved to avoid involving complex earth surface geometry calculations, and directly use the coordinate conversion formula to calculate a more accurate final target position. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a flow chart of a method for determining a target position provided in an embodiment of the present application;

[0034] Figure 2 is a schematic diagram of a target detection azimuth profile provided in an embodiment of the present application;

[0035] Figure 3 is a schematic diagram of a local observation coordinate system provided in an embodiment of the present application;

[0036] Figure 4 is a schematic diagram of a geographic coordinate system provided in an embodiment of the present application;

[0037] Figure 5 is a schematic diagram of a local rectangular coordinate system provided in an embodiment of the present application;

[0038] Figure 6 is a schematic diagram of the structure of a target position determination device provided in an embodiment of the present application;

[0039] Figure 7 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0041] The term "and / or" in this article is a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The symbol " / " in this article indicates that the associated objects are in an or relationship, for example, A / B means A or B.

[0042] The terms "first" and "second" in the specification and claims herein are used to distinguish different objects rather than to describe a specific order of the objects. For example, the first coordinate transformation relationship and the second coordinate transformation relationship are used to distinguish different coordinate transformation relationships rather than to describe a specific order of the coordinate transformation relationships.

[0043] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0044] In the description of the embodiments of the present application, unless otherwise specified, “plurality” means two or more than two.

[0045] A method and device for determining a target position provided in an embodiment of the present application belongs to the field of data processing technology, more specifically, to the field of intelligence processing or data fusion technology, and specifically relates to a method for solving a target position element under multiple sensor detection conditions. The method can be used for solving target position elements of multi-platform and multi-sensor systems. The method is suitable for multi-source detection position information fusion under the condition of missing single-source detection elements, and provides a method for cooperative target position solution that is easy to process by computer.

[0046] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0047] See also Figure 1 A target position determination method provided in an embodiment of the present application may include: steps 110 to 150.

[0048] Step 110 obtains the target position according to the coordinate conversion relationship between the target observation value in the local observation coordinate system and the target position in the geographic coordinate system and the target observation value;

[0049] Step 120 updates the target height in the target position according to the observed height of the target;

[0050] Step 130 updates the initial elevation angle in the target observation value according to the coordinate transformation relationship and the updated target position;

[0051] Step 140 updates the target distance and orientation in the target observation value according to the observed target distance and orientation, and returns to execute the target observation value according to the coordinate conversion relationship between the target observation value in the local observation coordinate system and the target position in the geographic coordinate system and the target observation value to obtain the target position until the iteration termination condition is met;

[0052] Step 150 determines the final position of the target based on the observation height, the coordinate transformation relationship and the target observation value after the last execution.

[0053] In the embodiment of the present application, by utilizing the idea of ​​iterative approximation, under the condition that the forward and reverse solutions of the longitude and latitude altitude and the distance azimuth and elevation angles are already available, the target elevation angle is first roughly calculated using the altitude information and the relationship between plane trigonometric functions as the initial value of the iterative calculation, and then the target longitude and latitude altitude is positively solved through the coordinate conversion relationship, and then the calculated target altitude is replaced by the actual detection altitude, and the inverse solution formula is substituted to calculate the target distance azimuth and elevation angle, thereby iterating back and forth to obtain a gradually converging target elevation angle value for solving the target final position.

[0054] Please see further Figure 2 , the target observation value in the local observation coordinate system usually includes the target distance, azimuth and elevation, which can be expressed as (d, b, e). The sensor observation can usually be modeled as:

[0055]

[0056] Where d represents the target distance, b represents the target azimuth, and e represents the target elevation angle; d0 represents the true value of the target distance, b0 represents the true value of the target azimuth, and e0 represents the true value of the target elevation angle; ξ d represents the target distance error observed by the sensor, ξ b represents the target orientation error observed by the sensor, ξ e Represents the target elevation angle error observed by the sensor.

