Radiation source and scattering point combined positioning method

Abstract

The invention belongs to the technical field of radio positioning, and particularly relates to radiation source and scattering point combined positioning. According to the method, the radiation source is detected through the main station and the auxiliary station, meanwhile, a scattering point exists in a detection area, the scattering point scatters signals of the radiation source, the main station and the auxiliary station receive direct wave signals of the radiation source and meanwhile receive scattering signals of the scattering point, and combined positioning of the radiation source and the scattering point is achieved. According to the method, the main station passive detection equipment and the auxiliary station passive detection equipment are used for carrying out incoming wave direction measurement and arrival time difference measurement, and combined positioning of a radiation source and a scattering point can be realized only by using two stations; the method can be used for an application scene in which a radiation source with a radiation signal and a plurality of scattering points for scattering the radiation signal of the radiation source exist in a detection area.

Description

Technical Field

[0001] The invention belongs to the technical field of radio positioning, and in particular relates to a combined positioning of a radiation source and a scattering point. Background Art

[0002] The commonly used passive positioning method is to use the passive detection equipment of the main station and the passive detection equipment of the auxiliary station to measure the direction of the radiation source signal and perform dual-station direction finding cross-positioning. It has been widely used in radio monitoring, spectrum management, interference source positioning and other fields.

[0003] In practical applications, since the signals received by the passive detection equipment of the master station and the passive detection equipment of the auxiliary station include not only the direct wave signals radiated by the radiation source, but also the signals scattered by the scattering points in the environment that reflect the radiation signals of the radiation source, the dual-station wave direction measurement and direction finding cross-positioning can not only locate the radiation source, but also the scattering points in the environment. However, when the passive detection equipment of the master station and the passive detection equipment of the auxiliary station perform wave direction measurement, they will determine the wave directions of the direct wave signals radiated by the radiation source and the signals scattered by multiple scattering points, resulting in the number of cross-positioning points appearing during the dual-station direction finding cross-positioning far exceeding the number of radiation sources and scattering points, making it difficult to locate the radiation source and scattering point positions from the large number of cross-positioning points.

[0004] In order to locate the radiation source and scattering point from a large number of cross-positioning points, a commonly used method is a multi-station direction finding cross-positioning method with two or more auxiliary stations. Among the cross-positioning points determined by the direction finding cross-positioning of the main station and the first auxiliary station, the cross-positioning point closest to the straight line corresponding to the incoming wave direction measurement determined by the second auxiliary station is selected as the location of the radiation source and scattering point. However, the multi-station direction finding cross-positioning method requires an increase in the number of auxiliary stations, which increases the complexity and cost of the passive positioning system.

[0005] In fact, when the passive detection equipment of the main station and the passive detection equipment of the auxiliary station perform wave direction measurement, not only the wave directions of the direct wave signal radiated by the radiation source and the signals scattered by multiple scattering points can be determined, but also the arrival time difference of the signals scattered by multiple scattering points relative to the direct wave signal radiated by the radiation source can be determined. Therefore, it is necessary to develop a positioning method that uses a main station passive detection equipment and an auxiliary station master station passive detection equipment to measure the wave direction and arrival time difference, so as to realize the joint positioning of the radiation source and the scattering points in the dual-station case. Summary of the invention

