Joint high-precision positioning method, device, equipment, medium and product

Abstract

The invention provides a combined high-precision positioning method, device, equipment, medium and product in the technical field of radar detection, and the method comprises the steps: resolving a two-dimensional position of a target based on three-station passive detection; estimating a target pitch angle based on height measurement of an interferometer; calculating the height of the target based on the two-dimensional coordinate of the target and the pitch angle of the target; and obtaining a target three-dimensional position based on the target two-dimensional position and the target height. According to the method, time difference positioning and interferometer height measurement are combined, so that high-precision calculation of the three-dimensional position of the target is realized; and only one height measurement interferometer is installed in the three reconnaissance stations, so that the station arrangement cost of the system is reduced, the positioning precision is improved, and an economical and efficient solution is provided for a passive positioning system.

Description

Technical Field

[0001] The present invention relates to the field of radar detection technology, and in particular to a combined high-precision positioning method, device, equipment, medium and product. Background Art

[0002] Passive positioning systems have electromagnetically silent characteristics and are an important means of modern electronic reconnaissance. Time difference of arrival (TDOA) can achieve high positioning accuracy, but the traditional three-station time difference positioning system cannot obtain the target's altitude information, which leads to large errors in the two-dimensional horizontal coordinate solution of the target, thus affecting the overall positioning accuracy. Existing methods usually adopt the method of increasing the number of reconnaissance stations or other auxiliary equipment to obtain three-dimensional position information, but this method will significantly increase the cost and complexity of system deployment. In addition, in the joint solution process, existing technologies often fail to fully utilize the correction effect of altitude information on two-dimensional coordinates, resulting in room for improvement in positioning accuracy. Summary of the Invention

[0003] The present invention aims to provide a combined high-precision positioning method, device, equipment, medium and product to solve the above-mentioned problems.

[0004] In a first aspect, the present invention provides a joint high-precision positioning method, comprising:

[0005] Calculate the target's two-dimensional position based on three-station passive detection;

[0006] Estimate target pitch angle based on interferometer height measurement;

[0007] Calculating the target height based on the target two-dimensional coordinates and the target pitch angle;

[0008] Based on the target height, the target two-dimensional coordinates are recalculated to obtain the target three-dimensional position.

[0009] In some embodiments, calculating the two-dimensional position of the target based on the three-station passive detection system includes:

[0010] The three reconnaissance stations in the three-station passive detection system receive signals from the target, forming two time differences, from which the time difference hyperbolic equation is constructed;

[0011] Solve the time difference hyperbolic surface equation to obtain the two-dimensional coordinates of the target.

[0012] In some embodiments, the time difference hyperbolic equation is expressed as:

[0013]

[0014] Among them, (x i ,yi ,z i ), i=1,2,3 are the positions of each reconnaissance station, r i is the distance from the target to the i-th reconnaissance station, r1 is the distance from the target to the main station, r i,1 is the distance difference between the target and the i-th (i=2,3) reconnaissance station and the target and the main station, x i,1 =x i -x1,y i,1 =y i -y1,z i,1 =z i -z1.

[0015] In some embodiments, the target pitch angle Expressed as:

[0016]

[0017] in, is the unambiguous measurement value of the phase difference, λ represents the wavelength of the radio wave signal, d int is the baseline length of the interferometer.

[0018] In some embodiments, the target height is expressed as:

[0019]

[0020] Where z is the target height.

[0021] In some embodiments, it is necessary to determine whether the target three-dimensional position meets the index requirements. If not, the target height is substituted into the time difference hyperbolic surface equation to correct the target two-dimensional coordinates until the requirements are met, thereby obtaining the high-precision three-dimensional position of the target.

[0022] In a second aspect, the present invention provides a combined high-precision positioning method and apparatus, comprising:

[0023] A first processing unit is used to calculate the two-dimensional position of the target based on three-station passive detection;

[0024] A second processing unit is used to estimate the target pitch angle based on interferometer height measurement;

[0025] a third processing unit, configured to calculate a target height based on the target two-dimensional coordinates and the target pitch angle;

[0026] The fourth processing unit is used to recalculate the two-dimensional coordinates of the target based on the target height to obtain the three-dimensional position of the target.

[0027] In a third aspect, the present invention provides an electronic device, comprising:

[0028] at least one processor; and a memory communicatively coupled to the at least one processor;

[0029] The memory stores instructions that can be executed by the at least one processor, and the at least one processor executes the instructions stored in the memory, so that the at least one processor performs the method.

[0030] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store instructions, and when the instructions are executed, the above method is implemented.

[0031] In a fifth aspect, the present invention provides a computer program product, which, when called by a computer, enables the computer to execute the above method.