[0057] The two-coordinate radar observation (d, b) is:

[0058]

[0059] Two-coordinate radars have incomplete position elements and cannot calculate the unique position of a target. Two-coordinate radars refer to radars that can only provide target distance and azimuth detection. Correspondingly, radars that can provide target distance, azimuth, and elevation detection are called three-coordinate radars.

[0060] The target carries an altimeter, which can obtain the absolute height h, that is, the observed height of the target, and e is the target elevation angle in the local observation coordinate system. Determining the target elevation angle can solve the target's final position information. The target elevation angle e is determined as the estimated quantity. Among them, the absolute height is the height from the target position to the earth's sea level. Correspondingly, the relative height is the height difference between the target position and the observation point position.

[0061] In a specific implementation, in step 110, the coordinate transformation relationship may specifically include a first coordinate transformation relationship and a second coordinate transformation relationship, wherein the first coordinate transformation relationship is a coordinate transformation relationship from a target observation value in a local observation coordinate system to a target position in a geographic coordinate system; and the second coordinate transformation relationship is a coordinate transformation relationship from a target position in a geographic coordinate system to a target observation value in a local observation coordinate system.

[0062] Please see further Figure 3 The local observation coordinate system is a polar coordinate system established with the observation platform location as the pole and due north as the polar axis.

[0063] Please see further Figure 4 , this geographic coordinate system is a spherical coordinate system that uses longitude and latitude to represent ground points.

[0064] The target observation value may specifically include target distance, target azimuth and target elevation angle initial value.

[0065] Furthermore, in some embodiments, in the above steps, the method for obtaining the initial value of the elevation angle in the target observation value includes:

[0066] Determine the initial value of the elevation angle in the target observation value based on the target's observed height and the observed target distance.

[0067] Please continue to see Figure 2 , the true value of the target elevation angle e0 = arcsin (h' / d), since h' is unknown, the absolute height of the target h is used instead of h' to calculate:

[0068] e s =arcsin(h / d);

[0069] With e s Substitute it into the subsequent steps as the initial value of the target elevation angle.

[0070] The initial values ​​of the target distance, azimuth and elevation in the target observation values ​​are substituted into the coordinate conversion relationship to calculate the target position, which may include the longitude, latitude and altitude of the target in the geographic coordinate system (hereinafter referred to as latitude, longitude and altitude).

[0071] Since the subsequent iterative calculation method is used, the selection of the initial value of the calculation is sensitive to a certain extent. If the initial value of the target elevation angle is not selected properly, the iterative result may not converge. Therefore, under the condition of relatively accurate height detection, the initial value of the elevation angle is calculated using the trigonometric function relationship, which is simple and easy to implement while ensuring the convergence of the result.

[0072] In step 120, the target height in the target position calculated above is replaced by the observed height of the target to form a new target position.

[0073] In step 130, the new target position is substituted into the coordinate transformation relationship to calculate new target observation values, including a new target distance, a new target azimuth, and a new initial value of the target elevation angle.

[0074] In step 140, the target distance and azimuth (d, b) observed by the two-coordinate radar are used to replace the new target distance and new target azimuth in the new target observation value. The above steps 110 to 130 are repeatedly executed until the iteration termination condition is satisfied. In the process of continuous iteration and repeated calculation, the initial value of the target elevation angle continuously approaches the true value of the target elevation angle. The initial value of the target elevation angle obtained after the last execution of the above steps can be considered to converge to the true value of the target elevation angle.

[0075] In step 150, the target distance, azimuth and elevation initial values ​​in the target observation values ​​obtained after the last execution of the above steps are substituted into the above coordinate transformation relationship to obtain the target position, including the target longitude and latitude altitude, and the target altitude is replaced by the observed altitude to obtain the final target position.

