Triangulation ranging source selection method and system, medium and equipment

Abstract

The invention provides a triangulation ranging source selection method and system, a medium and equipment, and the method comprises the following steps: S1, carrying out the validity judgment of all triangulation ranging data combination sources in a fixed period according to the validity judgment criterion of the triangulation ranging data combination sources, and screening out an effective triangulation ranging data combination source as an effective data combination source; s2, weighted scoring of angles and distances is carried out on the screened effective data combination sources, and if the number of the effective data combination sources is larger than or equal to three, the three effective data combination sources with the highest scores are selected; if the number of the valid data combination sources is less than three, selecting all valid data combination sources; and S3, selecting one of the selected effective data combination sources as a current resolving source. According to the method, a high-quality triangulation ranging source can be automatically selected according to a scoring criterion, an accurate triangulation ranging result is obtained by comparing and resolving position values, and stable tracking of a target is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of triangulation ranging of air defense missile weapon systems, and in particular to a triangulation ranging source selection method, system, medium and equipment. Background Art

[0002] With the rapid development and widespread application of jamming technology, the anti-jamming capability of air defense missile weapon systems has received increasing attention. At the same time, the continuous improvement of networked information warfare and multi-source information fusion technology has made the application conditions of triangulation ranging technology gradually mature. Facing an incoming target that uses distance deception jamming, a single detection source can only obtain the azimuth and elevation data of the target. By selecting two detection sources in different positions and fusing them into a triangulation ranging data combination source, the distance data of the target can be obtained by performing triangulation ranging calculation, thus achieving the purpose of anti-jamming.

[0003] When the radar is tracking a target, there are certain errors in both azimuth and pitch. Reasonable selection of triangulation data combination sources and construction of a reasonable triangulation situation can effectively improve the accuracy of the triangulation position solution and help the air defense missile weapon system intercept the target.

[0004] The patent document with publication number CN109100691A discloses a method and system for using a data source for anti-interference, which can be applied to the target information calculation of a system with multi-source data under interference conditions, and provide available target information for real-time aircraft launch. The method is divided into three parts: data source validity judgment, real-time valid data switching, and data extrapolation in invalid conditions. Other models with multi-source data can directly use this method. However, the patent document does not involve the specific technical content of triangulation ranging technology. Summary of the invention

[0005] In view of the defects in the prior art, the object of the present invention is to provide a triangulation ranging source selection method, system, medium and equipment.

[0006] A triangulation ranging source selection method provided by the present invention comprises the following steps:

[0007] Step S1: according to the validity judgment criteria of the triangulation data combination source, the validity of all the triangulation data combination sources is judged periodically, and the valid triangulation data combination sources are screened out as the valid data combination sources;

[0008] Step S2: weighted scoring of angle and distance is performed on the screened valid data combination sources. If the number of valid data combination sources is greater than or equal to three, the three valid data combination sources with the highest scores are selected; if the number of valid data combination sources is less than three, all valid data combination sources are selected;

[0009] Step S3: Select one of the selected valid data combination sources as the current solution source; if there are three selected valid data combination sources, select the valid data combination source whose triangulation solution position value is closest to the triangulation solution position values ​​of the other two valid data combination sources as the current solution source; if there are more than three selected valid data combination sources, select the valid data combination source with the highest score as the current solution source.

[0010] Preferably, in step S1, according to the validity judgment criterion of the triangulation distance measurement data combination source, the validity judgment is performed on all the triangulation distance measurement data combination sources at a fixed period, specifically:

[0011] Multiple detection sources are set, two different detection sources constitute a triangulation distance measurement data combination source, and all combinations formed by the two different detection sources are traversed to obtain multiple triangulation distance measurement data combination sources;

[0012] For a single triangulated ranging data combination source, when both detection sources it contains are valid, the triangulated ranging data combination source is determined to be valid;

[0013] The detection source is made to detect the target multiple times for N consecutive cycles. If the azimuth and pitch angle data of the target are tracked and detected each time, the detection source is determined to be valid; if the azimuth and pitch angle data of the target are lost at least once, the detection source is determined to be invalid.

