机载单站无源定位技术研究
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摘要
无源定位系统由于自身不辐射信号,具有隐蔽性强、探测距离远、抗干扰能力强的优点,在现代信息化战争中扮演着越来越重要的作用。机载单站无源定位技术具有良好的灵活性和机动性,是无源定位领域中的一个研究热点。论文主要围绕机载单站无源定位的一系列问题展开工作,从定位原理、可观测条件、定位误差分析、跟踪滤波算法等方面进行详细研究和讨论。
首先分别介绍了基于相位差变化率和多普勒频率变化率的单站无源定位原理,并进行了可观测性分析。针对现有单站无源定位方法存在的缺点和不足,将多普勒频率变化率法观测参数中的角度变化率由相位差变化率替换,重构观测方程组,得到改进的复合定位方法,避免了测量角度变化率的系统负担,降低了定位系统硬件平台的设计难度,同时提高了算法的实时性和实用性。
论文第三章构建了复合定位体制下机载单站无源定位系统的模型,研究了单次定位算法,推导得出利用相位差变化率和多普勒频率变化率进行单次定位的表达式,并进行了单次定位随机误差分析,仿真得出了影响单次定位精度的主要因素。
目标定位跟踪的实质是非线性最优滤波问题,即通过非线性观测得到目标状态(包括位置、速度、加速度等)的估计。第四章研究了利用相位差变化率和多普勒频率变化率进行单站无源定位与跟踪的算法问题,研究重点放在提高算法的稳定性方面。在扩展卡尔曼滤波及其衍生算法和Sigma点卡尔曼滤波算法的基础上,将平方根滤波的思想引入到SPKF算法中,提出SR-SPKF算法；针对滤波器在更新过程中可能出现协方差矩阵负定从而导致算法不稳定的问题,提出基于奇异值分解的SVD-SRSPKF算法,仿真结果表明这两种方法在保证定位与跟踪精度的前提下,都不同程度地提高了算法的稳定性。
论文的研究结果对于改进机载单站无源定位技术具有一定的参考价值。
With the merits self-hiding, far distance detection, strong anti-interference ability, Passive location system plays an increasingly important role in the modern information war because it does not radiate electromagnetic wave. The technology of the single airborne observer passive location has good flexibility and mobility as the hotspot of the passive location field. The location principle, observability conditions, position error analysis, tracking filter algorithms are researched and discussed extensively, arounding the key problems of single airborne observer passive location in this paper.
First of all, the basic principle and observability analysis of the single observer passive location are introduced based on phase difference rate-of-change and Doppler rate-of-change information. Aim at the original algorithm'shortcomings and the insufficiency, we replace angle variation by phase difference rate and reconstruct observation equations so that an improved composite localization method is gotten. The system burden about measuring angle variation is avoided, and design difficulty of hardware platform is reduced, while improving the algorithm of real-time and practicability.
In chapter 3, the model of single airborne observer passive location system is built, the single localization algorithm is studied and single orientation of expression is derived using phase difference rate and Doppler frequency variation. Single positioning random error analysis is given and simulation obtained main factors that influence single positioning accuracy.
Passive target tracking is in essence the problem of nonlinear optimal filtering, i.e., the aim is to estimate the state (including position, velocity, and acceleration etc) of the target based on nonlinear measurements. The location and tracking algorithm is studied in chapter 4. For emphasizing the robustness of algorithm, SR-SPKF algorithm is proposed by the square root filtering thoughts based on extended Kalman filter and its derivative algorithms and Sigma point Kalman filtering algorithms. SVD-SRSPKF algorithm is put forward in the condition that the updating covariance matrix is negative so that algorithm is not stable. The simulation experiments results demonstrate that the two methods have better stability.
The results of this thesis are meaningfull in improvement of single airborne observer passive location technology.