[0076] The target position determination method and device provided in the embodiment of the present application forward solve the target position (including longitude and latitude height) through the coordinate conversion relationship between the target observation value in the local observation coordinate system and the target position in the geographic coordinate system, and then replace the solved target height with the observed height of the target actually detected, update the target position, calculate the distance, azimuth and elevation initial values ​​of the target in the target observation value according to the updated target position, retain the calculated elevation information, and replace the calculated distance and azimuth with the detected target distance and azimuth to form a new target observation value solution element for the next round of calculation. In this way, it is iterated back and forth to obtain a gradually converging target elevation angle for solving the target position. Under the condition that the three-dimensional detection elements of a single detection source are incomplete, it is achieved to avoid involving complex earth surface geometry calculations and directly use the coordinate conversion formula to calculate a more accurate final target position.

[0077] Further, in some embodiments, in step 110, obtaining the target position according to the coordinate conversion relationship between the target observation value in the local observation coordinate system and the target position in the geographic coordinate system and the target observation value may include:

[0078] The target position is obtained based on the first coordinate transformation relationship from the target observation value in the local observation coordinate system to the target position in the geographic coordinate system, the target observation value and the observation point position in the geographic coordinate system.

[0079] In the embodiment of the present application, it is assumed that the initial values ​​of the target distance, azimuth and elevation angle in the target observation value in the local observation coordinate system are (d, b, e s ), the latitude and longitude of the target location in the geographic coordinate system is (Lon T ,Lat T ,Alt T ), the latitude and longitude of the observation point in the geographic coordinate system is (Lon, Lat, Alt), and the first coordinate transformation relationship from the target observation value in the local observation coordinate system to the target position in the geographic coordinate system is f1. The target position can be calculated by the following formula:

[0080]

[0081] By way of example, the specific implementation of the present application is described below in combination with the actual application background. Platform A is equipped with a secondary air traffic control radar to detect and guide target B (aircraft), and the aircraft reports the real-time altitude information measured by the altimeter through the data link. The precise position of the aircraft (distance, azimuth, elevation, and latitude and longitude altitude) needs to be calculated based on the distance and azimuth information detected by the secondary air traffic control radar and the altitude information obtained by the altimeter.

[0082] Establish the target observation model to determine the estimated quantity;

[0083] The target observation values ​​in the local observation coordinate system are usually the target distance, azimuth and elevation, usually expressed as (d, b, e). Sensor observations can usually be modeled as:

[0084]

[0085] Secondary air traffic control radar is a two-coordinate radar, and its detection quantity includes target distance and azimuth, i.e. (d, b):

[0086]

[0087] Secondary air traffic control radar only contains two-dimensional coordinates of distance and azimuth, lacks target elevation detection information, has incomplete position elements, and cannot solve the unique three-dimensional position of the target.

[0088] The altimeter carried by the aircraft can obtain the absolute height h, and e is the target elevation angle in the local observation coordinate system. Determining the target elevation angle can solve the unique position information of the target. Therefore, the target elevation angle e is determined as the estimated value.

[0089] Preset the initial value of the estimated quantity;

[0090] According to the relationship of trigonometric functions, the true value of the target elevation angle is: e0 = arcsin (h' / d). Since h' is unknown, the absolute height h measured by the altimeter is used instead of h' to calculate:

[0091] e s =arcsin(h / d);

[0092] With e s Substitute it into the subsequent calculation steps as the initial value of the target elevation angle.

[0093] Establish a coordinate transformation model;

[0094] Assume the latitude and longitude height of observation point A in the geographic coordinate system (j1, w1, h1), the initial values ​​of distance, azimuth and elevation angle of target B in the local observation coordinate system (d, b, e s ), the latitude and longitude of target B in the geographic coordinate system (j2, w2, h2), and the forward and reverse conversion models are established for the target latitude and longitude altitude and distance azimuth and elevation according to the coordinate conversion formula.