[0014] Preferably, in step S2, weighted scoring of angle and distance is performed on the screened valid data combination sources, specifically:

[0015] For a single valid data combination source, its two detection sources are defined as O1 and O2, the effective detection distances of the two detection sources are defined as S1 and S2, and the horizontal plane where the detection source O2 is located is defined as the reference plane; O1' is defined as the horizontal projection of the detection source O1 on the reference plane, the target is defined as T, and T' is defined as the horizontal projection of the target T on the reference plane;

[0016] Define the horizontal distance O1'O2 between O1 and O2 as a; define the spatial distance between the detection source O1 and the target T as R1, and the horizontal distance O1'T' as b; define the spatial distance between the detection source O2 and the target T as R2, and the horizontal distance O2T' as c; define the angle between O1'T' and O2T' as β;

[0017] The detection source O1 and the detection source O2 form an effective triangulation ranging data combination source;

[0018] The distance score q of the combined source of the triangulated ranging data is s The calculation formula is:

[0019]

[0020] The angle score q of the triangulated ranging data combination source a The calculation formula is:

[0021]

[0022] The calculation formula of the comprehensive score q of the triangulated ranging data combination source is:

[0023]

[0024] All valid data combinations are scored.

[0025] Preferably, in step S3, if there are three valid data combination sources selected, then the valid data combination source whose triangulated distance measurement position value is closest to the triangulated distance measurement position values ​​of the other two valid data combination sources is selected, specifically:

[0026] Define three valid data combination sources as A, B, and C. The solved three-dimensional position points of valid data combination source A, valid data combination source B, and valid data combination source C are M1, M2, and M3 respectively. Calculate the distances of straight lines M1 M2, M2M3, and M1 M3. Let X1 = M1 M2 + M1 M3, X2 = M1 M2 + M2M3, and X3 = M2M3 + M1 M3;

[0027] If X1 is the smallest among X1, X2, and X3, then the valid data combination source A is taken as the solution data source; if X2 is the smallest among X1, X2, and X3, then the valid data combination source B is taken as the solution data source; if X3 is the smallest among X1, X2, and X3, then the valid data combination source C is taken as the solution data source.

[0028] The present invention also provides a triangulation ranging source selection system, comprising the following modules:

[0029] Module M1: According to the validity judgment criteria of the triangulation data combination source, the validity of all triangulation data combination sources is judged periodically, and the valid triangulation data combination sources are screened out as the valid data combination sources;

[0030] Module M2: weighted scoring of angle and distance for the selected valid data combination sources. If the number of valid data combination sources is greater than or equal to three, select the three valid data combination sources with the highest scores; if the number of valid data combination sources is less than three, select all valid data combination sources;

[0031] Module M3: Select one of the selected valid data combination sources as the current solution source; if there are three selected valid data combination sources, select the valid data combination source whose triangulation solution position value is closest to the triangulation solution position values ​​of the other two valid data combination sources as the current solution source; if there are more than three selected valid data combination sources, select the valid data combination source with the highest score as the current solution source.

[0032] Preferably, in the module M1, according to the validity judgment criteria of the triangulation distance measurement data combination source, the validity judgment is performed on all the triangulation distance measurement data combination sources at a fixed period, specifically:

[0033] Multiple detection sources are set, two different detection sources constitute a triangulation distance measurement data combination source, and all combinations formed by the two different detection sources are traversed to obtain multiple triangulation distance measurement data combination sources;

[0034] For a single triangulated ranging data combination source, when both detection sources it contains are valid, the triangulated ranging data combination source is determined to be valid;

[0035] The detection source is made to detect the target multiple times for N consecutive cycles. If the azimuth and pitch angle data of the target are tracked and detected each time, the detection source is determined to be valid; if the azimuth and pitch angle data of the target are lost at least once, the detection source is determined to be invalid.

[0036] Preferably, in the module M2, weighted scoring of angle and distance is performed on the screened valid data combination sources, specifically:

[0037] For a single valid data combination source, its two detection sources are defined as O1 and O2, the effective detection distances of the two detection sources are defined as S1 and S2, and the horizontal plane where the detection source O2 is located is defined as the reference plane; O1' is defined as the horizontal projection of the detection source O1 on the reference plane, the target is defined as T, and T' is defined as the horizontal projection of the target T on the reference plane;

[0038] Define the horizontal distance O1'O2 between O1 and O2 as a; define the spatial distance between the detection source O1 and the target T as R1, and the horizontal distance O1'T' as b; define the spatial distance between the detection source O2 and the target T as R2, and the horizontal distance O2T' as c; define the angle between O1'T' and O2T' as β;

[0039] The detection source O1 and the detection source O2 form an effective triangulation ranging data combination source;

[0040] The distance score q of the combined source of the triangulated ranging data is s The calculation formula is:

[0041]

[0042] The angle score q of the triangulated ranging data combination source a The calculation formula is:

[0043]

[0044] The calculation formula of the comprehensive score q of the triangulated ranging data combination source is:

[0045]

[0046] All valid data combinations are scored.