[0006] In view of the above problems, the present invention proposes a method for jointly locating a radiation source and a scattering point. For the case where there is a radiation source with a radiation signal and multiple scattering points that scatter the radiation signal of the radiation source in the detection area, firstly, the two-dimensional rectangular coordinates of the main station and the auxiliary station are set, the main station determines the direction of the direct wave signal radiated by the earliest arriving radiation source, the direction of the scattered signal of the scattering point that scatters the radiation signal of the radiation source, and the arrival time difference relative to the direct wave signal radiated by the radiation source, and the auxiliary station determines the direction of the direct wave signal radiated by the earliest arriving radiation source, the direction of the scattered signal of the scattering point that scatters the radiation signal of the radiation source, and the arrival time difference relative to the direct wave signal radiated by the earliest arriving radiation source; secondly, the direction of the direct wave signal radiated by the earliest arriving radiation source determined by the main station and the direction of the direct wave signal radiated by the earliest arriving radiation source determined by the auxiliary station are used to determine the direction of the direct wave signal The distance vector of the two stations of the radiation source is obtained; then, the pairing vector of the wave directions of the main station and the auxiliary station is determined by using the wave direction of the scattered signal of the scattering point determined by the main station and the wave direction of the scattered signal of the scattering point determined by the auxiliary station, thereby determining the pairing matrix of the wave directions of the main station and the auxiliary station; then, the pairing matrix of the arrival time difference of the scattered signal of the scattering point determined by the main station relative to the direct wave signal radiated by the earliest arriving radiation source and the arrival time difference of the scattered signal of the scattering point determined by the auxiliary station relative to the direct wave signal radiated by the earliest arriving radiation source are determined; then, the difference matrix of the pairing matrix of the wave direction and the pairing matrix of the arrival time difference and the element number with the smallest absolute value among all elements of each row vector thereof are determined, thereby determining the distance vector of the two stations of the scattering point; finally, the two-dimensional rectangular coordinate vector of the radiation source and the two-dimensional rectangular coordinate vector of the scattering point are determined, thereby determining the joint positioning result of the radiation source and the scattering point.

[0007] The technical solution of the present invention is:

[0008] A method for jointly locating a radiation source and a scattering point, wherein the method detects the radiation source through a main station and an auxiliary station, and at the same time, there are N scattering points in the detection area, and the scattering points scatter the signal of the radiation source. The main station and the auxiliary station receive the scattered signals of the scattering points while receiving the direct wave signal of the radiation source, so as to realize the joint positioning of the radiation source and the scattering points, and specifically include the following steps:

[0009] S1. Set the two-dimensional rectangular coordinate vectors of the two passive detection devices, the master station and the auxiliary station, to be p1 and p2 respectively; there is a radiation source of a radiation signal and N scattering points that scatter the radiation signal of the radiation source in the detection area. The direction of the direct wave signal emitted by the earliest radiation source determined by the master station is θ 1,0 The direction of the scattered signal from the scattering point determined by the master station to scatter the radiation signal of the radiation source is θ 1,n , the arrival time difference of the direct wave signal relative to the earliest arriving radiation source is τ1,n , n is the sequence number of the direction and arrival time difference of the scattered signal determined by the master station, which is an integer greater than or equal to 1 and less than or equal to N; the direction of the direct wave signal emitted by the earliest arriving radiation source determined by the slave station is θ 2,0 The direction of the scattered signal from the scattering point determined by the auxiliary station to scatter the radiation signal of the radiation source is θ 2,k , the arrival time difference of the direct wave signal relative to the earliest arriving radiation source is τ 2,k , k is the serial number of the direction and arrival time difference of the scattered signal determined by the auxiliary station, which is an integer greater than or equal to 1 and less than or equal to N;

[0010] S2, using the direct wave signal direction θ of the earliest arriving radiation source determined by the master station 1,0 The direction of the direct wave signal emitted by the earliest radiation source determined by the auxiliary station is θ 2,0 , determine the distance vector between the two stations of the radiation source as

[0011]

[0012] in,[] -1 represents the inverse matrix;

[0013] S3, using the scattered signal of the scattering point determined by the master station, the wave direction is θ 1,n The direction of the scattered signal from the scattering point determined by the auxiliary station is θ 2,k , determine the pairing vector of the incoming wave direction of the primary station and the secondary station as

[0014]

[0015] Thus, the pairing matrix Q1 of the incoming wave direction of the primary station and the secondary station is determined, and its nth row and kth column element Q1(n,k) is

[0016] Q1(n,k)=1 T (r n,k -r0);

[0017] Among them, 1 T represents a two-dimensional row vector whose elements are all equal to 1, n is the sequence number of the scattered signal arrival direction and arrival time difference determined by the primary station, which is an integer greater than or equal to 1 and less than or equal to N, k is the sequence number of the scattered signal arrival direction and arrival time difference determined by the secondary station, which is an integer greater than or equal to 1 and less than or equal to N;