[0095] The first coordinate conversion relationship f1 from the initial values ​​of target distance, azimuth and elevation in the local observation coordinate system to the target latitude and longitude in the geographic coordinate system:

[0096] Given the position of observation point A (j1, w1, h1), the target distance, azimuth and elevation initial values ​​(d, b, e) of target B in the local observation coordinate system s ) to the latitude and longitude height of target B in the geographic coordinate system:

[0097]

[0098] Among them, x, y and z are the horizontal axis, vertical axis and vertical axis in the local rectangular coordinate system, D(j1,w1) is the first transformation matrix, T(j1,w1,h1) is the first displacement matrix, which can be calculated by the following formula:

[0099]

[0100] In the formula, is the Earth's ellipsoidal flattening; is the radius of the first latitude of the earth, and r=6378137 meters is the major semi-axis of the earth.

[0101] In the embodiment of the present application, the local rectangular coordinate system is a right-handed rectangular coordinate system established with the observation platform position as the origin, the due north as the y-axis direction, the due east as the x-axis, and the celestial direction as the z-axis direction, such as Figure 5 shown.

[0102] Further, in some embodiments, in step 130, updating the initial value of the elevation angle in the target observation value according to the coordinate transformation relationship and the updated target position may include:

[0103] The initial value of the elevation angle in the target observation value is updated according to the second coordinate transformation relationship from the target position in the geographic coordinate system to the target observation value in the local observation coordinate system, the updated target position and the observation point position in the geographic coordinate system.

[0104] In the embodiment of the present application, it is assumed that the initial values ​​of the target distance, azimuth and elevation angle of the target observation value in the local observation coordinate system are (d, b, e s ), the latitude and longitude of the target location in the geographic coordinate system is (Lon T ,Lat T ,Alt T ), the second coordinate transformation relationship from the target position in the geographic coordinate system to the target observation value in the local observation coordinate system is f2, and the target observation value can be calculated by the following formula:

[0105]

[0106] Exemplarily, given the position of observation point A (j1, w1, h1) in the geographic coordinate system and the position of target B (j2, w2, h2) in the geographic coordinate system, the conversion f2 from the latitude and longitude altitude of target B in the geographic coordinate system to the distance azimuth and elevation angle of the target in the observation coordinate system is:

[0107]

[0108] Among them, D(j2,w2) is the second transformation matrix and T(j2,w2,h2) is the second displacement matrix, which can be calculated by the following formula:

[0109]

[0110] In the formula, is the second latitude radius of the Earth.

[0111] Assume the latitude and longitude height of observation point A in the geographic coordinate system (j1, w1, h1), the initial values ​​of distance, azimuth and elevation angle of target B in the local observation coordinate system (d, b, e s ), combined with the above first coordinate conversion relationship, the latitude and longitude height of target B in the geographic coordinate system is obtained as (j2, w2, h2). The latitude and longitude height of target B in (j2, w2, h2) is replaced by the observed height, and the new latitude and longitude height of target B is obtained as (j2, w2, h), and combined with the above second coordinate conversion relationship, the new initial value of the elevation angle in the target observation value is obtained.

[0112] The target position determination method provided in the embodiment of the present application uses the coordinate transformation relationship for iterative calculation under the premise of a known coordinate transformation relationship. In each round of iterative calculation, the elevation angle obtained in the previous round of calculation is first used to calculate the target latitude and longitude altitude through the SPL forward solution formula, and then the calculated altitude is replaced by the actual height measured by the altimeter, and the target distance, azimuth and initial elevation angle are calculated through the SPL inverse solution formula. Through the iteration of the forward solution and the inverse solution and partial manual correction, the initial value of the target elevation angle is substituted into the parameter to gradually approach the true value of the target elevation angle. Since the SPL forward solution formula and the inverse solution formula are basic position solution formulas in the process of processing the target position information, compared with the method of directly calculating the surface geometric model, the present application uses the existing formula in an iterative manner to solve the problem of accurate calculation of the target position, avoiding additional algorithm modeling design.

[0113] Furthermore, in some embodiments, in the above steps, the iteration termination condition may include:

[0114] The number of executions reaches the preset upper limit of iterative calculations or the target elevation angle change rate is less than the preset value.