[0047] Preferably, in the module M3, if three valid data combination sources are selected, the valid data combination source whose triangulated distance measurement position value is closest to the triangulated distance measurement position values ​​of the other two valid data combination sources is selected, specifically:

[0048] Define three valid data combination sources as A, B, and C. The solved three-dimensional position points of valid data combination source A, valid data combination source B, and valid data combination source C are M1, M2, and M3 respectively. Calculate the distances of straight lines M1 M2, M2M3, and M1 M3. Let X1 = M1 M2 + M1 M3, X2 = M1 M2 + M2M3, and X3 = M2M3 + M1 M3;

[0049] If X1 is the smallest among X1, X2, and X3, then the valid data combination source A is taken as the solution data source; if X2 is the smallest among X1, X2, and X3, then the valid data combination source B is taken as the solution data source; if X3 is the smallest among X1, X2, and X3, then the valid data combination source C is taken as the solution data source.

[0050] The present invention also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned triangulation ranging source selection method are implemented.

[0051] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the above-mentioned triangulation ranging source selection method when executed by the processor.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] The triangulation ranging source selection method of the present invention can automatically select high-quality triangulation ranging sources according to scoring criteria, obtain accurate triangulation ranging results by comparing and solving position values, and realize stable tracking of the target. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0055] Figure 1 Schematic diagram of the detection source.

[0056] Figure 2 This is a top view of triangulation.

[0057] Figure 3 This is a schematic diagram of triangulation ranging. DETAILED DESCRIPTION

[0058] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0059] Embodiment 1:

[0060] like Figure 1-3 As shown, this embodiment provides a triangulation ranging source selection method, comprising the following steps:

[0061] Step S1: according to the validity judgment criteria of the triangulation data combination source, the validity of all the triangulation data combination sources is judged periodically, and the valid triangulation data combination sources are screened out as the valid data combination sources;

[0062] According to the validity judgment criteria of triangulation distance measurement data combination source, the validity of all triangulation distance measurement data combination sources is judged periodically, specifically:

[0063] Multiple detection sources are set, two different detection sources constitute a triangulation distance measurement data combination source, and all combinations formed by the two different detection sources are traversed to obtain multiple triangulation distance measurement data combination sources;

[0064] For a single triangulated ranging data combination source, when both detection sources it contains are valid, the triangulated ranging data combination source is determined to be valid;

[0065] The detection source is made to detect the target multiple times for N consecutive cycles. If the azimuth and pitch angle data of the target are tracked and detected each time, the detection source is determined to be valid; if the azimuth and pitch angle data of the target are lost at least once, the detection source is determined to be invalid.

[0066] Step S2: weighted scoring of angle and distance is performed on the screened valid data combination sources. If the number of valid data combination sources is greater than or equal to three, the three valid data combination sources with the highest scores are selected; if the number of valid data combination sources is less than three, all valid data combination sources are selected;

[0067] The screened valid data combination sources are scored by angle and distance weights, specifically:

[0068] For a single valid data combination source, its two detection sources are defined as O1 and O2, the effective detection distances of the two detection sources are defined as S1 and S2, and the horizontal plane where the detection source O2 is located is defined as the reference plane; O1' is defined as the horizontal projection of the detection source O1 on the reference plane, the target is defined as T, and T' is defined as the horizontal projection of the target T on the reference plane;

[0069] Define the horizontal distance O1'O2 between O1 and O2 as a; define the spatial distance between the detection source O1 and the target T as R1, and the horizontal distance O1'T' as b; define the spatial distance between the detection source O2 and the target T as R2, and the horizontal distance O2T' as c; define the angle between O1'T' and O2T' as β;

[0070] The detection source O1 and the detection source O2 form an effective triangulation ranging data combination source;

[0071] The distance score q of the combined source of the triangulated ranging data is s The calculation formula is:

[0072]

[0073] The angle score q of the triangulated ranging data combination source a The calculation formula is:

[0074]

[0075] The calculation formula of the comprehensive score q of the triangulated ranging data combination source is:

[0076]

[0077] All valid data combinations are scored.

