Collaboration platform rapid recommendation method for dual-computer ESM cross positioning

Abstract

The invention provides a rapid recommendation method for a cooperation platform oriented to dual-computer ESM cross positioning, and belongs to the technical field of sensor management and optimization. The rapid recommendation method for the collaboration platform comprises the following steps: 1, acquiring information of each member in a formation, and preliminarily screening a member list which can be used as a slave; 2, obtaining target information to be detected, and if the target is a dimension-lacking target, performing virtual dimension compensation; and 3, calculating a detection error when each member in the preliminary screening list and the host carry out dual-computer ESM cross positioning, forming a detection precision list, and recommending a slave computer. According to the method, the optimal platform in the formation can be intelligently recommended to serve as the slave computer based on GDOP value calculation, the detection efficiency maximization of dual-computer ESM cross positioning is ensured, the recommendation process is fully automatic, a pilot does not need to negotiate on the machine, and the decision-making efficiency is improved.

Description

Technical Field

[0001] The invention relates to a rapid recommendation method for a collaborative platform for cross-positioning of dual-machine ESMs, and belongs to the technical field of sensor management and optimization. Background Art

[0002] The electronic support measures (ESM) system itself does not emit electromagnetic waves, but only locates and tracks targets through passive measurements. It has been widely installed on modern fighters to improve the survivability of fighters in complex electronic warfare environments. Among them, the existing technologies [a method and device for cooperative detection of unmanned aerial vehicles with multi-source heterogeneous sensors in Chinese invention patent CN202410797663.4] and [a fast positioning method for a dual-star TDOA / FDOA satellite-ground integrated positioning system in Chinese invention patent CN201110139483.X] face the following difficulties in the face of modern electronic countermeasures:

[0003] (1) Poor positioning accuracy. A single ESM usually relies on a single platform for signal reception and direction detection, which results in a certain positioning error.

[0004] (2) Small coverage. The detection range of a single ESM is usually limited by factors such as the platform’s flight altitude, the capabilities of the detection equipment, and its geographical location. In particular, in certain environments, it may be blocked or otherwise interfered with, resulting in a limited signal reception area.

[0005] (3) Weak anti-interference capability. The detection results may be affected by stronger interference sources, such as enemy electronic countermeasures (electronic interference, deception, etc.). When the interference source is close or strong, the detection accuracy and stability will be significantly reduced.

[0006] (4) Poor signal recognition capability. Although it is possible to detect electronic signals from the target, if the target signal is weak or the background noise is large, the signal processing capability may be limited, making it difficult to distinguish the signal.

[0007] Due to its passive detection characteristics, dual-aircraft ESM cross-positioning has become an important detection method in modern air combat. When a fighter in the formation, as the master, initiates the ESM cross-positioning task requirement, it is necessary to select another fighter in the formation that meets the conditions for collaborative detection as a slave to carry out the task. In addition, when the master is determined, its detection accuracy depends on the selection of the slave. Compared with the manual decision-making method of pilots' on-the-spot negotiation, the development of intelligent and rapid recommendation methods based on optimization technology can shorten the decision-making time while ensuring the maximization of detection efficiency, thereby achieving the first-to-enemy transparency or even one-way transparency of the air situation, which is of great significance. Summary of the invention

[0008] The present invention aims to solve the shortcomings of low decision efficiency and poor detection performance of the existing manual decision-making method of the dual-machine ESM cross-positioning cooperation platform, and proposes an intelligent decision-making method based on geometric dilution of precision (GDOP) analysis to achieve rapid recommendation of slave machines after the task is initiated.