[0115] In the specific implementation, after the coordinate transformation model is established, the estimated value (i.e. the initial value of the target elevation angle) is iteratively calculated to make it continuously converge to the true value of the target elevation angle.

[0116] Step 1: The target observation value (d, b, e) in the local observation coordinate system is known. s ) and the observation point A position in the local coordinate system (Lon, Lat, Alt), call the first coordinate transformation relationship f1 to calculate the target latitude and longitude height in the geographic coordinate system:

[0117]

[0118] The calculated target height Alt is replaced by the observed target height h. T , forming the new target longitude and latitude (Lon T ,Lat T ,h). The new target longitude and latitude (Lon T ,Lat T ,h) Substitute the second coordinate transformation relationship f2 to obtain the target (d1, b1, e1) calculation value, retain the target elevation angle calculation result e1, and construct a new target observation value (d, b, e1) in combination with the observed target distance and azimuth.

[0119] Step 2: Substitute the new target observation value (d, b, e1) into step 1 to obtain the new target observation value (d, b, e1). k ). The new target observation value is used as the input information of the target position solution to obtain the final target position. Where k is the number of iterative calculations in step 1.

[0120] For example, the target observation value (d, b, e) in the local observation coordinate system is known. s ) and the observation point A position in the geographic coordinate system (j1, w1, h1), call f1 to calculate the target latitude and longitude height in the geographic coordinate system:

[0121]

[0122] The calculated target height h2 is replaced by the observed height h obtained by the altimeter to form a new latitude and longitude height (j2, w2, h). Substituting it into f2, the calculated values ​​of target distance, azimuth and target elevation angle (d′, b′, e′) can be obtained:

[0123]

[0124] The target elevation angle calculation result e′ is retained, and a new target observation value (d, b, e′) is constructed using the range azimuth (d, b) obtained by secondary air traffic control radar detection and the calculated elevation angle e′.

[0125] Substitute the newly constructed target observation (d, b, e′) into the above forward solution and reverse solution steps to obtain the target observation value (d, b, e′) in the new local observation coordinate system. k ′).

[0126] The position of target B is constantly approaching the true value of the target elevation angle during the process of f1 (forward solution) and f2 (reverse solution). The target elevation angle change rate is defined as δ e , then:

[0127] δ e =(e k -e k-1 ) / e k-1 ;

[0128] In the formula, e k-1 is the initial value of the target elevation angle during the k-1th iterative calculation process.

[0129] Construct the iteration termination condition Condition:

[0130] Condition:δ e <ξ,or,k>N;

[0131] Where ξ is the preset value and N is the preset upper limit of the number of iterative calculations. Determine δ according to actual engineering needs. e and N. In this case, δ e =0.1, N=5.

[0132] If the k-times calculation results satisfy the condition Condition, the iterative calculation ends.

[0133] If the k-times calculation result does not satisfy the condition Condition, the forward solution and reverse solution steps are used to continue the calculation.

[0134] It should be noted that in the embodiment of the present application, the target elevation information is preliminarily calculated by using the relatively accurate altitude information obtained by the altitude sensor as the initial value of the calculation, and then the target elevation information obtained by the calculation is used to construct the target observation value triplet in the local observation coordinate system: target distance, azimuth and initial elevation value. The target longitude and latitude altitude is calculated using the distance azimuth and elevation initial values ​​and the origin position of the sensor platform, and then the target altitude is calculated by replacing the actual detected altitude, and the distance azimuth and elevation from the target to the detection platform are reversely calculated again. The calculation is iterated in this way until the convergence condition of the target position calculation is reached. In actual engineering implementation, the rate of change of elevation angle or the number of iterative calculations can be used as the convergence condition for ending the iterative calculation. In the actual simulation experiment, it can converge to the vicinity of the true value of the target position after three iterations.