[0078] Step S3: Select one of the selected valid data combination sources as the current solution source; if there are three selected valid data combination sources, select the valid data combination source whose triangulation distance solution position value is closest to the triangulation distance solution position values ​​of the other two valid data combination sources as the current solution source; if there are more than three selected valid data combination sources, select the valid data combination source with the highest score as the current solution source;

[0079] If three valid data combination sources are selected, the valid data combination source whose triangulated distance measurement position value is closest to the triangulated distance measurement position values ​​of the other two valid data combination sources is selected, specifically:

[0080] Define three valid data combination sources as A, B, and C. The solved three-dimensional position points of valid data combination source A, valid data combination source B, and valid data combination source C are M1, M2, and M3 respectively. Calculate the distances of straight lines M1 M2, M2M3, and M1 M3. Let X1 = M1 M2 + M1 M3, X2 = M1 M2 + M2M3, and X3 = M2M3 + M1 M3;

[0081] If X1 is the smallest among X1, X2, and X3, then the valid data combination source A is taken as the solution data source; if X2 is the smallest among X1, X2, and X3, then the valid data combination source B is taken as the solution data source; if X3 is the smallest among X1, X2, and X3, then the valid data combination source C is taken as the solution data source.

[0082] The detector (such as radar, etc.) is used as the detection source. Two detection sources can perform triangulation calculation, so the combination of the two detection sources is called a triangulation data combination source, or data combination source for short. The method of this embodiment is to select a high-quality triangulation data combination source as the final solution source.

[0083] This embodiment also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned triangulation ranging source selection method are implemented.

[0084] This embodiment also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the above-mentioned triangulation ranging source selection method when executed by the processor.

[0085] The present invention also provides a triangulation source selection system, which can be implemented by executing the process steps of the triangulation source selection method, that is, those skilled in the art can understand the triangulation source selection method as a preferred implementation of the triangulation source selection system.

[0086] Embodiment 2:

[0087] This embodiment provides a triangulation ranging source selection system, including the following modules:

[0088] Module M1: According to the validity judgment criteria of the triangulation data combination source, the validity of all triangulation data combination sources is judged periodically, and the valid triangulation data combination sources are screened out as the valid data combination sources;

[0089] According to the validity judgment criteria of triangulation distance measurement data combination source, the validity of all triangulation distance measurement data combination sources is judged periodically, specifically:

[0090] Multiple detection sources are set, two different detection sources constitute a triangulation distance measurement data combination source, and all combinations formed by the two different detection sources are traversed to obtain multiple triangulation distance measurement data combination sources;

[0091] For a single triangulated ranging data combination source, when both detection sources it contains are valid, the triangulated ranging data combination source is determined to be valid;

[0092] The detection source is made to detect the target multiple times for N consecutive cycles. If the azimuth and pitch angle data of the target are tracked and detected each time, the detection source is determined to be valid; if the azimuth and pitch angle data of the target are lost at least once, the detection source is determined to be invalid.

[0093] Module M2: weighted scoring of angle and distance for the selected valid data combination sources. If the number of valid data combination sources is greater than or equal to three, select the three valid data combination sources with the highest scores; if the number of valid data combination sources is less than three, select all valid data combination sources;

[0094] The screened valid data combination sources are scored by angle and distance weights, specifically:

[0095] For a single valid data combination source, its two detection sources are defined as O1 and O2, the effective detection distances of the two detection sources are defined as S1 and S2, and the horizontal plane where the detection source O2 is located is defined as the reference plane; O1' is defined as the horizontal projection of the detection source O1 on the reference plane, the target is defined as T, and T' is defined as the horizontal projection of the target T on the reference plane;

[0096] Define the horizontal distance O1'O2 between O1 and O2 as a; define the spatial distance between the detection source O1 and the target T as R1, and the horizontal distance O1'T' as b; define the spatial distance between the detection source O2 and the target T as R2, and the horizontal distance O2T' as c; define the angle between O1'T' and O2T' as β;

[0097] The detection source O1 and the detection source O2 form an effective triangulation ranging data combination source;

[0098] The distance score q of the combined source of the triangulated ranging data is s The calculation formula is:

[0099]

[0100] The angle score q of the triangulated ranging data combination source a The calculation formula is:

[0101]

[0102] The calculation formula of the comprehensive score q of the triangulated ranging data combination source is:

[0103]

[0104] All valid data combinations are scored.