[0018] S4, using the arrival time difference τ of the scattered signal of the nth scattering point determined by the master station relative to the direct wave signal radiated by the earliest arriving radiation source 1,n , and the arrival time difference τ of the scattered signal of the kth scattering point determined by the auxiliary station relative to the direct wave signal radiated by the earliest arriving radiation source 2,k, determine the pairing matrix Q2 of the arrival time difference between the primary station and the secondary station, whose element Q2(n,k) in the nth row and the kth column is

[0019] Q2(n,k)=c(τ 1,n -τ 2,k );

[0020] Where, c is the speed of light, n is the sequence number of the direction and arrival time difference of the scattered signal determined by the primary station, which is an integer greater than or equal to 1 and less than or equal to N, and k is the sequence number of the direction and arrival time difference of the scattered signal determined by the secondary station, which is an integer greater than or equal to 1 and less than or equal to N;

[0021] S5, first determine the difference matrix Q3 = Q2-Q1 between the pairing matrix of the incoming wave direction and the pairing matrix of the arrival time difference, and then determine that the element with the smallest absolute value among all elements of the v-th row vector of the matrix Q3 is the u-th row vector. v elements, v and u v are all integers greater than or equal to 1 and less than or equal to N, so the bi-station distance vector of the vth scattering point is determined as

[0022]

[0023] S6. Finally, determine the two-dimensional rectangular coordinate vector of the radiation source as

[0024]

[0025] Where r0(1) is the first element of the distance vector r0 between the two stations of the radiation source; the two-dimensional rectangular coordinate vector of the vth scattering point is determined as

[0026]

[0027] Among them, r v (1) is the bistatic distance vector r of the vth scattering point v The first element of , thereby determining the joint positioning result of the radiation source and the scattering point.

[0028] The beneficial effects of the present invention are as follows: in the case of aliasing of multiple incoming wave signals in the time domain and frequency domain, the dual-station direction finding cross-positioning method has positioning ambiguity. Although the multi-station direction finding cross-positioning method can resolve the positioning ambiguity, it is necessary to increase the number of auxiliary stations, thereby increasing the complexity and cost of the passive positioning system. The method of the present invention utilizes a main station passive detection device and an auxiliary station main station passive detection device to measure the direction of incoming waves and the time difference of arrival. Only dual stations are used to realize the joint positioning of radiation sources and scattering points. It can be used for application scenarios in which there is a radiation source with a radiation signal and multiple scattering points that scatter the radiation signal of the radiation source in the detection area. DETAILED DESCRIPTION

[0029] The practicability of the present invention is described below in conjunction with embodiments.

[0030] Example

[0031] The two-dimensional rectangular coordinate vectors of the two passive detection devices of the master station and the auxiliary station are set to be p1 = [-7699.1; 749.8] and p2 = [7635.1; 835.2] respectively; there is a radiation source of a radiation signal and three scattering points that scatter the radiation signal of the radiation source in the detection area. The direct wave signal of the radiation source that arrives earliest determined by the master station is 34.1 degrees, and the scattered wave directions of the three scattering points that scatter the radiation signal of the radiation source determined by the master station are 80.4 degrees, 69.1 degrees and 55.2 degrees respectively, relative to the earliest radiation The arrival time differences of the direct wave signals radiated by the source are 163377.5 nanoseconds, 210890.7 nanoseconds and 319870.0 nanoseconds respectively; the direction of the direct wave signal radiated by the earliest arriving radiation source determined by the auxiliary station is 161.9 degrees, and the directions of the scattered signals of the three scattering points that scatter the radiation signals of the radiation source determined by the auxiliary station are 111.2 degrees, 92.3 degrees and 70.4 degrees respectively, and the arrival time differences relative to the direct wave signal radiated by the earliest arriving radiation source are 152660.6 nanoseconds, 188239.6 nanoseconds and 281767.5 nanoseconds respectively.