[0009] In order to achieve the above object, the technical solution adopted by the present invention is:

[0010] A collaborative platform rapid recommendation method for dual-machine ESM cross-positioning, the collaborative platform rapid recommendation method comprising the following steps:

[0011] Step 1: Get the information of each member in the formation and preliminarily screen the list of members that can serve as slaves; the details are as follows:

[0012] For the kth aircraft in the formation, its information is recorded as (lon k ,lat k ,alt k ,o k ), where (lon k ,lat k ,alt k ) represent the longitude, latitude, and altitude of member k, respectively, o k Indicates the online status of members in the formation. k =1 indicates that member k is online and is qualified to participate in the cross-positioning task as a slave.

[0013] Note that there are p aircraft as slaves, and construct the initial screening list S = (S 1 ,S 2 ,...S p ), where S p Indicates the number of the member in the formation as a slave. The mth aircraft is recorded as the mission initiator, that is, the master, and the north-east coordinate system O-xyz is established with it as the origin.

[0014] Step 2: Get the target information to be detected. If it is a target with missing dimensions, perform virtual dimension supplementation. The details are as follows:

[0015] The real information of the target to be detected is (lon T ,lat T ,alt T ,f T ), where (lon T ,lat T ,alt T ) represents the target's true latitude and longitude high position information, and its coordinates in the north-east coordinate system O-xyz constructed in step 1 are (x T ,y T ,z T );fT Represents the frequency of the target.

[0016] The observation data of host m on the target is (β m ,d), where β m is the measured azimuth of the target, and d is the measured distance of the target. The situation where d is obtained is recorded as the "full-dimensional situation", and the situation where d is not obtained is recorded as the "lack-dimensional situation". In the case of lack-dimensionality, d is supplemented, such as The value of is the limit detection distance of ESM. Since ESM can only measure the horizontal azimuth of the target, the estimated position of the target in the north-east coordinate system O-xyz in step 1 is:

[0017] (x T ,y T )=(x m +dcosβ m ,y m +dsinβ m ) (1)

[0018] Among them, (x T ,y T ) represents the x-coordinate and y-coordinate of the missing-dimensional target in the North Celestial East coordinate system; m Indicates the x coordinate of the host; y m Indicates the host y coordinate;

[0019] Step 3: Calculate the detection error when the members in the initial screening list and the host perform dual-machine ESM cross positioning; the details are as follows:

[0020] Step 3.1: Assume that the host position coordinates (x 1 ,y 1 ), the measured target azimuth is β 1 , the member position coordinates are (x 2 ,y 2 ), the measured target azimuth is β 2 .

[0021] Step 3.2: Assume that the target's true position is (x t ,y t ), then in the absence of measurement error, the target should be at an azimuth angle β between the host and the member 1 With azimuth β 2 At the intersection of two rays in the direction, the following geometric relationship is satisfied:

[0022]

[0023] Among them, l 1 Indicates the distance from the host to the target; l2 Indicates the distance from the member to the target; x t Indicates the actual x coordinate of the target; y t Indicates the real y coordinate of the target; x 1 Indicates the x coordinate of the host; y 1 Indicates the host y coordinate; x 2 Indicates the x coordinate of the member; y 2 Indicates the member y coordinate.

[0024] Based on the relative set distance relationship between the host, members and targets, the following expression is obtained:

[0025] ΦΘ=Γ (3)

[0026] Among them, Φ represents the coefficient matrix; Θ represents the distance matrix; Γ represents the relative distance matrix; the details are as follows:

[0027]

[0028] Step 3.3: Solve the linear equations shown in formulas (2) and (3) above to obtain the target position at the intersection of the two rays set in step 3.2:

[0029] (x t ,y t )=(l 1 c 1 +x m ,l 1 s 1 +y m ) (5)

[0030] Step 3.4: Consider the angle measurement error of the formation ESM detection and record it as It is about the target frequency f T The function of Will As an independent random scalar, according to the error transfer function shown in formula (6), the (x t ,y t ), and then solve the error GDOP value of this member compared to the detection target in:

[0031]

[0032] Among them, σ x represents the x-coordinate error; σ y Indicates the y coordinate error; x t Indicates the actual x coordinate of the target; y t represents the real y coordinate of the target; β 1 Indicates the target azimuth measured by the host; β2 represents the target azimuth measured by the member;

[0033] From formula (6), it can be found that when the target position is determined, the GDOP value is about β 1 , β 2 and The function of The smaller the GDOP, the higher the detection accuracy.