[0105] Module M3: Select one valid data combination source from the selected valid data combination sources as the current solution source; if there are three valid data combination sources, select the valid data combination source whose triangulation distance solution position value is closest to the triangulation distance solution position values ​​of the other two valid data combination sources as the current solution source; if there are more than three valid data combination sources, select the valid data combination source with the highest score as the current solution source;

[0106] If three valid data combination sources are selected, the valid data combination source whose triangulated distance measurement position value is closest to the triangulated distance measurement position values ​​of the other two valid data combination sources is selected, specifically:

[0107] Define three valid data combination sources as A, B, and C. The solved three-dimensional position points of valid data combination source A, valid data combination source B, and valid data combination source C are M1, M2, and M3 respectively. Calculate the distances of straight lines M1 M2, M2M3, and M1 M3. Let X1 = M1 M2 + M1 M3, X2 = M1 M2 + M2M3, and X3 = M2M3 + M1 M3;

[0108] If X1 is the smallest among X1, X2, and X3, then the valid data combination source A is taken as the solution data source; if X2 is the smallest among X1, X2, and X3, then the valid data combination source B is taken as the solution data source; if X3 is the smallest among X1, X2, and X3, then the valid data combination source C is taken as the solution data source.

[0109] Embodiment 3:

[0110] Those skilled in the art may understand this embodiment as a more specific description of Embodiment 1 and Embodiment 2.

[0111] This embodiment provides a triangulation ranging source selection method, comprising the following steps:

[0112] Step 1: According to the validity judgment criteria of the triangulation data combination source, the validity judgment of the data combination source is carried out periodically.

[0113] Step 2: Weightedly score the angle and distance of the valid data combination sources and select the three data combination sources with the highest scores. If there are more than or equal to three valid sources, select the three triangulation data combination sources with the highest scores; if there are less than three valid sources, select all valid data combination sources.

[0114] Step 3: Select one of the filtered data combination sources as the current solution source. If there are three filtered data combination sources, take the one whose triangulation solution position value is closest to the solution position values ​​of the other two data combination sources; if the number of filtered solution data sources is less than three, take the data combination source with the highest score in the second step.

[0115] Furthermore, the validity judgment criterion of the triangulation data combination source in the first step is: the triangulation data combination source is composed of two detection sources, and the two detection sources need to detect the azimuth and pitch angle of the target for several consecutive cycles.

[0116] Furthermore, the weighted scoring method of the distance in the second step is as follows: Assume that the two triangulation detection sources are O1 and O2, and the effective detection distances are S1 and S2, respectively. O1' is the horizontal projection of the detection source O1, T' is the horizontal projection of the target T, and the detection source O2 is in the reference plane. It is known that the azimuth of the target measured by the detection source O1 is A1, and the pitch angle is E1; the azimuth of the target measured by the detection source O2 is A2, and the pitch angle is E2; the angle between O1'O2 and due north is γ; the horizontal distance between O1 and O2 is O1'O2 a. It can be obtained that: the spatial distance between the detection source O1 and the target T is R1, and the horizontal distance O1'T' is b; the spatial distance between the detection source O2 and the target T is R2, and the horizontal distance O2T' is c; the angle between O1'T' and O2T' is β, and the calculation formula is as follows:

[0117]

[0118]

[0119] The detection sources O1 and O2 form a triangulated distance measurement data combination source, and the distance score q of the data combination source is calculated according to the following principle: s Calculation:

[0120]

[0121] The angles are scored according to the following principles q a Calculation:

[0122]

[0123] Calculation of the comprehensive score q of the triangulated ranging data combination source:

[0124]

[0125] All valid data combinations are scored.