[0032] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0033] 1. The present invention achieves high-precision calculation of the three-dimensional position of the target by combining time difference positioning with interferometer height measurement.

[0034] 2. The present invention reduces the system deployment cost by installing only one altimeter interferometer in three reconnaissance stations, while improving positioning accuracy, providing an economical and efficient solution for the passive positioning system. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A flowchart of a joint high-precision positioning method provided by an embodiment of the present invention.

[0036] Figure 2 Schematic diagram of the positioning physical model of the three-station passive detection system in an embodiment of the present invention.

[0037] Figure 3 Schematic diagram of an interferometer height measurement model in an embodiment of the present invention.

[0038] Figure 4 2 is a diagram showing the relationship between the reconnaissance stations and targets in an embodiment of the present invention.

[0039] Figure 5 2 is a comparison chart of the positioning results of the two methods in the embodiment of the present invention.

[0040] Figure 6 This is a comparison chart of positioning errors under different time difference estimation accuracies of two methods in an embodiment of the present invention.

[0041] Figure 7 A structural diagram of a combined high-precision positioning method and device provided by an embodiment of the present invention.

[0042] Figure 8A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0045] Example

[0046] The embodiment of the present invention provides a joint high-precision positioning method, including: three reconnaissance stations in a three-station passive detection system receive signals from the target, forming two time differences, thereby obtaining two time difference hyperboloids, and solving the time difference hyperboloid equation to obtain the two-dimensional coordinates of the target; the obtained two-dimensional coordinates of the target are jointly solved with the pitch angle measured by the height measuring interferometer to obtain the height information of the target, and then the height information of the target is substituted into the time difference hyperboloid equation to correct the two-dimensional coordinates of the target, and finally obtain the three-dimensional high-precision position information of the target. The algorithm flow chart is as follows Figure 1 shown.

[0047] like Figure 1 As shown, an embodiment of the present invention provides a combined high-precision positioning method, including the following steps:

[0048] Step 1: Calculate the target's two-dimensional position based on three-station passive detection

[0049] like Figure 2 The positioning physical model of the three-station passive detection system is shown in the figure. The three-station passive detection system consists of three reconnaissance stations, where (x, y, z) is the spatial position of the target, (x i ,y i ,z i ), i = 1, 2, 3 are the positions of each reconnaissance station, (x1, y1, z1) is the main station, r i is the distance from the target to the i-th reconnaissance station, expressed as:

[0050]

[0051] According to formula (1), we have:

[0052]

[0053] make:

[0054]

[0055] The distance difference r between the target and the i-th (i=2,3) reconnaissance station and the target and the main station i,1 for:

[0056]

[0057] According to formula (2), when i=1, we have:

[0058]

[0059] Combining equations (4) and (5), we have:

[0060]

[0061] Among them, x i,1 =x i -x1,y i,1 =y i -y1,z i,1 =z i -z1.

[0062] So we have:

[0063]

[0064] Assume that the time difference t between the target to the i-th (i=2,3) reconnaissance station and the target to the main station is i , then we have:

[0065]

[0066] Where c is the propagation speed of electromagnetic waves.

[0067] Formula (7) can be written as follows:

[0068]

[0069] in:

[0070]

[0071] According to formula (9), we have:

[0072]

[0073] make:

[0074]

[0075] According to formula (11) and formula (12), we have:

[0076]

[0077] Substituting equation (13) into equation (5) can solve the distance r1 from the target to the master station, and then substituting the distance r1 from the target to the master station into equation (13) can obtain the two-dimensional coordinates of the target.

[0078] Step 2: Estimate the target pitch angle based on interferometer height measurement

[0079] like Figure 3 In the interferometer height measurement model shown in the figure, a height measurement interferometer is installed in the master station, and the phase centers of the two unit antennas An0 and An1 of the interferometer are respectively denoted as C p0 with C p1 , C p0 with C p1 The straight line between the two is called the interferometer baseline, and its length is d int The angle between the incoming direction of the radio wave signal with plane wave characteristics and the normal direction of the interferometer baseline is θ AOA , straight line C p1 B p is the equal-phase wavefront of the incident plane wave signal, and C p1 B p ⊥B p C p0 , so the radio wave signal direction line B p C p0 , interferometer baseline C p0 C p1 and the plane wave front line C p1 B p Together they form a right triangle ΔC p1 B p C p0 .

[0080] The signals output by the interferometer unit antennas An0 and An1 from the same electromagnetic radiation source are processed by the receiver and the phase difference is measured, and the corresponding phase difference is recorded as φ intΔ .Depend on Figure 3 The geometric relationship shown can be used to obtain the signal direction angle θ AOA and phase difference φ intΔ The relationship between is shown in formula (14):

[0081]

[0082] in, Represents straight line C p0 B pThe length of the phase difference is λ, which represents the wavelength of the radio wave signal. After that, we can solve the estimated value of the direction of the radio wave signal That is, the target pitch angle, expressed as:

[0083]

[0084] Step 3: Calculate the target height based on the target two-dimensional coordinates and the target pitch angle.