首先分别介绍了基于相位差变化率和多普勒频率变化率的单站无源定位原理,并进行了可观测性分析。针对现有单站无源定位方法存在的缺点和不足,将多普勒频率变化率法观测参数中的角度变化率由相位差变化率替换,重构观测方程组,得到改进的复合定位方法,避免了测量角度变化率的系统负担,降低了定位系统硬件平台的设计难度,同时提高了算法的实时性和实用性。
论文第三章构建了复合定位体制下机载单站无源定位系统的模型,研究了单次定位算法,推导得出利用相位差变化率和多普勒频率变化率进行单次定位的表达式,并进行了单次定位随机误差分析,仿真得出了影响单次定位精度的主要因素。
目标定位跟踪的实质是非线性最优滤波问题,即通过非线性观测得到目标状态(包括位置、速度、加速度等)的估计。第四章研究了利用相位差变化率和多普勒频率变化率进行单站无源定位与跟踪的算法问题,研究重点放在提高算法的稳定性方面。在扩展卡尔曼滤波及其衍生算法和Sigma点卡尔曼滤波算法的基础上,将平方根滤波的思想引入到SPKF算法中,提出SR-SPKF算法；针对滤波器在更新过程中可能出现协方差矩阵负定从而导致算法不稳定的问题,提出基于奇异值分解的SVD-SRSPKF算法,仿真结果表明这两种方法在保证定位与跟踪精度的前提下,都不同程度地提高了算法的稳定性。
论文的研究结果对于改进机载单站无源定位技术具有一定的参考价值。
With the merits self-hiding, far distance detection, strong anti-interference ability, Passive location system plays an increasingly important role in the modern information war because it does not radiate electromagnetic wave. The technology of the single airborne observer passive location has good flexibility and mobility as the hotspot of the passive location field. The location principle, observability conditions, position error analysis, tracking filter algorithms are researched and discussed extensively, arounding the key problems of single airborne observer passive location in this paper.
First of all, the basic principle and observability analysis of the single observer passive location are introduced based on phase difference rate-of-change and Doppler rate-of-change information. Aim at the original algorithm'shortcomings and the insufficiency, we replace angle variation by phase difference rate and reconstruct observation equations so that an improved composite localization method is gotten. The system burden about measuring angle variation is avoided, and design difficulty of hardware platform is reduced, while improving the algorithm of real-time and practicability.
In chapter 3, the model of single airborne observer passive location system is built, the single localization algorithm is studied and single orientation of expression is derived using phase difference rate and Doppler frequency variation. Single positioning random error analysis is given and simulation obtained main factors that influence single positioning accuracy.
Passive target tracking is in essence the problem of nonlinear optimal filtering, i.e., the aim is to estimate the state (including position, velocity, and acceleration etc) of the target based on nonlinear measurements. The location and tracking algorithm is studied in chapter 4. For emphasizing the robustness of algorithm, SR-SPKF algorithm is proposed by the square root filtering thoughts based on extended Kalman filter and its derivative algorithms and Sigma point Kalman filtering algorithms. SVD-SRSPKF algorithm is put forward in the condition that the updating covariance matrix is negative so that algorithm is not stable. The simulation experiments results demonstrate that the two methods have better stability.
The results of this thesis are meaningfull in improvement of single airborne observer passive location technology.
引文
[1]孙仲康,周一宇,何黎星.单＼多基地有源无源定位技术.国防工业出版社,1996：5页
[2]单月晖,孙仲康,皇甫堪.不断发展的无源定位技术.航天电子对抗,2002(1)：33-35页
[3]刘林岩.单站无源定位中频率变化率测量技术研究.国防科学技术大学硕士学位论文.2005：2页
[4]Zachary Lum.Killin EW on the offensive. Journal of electronics defense.1997(7): 37-39P
[5]Editorial Staff. Advance digital receiver offers precision location. Identification SIGNAL.1998(7):41-44P
[6]Litton develops phased interferometers for passive accurate target fixing. AviationWeek&Space.Tech90(10):73-74P
[7]郁春来.基于空频域信息的单站无源定位与跟踪关键技术研究.国防科学技术大学博士学位论文.2008：4-5页
[8]J. L. Poirot, A.Ghassan. Position location:triangulation versus circulation. IEEE Transactions on Aerospace and Electronic Systems,1978 AES-14(1):45-53P
[9]A. G. Lindgren, K. F. Gong. Position and velocity estimation via bearing observations.IEEE Transactions on Aerospace and Electronic Systems1978, AES-14(4):564-577P
[10]R.Baron, K. P.Davis, C. P.Hofmann. Passive direction finding and signal location. Microwave Journal,1982,25(9):59-76P
[11]A.Swindlehurst, T.Kailath, Azimuth/Elevation Direction Finding Using Regular Array, Geometries, IEEE Transactions on Aerospace and Electronic Systems, 1993, AES-29(1):145-156P
[12]R. J. Webster. An exact trajectory solution from Doppler shift Measurement. IEEE Transactions on Aerospace and Electronic Systems.1982,18(2):249-252P
[13]Y. T. Chan, S. Rudnicki, Bearing-only and Doppler-bearing tracking using instrumental variables. IEEE Transactions on Aerospace and Electronic Systems,1992, AES-28(4):1076-1082P
[14]许耀伟.一种快速高精度无源定位方法的研究.国防科学技术大学博士学位论文.1998.