[0126] Furthermore, in the third step, the method of "taking the triangulation distance solution position value that is closest to the solution position value of the other two data combination sources" is to assume that the solution three-dimensional position points of the three triangulation distance data combination sources A, B, and C are M1, M2, and M3 respectively, and calculate the distances of the straight lines M1 M2, M2M3, and M1 M3, and let X1 = M1 M2 + M1 M3, X2 = M1 M2 + M2M3, and X3 = M2M3 + M1 M3. If X1 is the smallest among X1, X2, and X3, data combination source A is taken as the solution data source; if X2 is the smallest among X1, X2, and X3, data combination source B is taken as the solution data source; if X3 is the smallest among X1, X2, and X3, data combination source C is taken as the solution data source.

[0127] By adopting the above triangulation ranging source selection method, accurate triangulation ranging results can be obtained to achieve stable tracking of the target.

[0128] Embodiment 4:

[0129] Those skilled in the art may understand this embodiment as a more specific description of Embodiment 1 and Embodiment 2.

[0130] Step 1: According to the triangulation data combination source validity judgment criteria, the validity of the data combination source is judged periodically.

[0131] Assume that there are five detection sources, namely O1, O2, O3, O4 and O5. Figure 1 As shown, the data cycle is 0.2s, and it is stipulated that if a single detection source tracks the target azimuth and pitch data for 5 consecutive cycles, the detection source is judged to be valid. If the target azimuth and pitch data of O1, O2, O3, and O4 detection sources are all tracked for 5 consecutive cycles, and the target azimuth and pitch data of O5 detection source are reported lost for 5 consecutive cycles, then the detection sources O1, O2, O3, and O4 are judged to be valid, and the detection source O5 is invalid. The O1O2 detection sources form a triangulation ranging data combination source A12, the O1O3 detection sources form a triangulation ranging data combination source B13, the O1O4 detection sources form a triangulation ranging data combination source C14, the O2O3 detection sources form a triangulation ranging data combination source D23, the O2O4 detection sources form a triangulation ranging data combination source E24, and the O3O4 detection sources form a triangulation ranging data combination source F34. A total of 6 triangulation ranging data combination sources are formed.

[0132] Assume that the two triangulation detection sources are O1 and O2, and the effective detection distances are S1 and S2 respectively. O1' is the horizontal projection of the detection source O1, T' is the horizontal projection of the target T, and the detection source O2 is in the reference plane. It is known that the azimuth angle of the target measured by the detection source O1 is A1, and the pitch angle is E1; the azimuth angle of the target measured by the detection source O2 is A2, and the pitch angle is E2; the angle between O1'O2 and due north is γ; the horizontal distance between O1 and O2 is O1'O2 a. It can be obtained that: the spatial distance between the detection source O1 and the target T is R1, and the horizontal distance O1'T' is b; the spatial distance between the detection source O2 and the target T is R2, and the horizontal distance O2T' is c; the angle between O1'T' and O2T' is β, and the calculation formula is as follows:

[0133]

[0134]

[0135] The detection sources O1 and O2 form a triangulated distance measurement data combination source, and the distance score q of the data combination source is calculated according to the following principle: s Calculation:

[0136]

[0137] The angles are scored according to the following principles q a Calculation:

[0138]

[0139] Calculation of the comprehensive score q of the triangulated ranging data combination source:

[0140]

[0141] Score all valid data combination sources. Assume that the highest scoring triangulation data combination sources are A12, B13, and C14.

[0142] Step 3: Select one of the filtered data combination sources as the current solution source. If there are three filtered data combination sources, take the data combination source whose triangulation solution position value is closest to the other two data combination sources as the current solution source; if there are less than three filtered solution data combination sources, take the data combination source with the highest score in the second step as the current solution source.

[0143] Assuming that the solution positions of the three triangulation data combination sources A12, B13, and C14 are M12, M13, and M14, respectively, calculate the distances of the lines M12M13, M12M14, and M13M14, and let X12=M12M13+M12M14, X13=M13M14+M12M13, and X14=M12M14+M13M14. If X12 is the smallest among X12, X13, and X14, then the data combination source A12 is used as the solution data source; if X13 is the smallest among X12, X13, and X14, then the data combination source B13 is used as the solution data source; if X14 is the smallest among X12, X13, and X14, then the data combination source C14 is used as the solution data source.