[0135] The target position determination method provided in the embodiment of the present application, by defining the target elevation angle change rate and specifying the number of iterations, ensures that the result that meets the accuracy requirements is obtained without consuming too much computing time. At the same time, using the target elevation angle change rate or the specified number of iterations as the judgment condition for terminating the calculation meets the requirements of engineering applications and is also convenient for controlling calculation errors. At the same time, combined with the computing resource conditions, limiting the total number of iterations is conducive to controlling the time performance of the algorithm.

[0136] Further, in some embodiments, in step 150, determining the final position of the target according to the observation height, the coordinate transformation relationship and the target observation value after the last execution includes:

[0137] Determine the target position according to the target observation value after the last execution, the first coordinate transformation relationship from the target observation value in the local observation coordinate system to the target position in the geographic coordinate system, and the observation point position in the geographic coordinate system;

[0138] According to the observed height, the target height in the target position is updated to determine the final position of the target.

[0139] In the specific implementation, it is assumed that the initial value of the target elevation angle obtained after the nth iteration calculation process converges to the true value of the target elevation angle. The target distance, azimuth and initial value of the elevation angle in the final target observation value calculated according to the nth iteration are (d, b, e n ). According to the first coordinate transformation relationship f1, we have:

[0140]

[0141]

[0142] In the formula, is the target latitude and longitude height after the nth iteration, and is replaced by the target observation height h Get the final target position

[0143] The target position determination device provided by the present invention is described below. The target position determination device described below and the target position determination method described above can be referenced to each other.

[0144] See also Figure 6 , the embodiment of the present application provides a target position determination device, which may include: a first acquisition module 610, a first update module 620, a second update module 630, a second acquisition module 640 and a third acquisition module 650. The first acquisition module 610 is used to acquire the target position according to the coordinate conversion relationship between the target observation value in the local observation coordinate system and the target position in the geographic coordinate system and the target observation value;

[0145] A first updating module 620, configured to update the target height in the target position according to the observed height of the target;

[0146] A second updating module 630 is used to update the initial value of the elevation angle in the target observation value according to the coordinate transformation relationship and the updated target position;

[0147] The second acquisition module 640 is used to update the target distance and orientation in the target observation value according to the observed target distance and orientation, and return to execute the coordinate transformation relationship between the target observation value in the local observation coordinate system and the target position in the geographic coordinate system and the target observation value to obtain the target position until the iteration termination condition is met;

[0148] The third acquisition module 650 is used to determine the final position of the target according to the observation height, the coordinate conversion relationship and the target observation value after the last execution.

[0149] The target position determination device provided in the embodiment of the present application forward solves the target position (including longitude and latitude height) through the coordinate conversion relationship between the target observation value in the local observation coordinate system and the target position in the geographic coordinate system, and then replaces the solved target height with the observed height of the target actually detected, updates the target position, calculates the distance, azimuth and elevation initial values ​​of the target in the target observation value according to the updated target position, retains the calculated elevation information, and replaces the calculated distance and azimuth with the detected target distance and azimuth to form a new target observation value solution element for the next round of calculation. In this way, it is iterated back and forth to obtain a gradually converging target elevation angle for solving the target position. Under the condition that the three-dimensional detection elements of a single detection source are incomplete, it is achieved to avoid involving complex earth surface geometry calculations, and directly use the coordinate conversion formula to calculate a more accurate final target position.

[0150] It can be understood that the detailed functional implementation of each of the above-mentioned units / modules can be found in the introduction of the aforementioned method embodiment, and will not be repeated here.

[0151] It should be understood that the above-mentioned device is used to execute the method in the above-mentioned embodiment. The implementation principle and technical effect of the corresponding program module in the device are similar to those described in the above-mentioned method. The working process of the device can refer to the corresponding process in the above-mentioned method, which will not be repeated here.

[0152] Based on the method in the above embodiment, the present application embodiment provides an electronic device, see Figure 7 The electronic device may include: a processor (Processor) 710, a communication interface (CommunicationsInterface) 720, a memory (Memory) 730 and a communication bus 740, wherein the processor 710, the communication interface 720, and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute the method in the above embodiment.