[0085] According to equations (13) and (15), the target height z can be obtained, which is expressed as:

[0086]

[0087] Step 4: Based on the target height, recalculate the target's two-dimensional coordinates to obtain the target's three-dimensional position.

[0088] Furthermore, it is necessary to determine whether the target three-dimensional position meets the index requirements (for example, 0.4% R). If so, the process is stopped. If not, the target height is substituted into the time difference hyperbolic surface equation to correct the target two-dimensional coordinates until the requirements are met, thereby obtaining the high-precision three-dimensional position of the target.

[0089] Simulation Verification

[0090] In order to verify the effectiveness of the joint high-precision positioning method, we conducted a simulation analysis. First, a model consisting of three reconnaissance stations and targets was constructed. The layout relationship between the reconnaissance stations and the targets is as follows: Figure 4 Then, the target position is calculated using the joint high-precision positioning method.

[0091] In the simulation calculation, it is considered that the main station and the auxiliary station are in a straight line, and the distance between the main station and the auxiliary station is 30km. Figure 5 The positioning results of the traditional method and the joint high-precision positioning method are given when the time difference measurement error is 6ns and the number of Monte Carlo times is 50 (the traditional method does not substitute the height information back into the hyperbolic surface equation for solution after obtaining the target height). Figure 6 The comparison of positioning errors of the two methods with different time difference estimation accuracy is given. Figure 5 It can be seen that the positioning results of the joint high-precision positioning method are mainly distributed around the actual position of the target, while the positioning results of the traditional method are far away from the actual position of the target. Therefore, it can be seen that the joint high-precision positioning method can significantly improve the positioning accuracy. Figure 6 It can be seen that as the accuracy of time difference estimation decreases, the positioning errors of the two methods are getting larger, but the positioning error of the joint high-precision positioning method is always better than that of the traditional method.

[0092] To further validate the algorithm's practical application in positioning, an experimental verification was conducted. A three-station wireless detection system was constructed. The experimental results demonstrate that the combined high-precision positioning method can achieve accurate target location in practical applications.

[0093] Based on the same technical concept, such as Figure 7 As shown, the present invention provides a combined high-precision positioning method and device, comprising:

[0094] A first processing unit is used to calculate the two-dimensional position of the target based on three-station passive detection;

[0095] A second processing unit is used to estimate the target pitch angle based on interferometer height measurement;

[0096] a third processing unit, configured to calculate a target height based on the target two-dimensional coordinates and the target pitch angle;

[0097] The fourth processing unit is used to recalculate the two-dimensional coordinates of the target based on the target height to obtain the three-dimensional position of the target.

[0098] The specific working principles of each processing unit in the above device can be referred to the description in the above method embodiment, which will not be repeated here.

[0099] Based on the same technical concept, an embodiment of the present invention further provides an electronic device that can implement the combined high-precision positioning method process provided in the above embodiment of the present invention. In one embodiment, the electronic device can be a server, a terminal device, or other electronic device.

[0100] like Figure 8 As shown, the electronic device may include:

[0101] At least one processor, and a memory connected to the at least one processor. The embodiment of the present invention does not limit the specific connection medium between the processor and the memory. Figure 8 The example in this article is that the processor and memory are connected via a bus. Figure 8 The connections between the other components are shown in bold lines, which are only for illustration and not intended to be limiting. The bus can be divided into address bus, data bus, control bus, etc. Figure 8 The processor is represented by a single thick line, but this does not mean that there is only one bus or only one type of bus. Alternatively, the processor can also be called a controller, without any limitation on the name.

[0102] In an embodiment of the present invention, the memory stores instructions that can be executed by at least one processor, and the at least one processor can execute a joint high-precision positioning method discussed above by executing the instructions stored in the memory. The processor can implement Figure 8The functions of each module in the device shown.

[0103] Among them, the processor is the control center of the device, which can use various interfaces and lines to connect the various parts of the entire control device, and monitor the device as a whole by running or executing instructions stored in the memory and calling data stored in the memory, the various functions of the device and processing data.

[0104] In an optional design, the processor may include one or more processing units, and the processor may integrate an application processor and a modem processor, wherein the application processor primarily processes the operating system, user interface, and application programs, and the modem processor primarily processes wireless communications. It is understood that the modem processor may not be integrated into the processor. In some embodiments, the processor and memory may be implemented on the same chip, or in some embodiments, they may be implemented on separate chips.