[0034] Step 4: Repeat steps 2 to 3 to calculate the detection error of all members in the initial screening list when conducting dual-machine ESM cross positioning with the host, including the direction angle β when member k is used as a slave. s,k , calculate the corresponding GDOP value Thus, a detection accuracy list is constructed. Finally, the member with the smallest GDOP value in the formation is selected as the slave for recommendation.

[0035] The beneficial effects of the present invention are:

[0036] (1) Through the collaborative detection and positioning of dual-aircraft ESM, the traditional single-aircraft ESM usually relies on a single aircraft for signal reception and direction detection, and the positioning accuracy is high.

[0037] (2) By using virtual dimension supplementation, the detection solution method of the detection target in the case of missing dimension is considered, thereby reducing the detection and positioning error.

[0038] (3) Based on the GDOP value calculation, the best formation member in the formation is recommended as the slave aircraft, ensuring the maximum detection efficiency of the dual-aircraft ESM cross-positioning;

[0039] (4) The present invention can make slave recommendations based on the detection tasks received by the formation and the network information status of the members in the formation. Therefore, the recommendation process is fully automated, without the need for pilots to negotiate on the spot, thus improving decision-making efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a flow chart of the present invention.

[0041] Figure 2 This is a diagram of detection results of an embodiment. DETAILED DESCRIPTION

[0042] The present invention is further described below in conjunction with specific embodiments.

[0043] Consider a four-aircraft formation performing a collaborative detection mission. The information of each aircraft platform is shown in Table 1. With aircraft platform 1 as the mission initiator, the ESM dual-aircraft collaborative positioning mission is initiated for the target whose actual state is shown in Table 2, and the target is a full-dimensional target. Assume that when the target is at this frequency, the angle measurement accuracy of the aircraft platform is σ β=1deg.

[0044] Table 1 Aircraft platform parameters in the formation

[0045]

[0046] Table 2 Real information of the target to be detected

[0047]

[0048] A method for quickly recommending a collaborative platform for cross-positioning of dual ESMs includes the following steps:

[0049] Step 1: Get the information of each member in the formation and preliminarily screen the list of members that can be used as slaves

[0050] For the kth (k=1,2,3,4)th aircraft in the formation, record its information as (lon k ,lat k ,alt k ,o k ), as shown in Table 1. Among them, (lon k ,lat k ,alt k ) represents the longitude, latitude, and altitude of member k. k =1 means member k is online and can participate in the cross-positioning task as a slave. There are p = 3 aircraft that can be slaves, and the initial screening list S = (2,3,4) is constructed. The first aircraft is the mission initiator, that is, the host. The north-east coordinate system O-xyz is established with it as the origin. In this coordinate system, the spatial coordinates of aircraft platform k in the initial screening list are marked as (x k ,y k ,z k ).

[0051] Step 2: Get the target information to be detected. If it is a target with missing dimensions, perform virtual dimension supplementation.

[0052] The real information of the target to be detected is (lon T ,lat T ,alt T ,f T ), as shown in Table 2. The observation data of host 1 on the target is (β 1 ,d), and the distance is not available, it corresponds to the "missing dimension situation" and uses d = 200km for virtual dimension supplement. The estimated position of the target in the north sky east coordinate system O-xyz is (x T ,y T ).

[0053] Step 3: Calculate the detection error when member 2 and the host perform dual-machine ESM cross positioning, as follows:

[0054] When host 1 and member 2 conduct ESM cross-positioning on the target, the host position coordinates are (x 1 ,y 1 ), the measured target azimuth is β 1 , the member position coordinates are (x 2 ,y 2 ), the measured target azimuth is β 2 According to formula (2), the relative geometric distance between the host and the member and the detection target is calculated to obtain the distance l from the host to the target. 1 , the distance from the member to the target l 2 .