[0153] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0154] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method in the above embodiment.

[0155] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method in the above embodiment.

[0156] It is understandable that the processor in the embodiment of the present application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0157] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC.

[0158] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions may be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

[0159] It should be understood that the various numerical numbers involved in the embodiments of the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0160] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for determining a target position, characterized in that: include: Acquire the target position according to the coordinate conversion relationship between the target observation value in the local observation coordinate system and the target position in the geographic coordinate system and the target observation value; updating the target height in the target position according to the observed height of the target; According to the coordinate transformation relationship and the updated target position, updating the initial value of the elevation angle in the target observation value; According to the observed target distance and azimuth, the target distance and azimuth in the target observation value are updated, and the target position is obtained according to the coordinate transformation relationship between the target observation value in the local observation coordinate system and the target position in the geographic coordinate system and the target observation value, until the iteration termination condition is met; The final position of the target is determined according to the observation height, the coordinate transformation relationship and the target observation value after the last execution.

2. The target position determination method according to claim 1, characterized in that: The step of acquiring the target position according to the coordinate conversion relationship between the target observation value in the local observation coordinate system and the target position in the geographic coordinate system and the target observation value comprises: The target position is acquired according to a first coordinate transformation relationship from the target observation value in the local observation coordinate system to the target position in the geographic coordinate system, the target observation value and the observation point position in the geographic coordinate system.

3. The target position determination method according to claim 1, characterized in that: The updating of the initial value of the elevation angle in the target observation value according to the coordinate transformation relationship and the updated target position includes: The initial value of the elevation angle in the target observation value is updated according to the second coordinate transformation relationship from the target position in the geographic coordinate system to the target observation value in the local observation coordinate system, the updated target position and the observation point position in the geographic coordinate system.

4. The target position determination method according to claim 1, characterized in that: The method for obtaining the initial value of the elevation angle in the target observation value includes: An initial value of the elevation angle in the target observation value is determined according to the observed height of the target and the observed target distance.

5. The target position determination method according to any one of claims 1 to 4, characterized in that: The iteration termination condition includes: The number of executions reaches the preset upper limit of iterative calculations or the target elevation angle change rate is less than the preset value.

6. The target position determination method according to any one of claims 1 to 4, characterized in that: Determining the final position of the target according to the observation height, the coordinate transformation relationship and the target observation value after the last execution includes: Determine the target position according to the target observation value after the last execution, the first coordinate transformation relationship from the target observation value in the local observation coordinate system to the target position in the geographic coordinate system, and the observation point position in the geographic coordinate system; According to the observed height, the target height in the target position is updated to determine the final position of the target.

7. A target position determination device, characterized in that: include: A first acquisition module, configured to acquire the target position according to a coordinate conversion relationship between a target observation value in a local observation coordinate system and a target position in a geographic coordinate system and the target observation value; A first updating module, used for updating the target height in the target position according to the observed height of the target; A second updating module, used for updating the initial value of the elevation angle in the target observation value according to the coordinate transformation relationship and the updated target position; A second acquisition module is used to update the target distance and orientation in the target observation value according to the observed target distance and orientation, and return to execute the coordinate transformation relationship between the target observation value in the local observation coordinate system and the target position in the geographic coordinate system and the target observation value to obtain the target position until the iteration termination condition is met; The third acquisition module is used to determine the final position of the target according to the observation height, the coordinate transformation relationship and the target observation value after the last execution.

8. An electronic device, characterized in that: include: at least one memory for storing a computer program; At least one processor is used to execute the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the target position determination method as described in any one of claims 1-6.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program runs on a processor, the processor is enabled to execute the target position determination method according to any one of claims 1 to 6.

10. A computer program product, characterized in that When the computer program product runs on a processor, the processor is enabled to execute the target position determination method according to any one of claims 1 to 6.

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