[0105] The processor can be a general-purpose processor, such as a CPU, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the combined high-precision positioning method disclosed in the embodiments of the present invention can be directly implemented and executed by a hardware processor, or by a combination of hardware and software modules within the processor.

[0106] As a non-volatile computer-readable storage medium, memory can be used to store non-volatile software programs, non-volatile computer executable programs and modules. Memory can include at least one type of storage medium, for example, can include flash memory, hard disk, multimedia card, card-type memory, random access memory (Random Access Memory, RAM), static random access memory (Static Random Access Memory, SRAM), programmable read-only memory (Programmable Read Only Memory, PROM), read-only memory (Read Only Memory, ROM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), magnetic memory, disk, optical disk, etc. Memory is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory in the embodiment of the present invention can also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.

[0107] By designing and programming a processor, the code corresponding to the combined high-precision positioning method described in the aforementioned embodiment can be embedded in the chip, enabling the chip to execute the steps of the method described in the aforementioned embodiment during operation. Designing and programming a processor is well known to those skilled in the art and will not be further described here.

[0108] Based on the same inventive concept, an embodiment of the present invention further provides a storage medium storing computer instructions. When the computer instructions are executed on a computer, the computer executes a combined high-precision positioning method discussed above.

[0109] In some optional embodiments, the present invention also provides various aspects of a joint high-precision positioning method that can also be implemented in the form of a program product, which includes program code. When the program product is run on an apparatus, the program code is used to enable the control device to execute the steps of a joint high-precision positioning method according to various exemplary embodiments of the present invention described above in this specification.

[0110] It should be noted that although several units or subunits of the device are mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to an embodiment of the present invention, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of a unit described above can be further divided into multiple units to be embodied. In addition, although the operations of the method of the present invention are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. Additionally or alternatively, certain steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps.

[0111] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0112] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as a combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a server, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0113] Program code for performing the operations of the present invention may be written using any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's device, as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0114] Where a remote computing device is involved, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0115] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0116] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0117] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A combined high-precision positioning method, characterized in that: include: Calculate the target's two-dimensional position based on three-station passive detection; Estimate target pitch angle based on interferometer height measurement; Calculating the target height based on the target two-dimensional coordinates and the target pitch angle; Based on the target height, the target two-dimensional coordinates are recalculated to obtain the target three-dimensional position.

2. The combined high-precision positioning method according to claim 1, characterized in that: The three-station passive detection system is used to calculate the two-dimensional position of the target, including: The three reconnaissance stations in the three-station passive detection system receive signals from the target, forming two time differences, from which the time difference hyperbolic equation is constructed; Solve the time difference hyperbolic surface equation to obtain the two-dimensional coordinates of the target.

3. The combined high-precision positioning method according to claim 2, characterized in that: The time difference hyperbolic equation is expressed as: Among them, (x i ,y i ,z i ), i=1,2,3 are the positions of each reconnaissance station, r i is the distance from the target to the i-th reconnaissance station, r1 is the distance from the target to the main station, r i,1 is the distance difference between the target and the i-th (i=2,3) reconnaissance station and the target and the main station, x i,1 =x i -x1,y i,1 =y i -y1,z i,1 =z i -z1.

4. The combined high-precision positioning method according to claim 3, characterized in that: The target pitch angle Expressed as: in, is the unambiguous measurement value of the phase difference, λ represents the wavelength of the radio wave signal, d int is the baseline length of the interferometer.

5. The combined high-precision positioning method according to claim 4, characterized in that: The target height is expressed as: Where z is the target height.

6. The combined high-precision positioning method according to claim 1, characterized in that: It is necessary to determine whether the target's three-dimensional position meets the index requirements. If not, the target height is substituted into the time difference hyperbolic surface equation to correct the target's two-dimensional coordinates until the requirements are met, thereby obtaining the target's high-precision three-dimensional position.

7. A combined high-precision positioning method and device, characterized in that: include: A first processing unit is used to calculate the two-dimensional position of the target based on three-station passive detection; A second processing unit is used to estimate the target pitch angle based on interferometer height measurement; a third processing unit, configured to calculate a target height based on the target two-dimensional coordinates and the target pitch angle; The fourth processing unit is used to recalculate the two-dimensional coordinates of the target based on the target height to obtain the three-dimensional position of the target.

8. An electronic device, characterized in that: include: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the at least one processor executes the method according to any one of claims 1 to 7 by executing the instructions stored in the memory.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store instructions, and when the instructions are executed, the method according to any one of claims 1 to 7 is implemented.

10. A computer program product, characterized in that When the computer program product is called by a computer, the computer is caused to execute the method according to any one of claims 1 to 7.

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