[0055] According to the relative distance between the host, member and target, the distance between the host and the member at the azimuth angle β is obtained according to formulas (3) and (4). 1 With azimuth β 2 The intersection point of the two rays in the direction is the target position (x t ,y t ), as shown in formula (5). Finally, the GDOP value of the member compared to the detection target is obtained by the error transfer function.

[0056] Step 4: Repeat steps 2 to 3 to calculate the detection errors of member 3 and member 4 when they conduct dual-machine ESM cross positioning with the host, and calculate the corresponding GDOP values ​​to construct a detection accuracy list. As shown in Table 3. It can be found that v 3 <v 4 <v 2 , that is, when member 3 is used as a slave, the highest detection accuracy can be obtained. Therefore, it is recommended that member 3 be used as a slave. The detection diagram is as follows Figure 2 As shown in the figure, since the target information lacks dimension, the target position is obtained by virtual dimension supplementation. Based on the recommendation result, member 1 (host) and member 3 (slave) perform ESM collaborative positioning on the target.

[0057] Table 3 GDOP values ​​of different members as slaves

[0058] Slave Number <![CDATA[GDOP value v k <!-- 4 -->]]> 2 <![CDATA[1.14×10 5 ]]> 3 <![CDATA[4.20×10 4 ]]> 4 <![CDATA[5.40×10 4 ]]>

[0059] The above-described embodiments merely express the implementation methods of the present invention, but they cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A collaborative platform rapid recommendation method for dual-machine ESM cross-positioning, characterized in that: The collaborative platform quick recommendation method comprises the following steps: Step 1: Get the information of each member in the formation and preliminarily select the list of members that can serve as slaves; Step 2: Obtain the target information to be detected. If it is a target with missing dimensions, perform virtual dimension supplementation; Step 3: Calculate the detection error when the members in the initial screening list and the host perform dual-machine ESM cross positioning; Step 4: Repeat steps 2 to 3 to calculate the detection error when all members in the initial screening list and the host perform dual-machine ESM cross-positioning, build a detection accuracy list, and complete the recommendation.

2. According to claim 1, a collaborative platform rapid recommendation method for dual-machine ESM cross-positioning is characterized in that: The step 1 is specifically as follows: For the kth aircraft in the formation, its information is recorded as (lon k ,lat k ,alt k ,o k ), where (lon k ,lat k ,alt k ) represent the longitude, latitude, and altitude of member k, respectively, o k Indicates the online information status of members in the formation; o k =1 means that member k is online and is qualified to participate in the cross-positioning task as a slave; Let p aircraft be slaves, and construct the initial screening list S = (S1, S2, ... S p ), where S p Indicates the number of the member in the formation as a slave; the mth aircraft is recorded as the mission initiator, and as the master, the north celestial east coordinate system O-xyz is established with it as the origin.

3. According to claim 2, a collaborative platform rapid recommendation method for dual-machine ESM cross-positioning is characterized in that: The step 2 is specifically as follows: The real information of the target to be detected is (lon T ,lat T ,alt T ,f T ), where (lon T ,lat T ,alt T ) represents the target's true latitude and longitude high position information, and its coordinates in the north-east coordinate system O-xyz constructed in step 1 are (x T ,y T ,z T );f T represents the frequency of the target; The observation data of host m on the target is (β m ,d), where β m is the measured azimuth of the target, d is the measured distance of the target; the situation where d is obtained is recorded as "full-dimensional situation", and the situation where d is not obtained is recorded as "lack-dimensional situation"; the estimated position of the target in the north-east coordinate system O-xyz in step 1 is obtained.

4. According to claim 3, a collaborative platform rapid recommendation method for dual-machine ESM cross-positioning is characterized in that: In step 2, in the case of missing dimension, d is supplemented with dimension, and The value of is the maximum detection distance of ESM.