[0144] The present invention provides a triangulation source selection method. Step 1: According to the triangulation data combination source validity judgment criteria, the validity of the data combination source is judged at a fixed period. Step 2: Weighted scoring of angle and distance is performed on the valid data combination sources, and the three data combination sources with the highest scores are screened. If there are more than or equal to three valid data combination sources, the three triangulation data combination sources with the highest scores are selected; if there are less than three valid data combination sources, all valid data combination sources are selected. Step 3: Select one of the screened data combination sources as the current solution source. If there are three screened data combination sources, take the triangulation solution position value that is closest to the solution position values ​​of the other two data combination sources; if the solution data source is less than three, take the data combination source with the highest score in the second step.

[0145] The triangulation ranging source selection method of the present invention can automatically select high-quality triangulation ranging sources according to scoring criteria, obtain accurate triangulation ranging results by comparing and solving position values, and realize stable tracking of the target.

[0146] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0147] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A triangulation ranging source selection method, characterized in that: The steps include: Step S1: according to the validity judgment criteria of the triangulation data combination source, the validity of all the triangulation data combination sources is judged periodically, and the valid triangulation data combination sources are screened out as the valid data combination sources; Step S2: weighted scoring of angle and distance is performed on the screened valid data combination sources. If the number of valid data combination sources is greater than or equal to three, the three valid data combination sources with the highest scores are selected; if the number of valid data combination sources is less than three, all valid data combination sources are selected; Step S3: Select one of the selected valid data combination sources as the current solution source; if there are three selected valid data combination sources, select the valid data combination source whose triangulation solution position value is closest to the triangulation solution position values ​​of the other two valid data combination sources as the current solution source; if there are more than three selected valid data combination sources, select the valid data combination source with the highest score as the current solution source.

2. The triangulation ranging source selection method according to claim 1, characterized in that: In step S1, according to the validity judgment criteria of the triangulation distance measurement data combination source, the validity of all triangulation distance measurement data combination sources is judged periodically, specifically: Multiple detection sources are set, two different detection sources constitute a triangulation distance measurement data combination source, and all combinations formed by the two different detection sources are traversed to obtain multiple triangulation distance measurement data combination sources; For a single triangulated ranging data combination source, when both detection sources it contains are valid, the triangulated ranging data combination source is determined to be valid; The detection source is made to detect the target multiple times for N consecutive cycles. If the azimuth and pitch angle data of the target are tracked and detected each time, the detection source is determined to be effective. If the target's azimuth and elevation angle data are lost at least once, the detection source is determined to be invalid.

3. The triangulation ranging source selection method according to claim 2, characterized in that: In step S2, weighted scoring of angle and distance is performed on the screened valid data combination sources, specifically: For a single valid data combination source, its two detection sources are defined as O1 and O2, the effective detection distances of the two detection sources are defined as S1 and S2, and the horizontal plane where the detection source O2 is located is defined as the reference plane; O1' is defined as the horizontal projection of the detection source O1 on the reference plane, the target is defined as T, and T' is defined as the horizontal projection of the target T on the reference plane; Define the horizontal distance O1'O2 between O1 and O2 as a; define the spatial distance between the detection source O1 and the target T as R1, and the horizontal distance O1'T' as b; define the spatial distance between the detection source O2 and the target T as R2, and the horizontal distance O2T' as c; define the angle between O1'T' and O2T' as β; The detection source O1 and the detection source O2 form an effective triangulation ranging data combination source; The distance score q of the combined source of the triangulated ranging data is s The calculation formula is: The angle score q of the triangulated ranging data combination source a The calculation formula is: The calculation formula of the comprehensive score q of the triangulated ranging data combination source is: All valid data combinations are scored.

4. The triangulation ranging source selection method according to claim 3, characterized in that: In step S3, if there are three valid data combination sources selected, then the valid data combination source whose triangulated distance measurement position value is closest to the triangulated distance measurement position values ​​of the other two valid data combination sources is selected, specifically: Define three valid data combination sources as A, B, and C. The solved three-dimensional position points of valid data combination source A, valid data combination source B, and valid data combination source C are M1, M2, and M3 respectively. Calculate the distances of straight lines M1 M2, M2M3, and M1 M3. Let X1 = M1 M2 + M1 M3, X2 = M1 M2 + M2M3, and X3 = M2M3 + M1 M3; If X1 is the smallest among X1, X2, and X3, then the valid data combination source A is taken as the solution data source; if X2 is the smallest among X1, X2, and X3, then the valid data combination source B is taken as the solution data source; if X3 is the smallest among X1, X2, and X3, then the valid data combination source C is taken as the solution data source.