[0032] By adopting the combined positioning method of radiation source and scattering point proposed by the present invention, the two-dimensional rectangular coordinate vector of the radiation source is determined to be [-2599.8; 4201.4]. Compared with the actual two-dimensional rectangular coordinate vector of the radiation source [-2620.8; 4204.7], the positioning error is 21.3 meters. Relative to the distance from the radiation source to the main station, the relative positioning error is 0.4%; the two-dimensional rectangular coordinate vectors of the three scattering points determined are [-3012.5; 28482.4], [6253.7; 37269.2] and [ 23851.9; 46197.7], compared with the actual two-dimensional rectangular coordinate vectors of the three scattering points [-2560.3; 29760.7], [5807.3; 35671.8] and [23625.6; 44856.2], the positioning errors are 1355.9, 1658.6 and 1360.5 meters respectively. Relative to the distance from the scattering point to the main station, the relative positioning errors are 4.6%, 4.4% and 2.5% respectively. It can be seen that the method of the present invention can realize the joint positioning of the radiation source and the scattering point.

Claims

1. A method for jointly locating a radiation source and a scattering point, characterized in that: The positioning method is to detect the radiation source through the main station and the auxiliary station, and at the same time, there are N scattering points in the detection area, and the scattering points scatter the signal of the radiation source. The main station and the auxiliary station receive the scattered signals of the scattering points while receiving the direct wave signal of the radiation source, so as to realize the joint positioning of the radiation source and the scattering points, which specifically includes: S1. Assume that the two-dimensional rectangular coordinate vectors of the two passive detection devices of the master station and the auxiliary station are p1 and p2 respectively. After the detection starts, define the direction of the direct wave signal of the earliest arriving radiation source determined by the master station as θ 1,0 , the direction of the scattered signal from the nth scattering point determined by the master station is θ 1,n The arrival time difference of the scattered signal relative to the earliest direct wave signal is τ 1,n , n is the sequence number of the direction and arrival time difference of the scattered signal determined by the master station, which is an integer greater than or equal to 1 and less than or equal to N; the direction of the direct wave signal of the earliest arriving radiation source determined by the slave station is θ 2,0 , the direction of the scattered signal from the kth scattering point determined by the auxiliary station is θ 2,k The arrival time difference of the scattered signal relative to the earliest direct wave signal is τ 2,k , k is the serial number of the direction and arrival time difference of the scattered signal determined by the auxiliary station, which is an integer greater than or equal to 1 and less than or equal to N; S2. Using θ 1,0 and θ 2,0 , determine the distance vector between the two stations of the radiation source as in,[] -1 represents the inverse matrix; S3. Using θ 1,n and θ 2,k , determine the pairing vector of the incoming wave direction of the primary station and the secondary station as Thus, the pairing matrix Q1 of the incoming wave direction of the primary station and the secondary station is determined, and its nth row and kth column element Q1(n,k) is Q1(n,k)=1 T (r n,k -r0); Among them, 1 T represents a two-dimensional row vector whose elements are all equal to 1; S4. Using τ 1,n and τ 2,k , determine the pairing matrix Q2 of the arrival time difference between the primary station and the secondary station, whose element Q2(n,k) in the nth row and the kth column is Q2(n,k)=c(τ 1,n -t 2,k ); Where, is the speed of light; S5, first determine the difference matrix Q3 = Q2-Q1 between the pairing matrix of the incoming wave direction and the pairing matrix of the arrival time difference, and then determine the u-th row vector with the smallest absolute value among all elements of the v-th row vector of the matrix Q3. v elements, v and u v are all integers greater than or equal to 1 and less than or equal to N, so the bi-station distance vector of the vth scattering point is determined as S6. Finally, determine the two-dimensional rectangular coordinate vector of the radiation source as Where r0(1) is the first element of the distance vector r0 between the two stations of the radiation source; the two-dimensional rectangular coordinate vector of the vth scattering point is determined as Among them, r v (1) is the bistatic distance vector r of the vth scattering point v The first element of , thereby determining the joint positioning result of the radiation source and the scattering point.

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