5. According to claim 3, a collaborative platform rapid recommendation method for dual-machine ESM cross-positioning is characterized in that: In step 2, since the ESM can only measure the horizontal azimuth of the target, the estimated position of the target in the north-east coordinate system O-xyz in step 1 is: (x T ,y T )=(x m +dcosβ m ,y m +dsinβ m ) (1) Among them, (x T ,y T ) represents the x-coordinate and y-coordinate of the missing-dimensional target in the North Celestial East coordinate system; m Indicates the x coordinate of the host; y m Indicates the host y coordinate.

6. The method for rapid recommendation of a collaborative platform for dual-machine ESM cross-positioning according to claim 3 is characterized in that: The step 3 is as follows: Step 3.1: Assume that when the host and a member in the initial screening list are used to carry out ESM cross-positioning of a target, the host position coordinates are (x1, y1), the measured target azimuth is β1, and the member position coordinates are (x2, y2), and the measured target azimuth is β2; Step 3.2: Assume that the target's true position is (x t ,y t ), then in the absence of measurement error, the target is at the intersection of the two rays of the host and the member in the direction of azimuth angle β1 and azimuth angle β2, satisfying the geometric relationship; the geometric relationship is obtained from the relative collective distance relationship between the host, the member and the target; Step 3.3: Solve the geometric relationship of step 3.2 to obtain the target position where the two rays set in step 3.2 intersect; Step 3.4: Consider the angle measurement error of the formation ESM detection and record it as It is about the target frequency f T The function of Will As an independent random scalar, according to the error transfer function shown in formula (6), the (x t ,y t ), and the error GDOP value of this member compared to the detected target is The smaller the GDOP, the higher the detection accuracy; among them: Among them, σ x represents the x-coordinate error; σ y Indicates the y coordinate error; x t Indicates the actual x coordinate of the target; y t represents the real y coordinate of the target; β1 represents the target azimuth measured by the host; β2 represents the target azimuth measured by the member.

7. The method for rapid recommendation of a collaborative platform for cross-positioning of dual-machine ESMs according to claim 6 is characterized in that: In step 3.2, the geometric relationship between the target at the intersection of two rays between the host and the member in the direction of azimuth angle β1 and azimuth angle β2 is: Where l1 represents the distance from the host to the target; l2 represents the distance from the member to the target; x t Indicates the actual x coordinate of the target; y t Indicates the actual y coordinate of the target; x1 indicates the host x coordinate; y1 indicates the host y coordinate; x2 indicates the member x coordinate; y2 indicates the member y coordinate.

8. The method for rapid recommendation of a collaborative platform for cross-positioning of dual-machine ESMs according to claim 6 is characterized in that: In step 3.2, the geometric relationship obtained from the relative set distance relationship between the host, the member and the target is: ΦΘ=Γ (3) Among them, Φ represents the coefficient matrix; Θ represents the distance matrix; Γ represents the relative distance matrix; the details are as follows:

9. A method for rapid recommendation of a collaborative platform for dual-machine ESM cross-positioning according to claim 7 or 8, characterized in that: In step 3.3, the linear equations shown in formulas (2) and (3) are solved to obtain the target position at the intersection of the two rays set in step 3.2: (x t ,y t )=(l1c1+x m ,l1s1+y m ) (5)。 10. The method for rapid recommendation of a collaborative platform for dual-machine ESM cross-positioning according to claim 6 is characterized in that: The step 4 is specifically as follows: Repeat steps 2 to 3 to calculate the detection error of all members in the initial screening list when conducting dual-machine ESM cross positioning with the host, including the direction angle β when member k is used as a slave. s,k , calculate the corresponding GDOP value Thus, a detection accuracy list is constructed; finally, the member with the smallest GDOP value in the formation is selected as the slave for recommendation.

Images