5. A triangulation ranging source selection system, characterized in that: Includes the following modules: Module M1: According to the validity judgment criteria of the triangulation data combination source, the validity of all triangulation data combination sources is judged periodically, and the valid triangulation data combination sources are screened out as the valid data combination sources; Module M2: weighted scoring of angle and distance for the selected valid data combination sources. If the number of valid data combination sources is greater than or equal to three, select the three valid data combination sources with the highest scores; if the number of valid data combination sources is less than three, select all valid data combination sources; Module M3: Select one of the selected valid data combination sources as the current solution source; if there are three selected valid data combination sources, select the valid data combination source whose triangulation solution position value is closest to the triangulation solution position values ​​of the other two valid data combination sources as the current solution source; if there are more than three selected valid data combination sources, select the valid data combination source with the highest score as the current solution source.

6. The triangulation ranging source selection system according to claim 5, characterized in that: In the module M1, according to the validity judgment criteria of the triangulation distance measurement data combination source, the validity judgment is performed on all the triangulation distance measurement data combination sources at a fixed period, specifically: Multiple detection sources are set, two different detection sources constitute a triangulation distance measurement data combination source, and all combinations formed by the two different detection sources are traversed to obtain multiple triangulation distance measurement data combination sources; For a single triangulated ranging data combination source, when both detection sources it contains are valid, the triangulated ranging data combination source is determined to be valid; The detection source is made to detect the target multiple times for N consecutive cycles. If the azimuth and pitch angle data of the target are tracked and detected each time, the detection source is determined to be effective. If the target's azimuth and elevation angle data are lost at least once, the detection source is determined to be invalid.

7. The triangulation ranging source selection system according to claim 6, characterized in that: In the module M2, the screened valid data combination sources are weightedly scored by angle and distance, specifically: For a single valid data combination source, its two detection sources are defined as O1 and O2, the effective detection distances of the two detection sources are defined as S1 and S2, and the horizontal plane where the detection source O2 is located is defined as the reference plane; O1' is defined as the horizontal projection of the detection source O1 on the reference plane, the target is defined as T, and T' is defined as the horizontal projection of the target T on the reference plane; Define the horizontal distance O1'O2 between O1 and O2 as a; define the spatial distance between the detection source O1 and the target T as R1, and the horizontal distance O1'T' as b; define the spatial distance between the detection source O2 and the target T as R2, and the horizontal distance O2T' as c; define the angle between O1'T' and O2T' as β; The detection source O1 and the detection source O2 form an effective triangulation ranging data combination source; The distance score q of the combined source of the triangulated ranging data is s The calculation formula is: The angle score q of the triangulated ranging data combination source a The calculation formula is: The calculation formula of the comprehensive score q of the triangulated ranging data combination source is: All valid data combinations are scored.

8. The triangulation ranging source selection system according to claim 7, characterized in that: In the module M3, if there are three valid data combination sources selected, the valid data combination source whose triangulated distance measurement position value is closest to the triangulated distance measurement position values ​​of the other two valid data combination sources is selected, specifically: Define three valid data combination sources as A, B, and C. The solved three-dimensional position points of valid data combination source A, valid data combination source B, and valid data combination source C are M1, M2, and M3 respectively. Calculate the distances of straight lines M1 M2, M2M3, and M1 M3. Let X1 = M1 M2 + M1 M3, X2 = M1 M2 + M2M3, and X3 = M2M3 + M1 M3; If X1 is the smallest among X1, X2, and X3, then the valid data combination source A is taken as the solution data source; if X2 is the smallest among X1, X2, and X3, then the valid data combination source B is taken as the solution data source; if X3 is the smallest among X1, X2, and X3, then the valid data combination source C is taken as the solution data source.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the triangulation ranging source selection method according to any one of claims 1 to 4 are implemented.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the computer program is executed by a processor, the steps of the triangulation ranging source selection method according to any one of claims 1 to 4 are implemented.

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