[15]许耀伟,孙仲康.利用相位变化率对固定辐射源无源被动定位.系统工程与电子技术,1999,21(3)：34-37页
[16]李宗华.无机动单站对运动辐射源的无源定位跟踪技术研究.国防科学技术大学博士学位论文,2003.
[17]安玮,孙仲康.利用多普勒变化率的单站无源测距技术.雷达无源定位跟踪技术研讨会论文集,2001：41-45页
[18]孙仲康.基于运动学原理的无源定位技术.制导与引信.2001,22(1)：40-44页
[19]Steven C. Nardone, Vicent J. Aidala. Observability criteria for bearing-only target motion analysis, IEEE Transactions on Aerospace and Electronic Systems.1981, AES-17(2):162-166P
[20]Song T L. Observability of target tracking with range-only measurements. IEEE Journal of Oceanic Engineering.1999,24(3):383-387P
[21]Guan X, Yi X, He Y. Research on unobservability Problem for two-dimensional bearings-only target motion analysis. Proceedings of International Conference on Intelligent Sensing and Information Proeessing.2005:56-60P
[22]Glaude Jauffret, Denis Pillon. Observability in passive target motion analysis, IEEE Transactions on Aerospace and Electronic Systems,1996. AES-32(4):1290-1300P
[23]Aidala V J. Kalman filter behavior in bearing-only tracking applications. IEEE Transactions on Aerospace and Electronic Systems.1979, AES-15(1):29-39P
[24]Vincent J. Aidala, Sherry Hammel.Utilization of modified polar coordinates for bearings-only tracking. IEEE Transactions on Aerospace and Electronic Systems, 1983, AES-28(3):283-294P
[25]Song T L, Speyer J L.A stochastic analysis of a modified gain extend Kalman filter with application to estimation with bearings only measurements.IEEE Transactions on Aerospace and Electronic Systems,1985, AES-30(10):940-949P
[26]Peggy J.Galkowski, Mohammed Islam. A alternative derivation of modified gain function of Song and Speyer. IEEE Transactions on Aerospace and Electronic Systems,1991, AES-36(11):1322-1326P
[27]Guerci J. R, Goetz R, Dimodica J.A Method for Improving Extended Kalman Filter Performance for Angle-Only Passive Ranging. IEEE Transactions on Aerospace and Electronic Systems,1994, AES-30(4):1090-1093P
[28]Fagin S.L. Comments on " a Method for Improving Extended Kalman Filter Performance for Angle-Only Passive Ranging.".IEEE Transactions on Aerospace and Electronic Systems,1995, AES-31(3):1148-1150P
[29]郭福成.基于运动学原理的单站无源定位与跟踪关键技术研究.国防科学技术大学博士学位论文,2002：64-65页
[30]Julier S.J, uhlmann J.K. A New Method for the Nonlinear Transformation of Means and Covariances in Filters and Estimators. IEEE Trans on Automatic Control,2000, 45(3):477-482P
[31]Gordon N, Salmond DJ, Smith A.F. M. Novel Approach to Nonlinear and Non-Gaussian Bayesian State Estimation. IEEE Proceedings-F,1993,140(2):107-113P
[32]张宁红.坐标转换在雷达实时显示软件中的应用.现代雷达.2002(5)：30-32页
[33]单月辉.基于相位差变化率方法的单站无源定位技术.国防科技大学学报,2001(6)：23页
[34]单月辉.空中观测平台对海面慢速目标单站无源定位跟踪及其关键技术研究.国防科学技术大学博士学位论文,2002：11-13页
[35]赵国伟.高精度机载单站无源定位技术研究.西北工业大学硕士学位论文.2007：12页
[36]Dave Adamy, Radar warning receiver:The digital revolution, Journal of Electronic Defence, Jun,2000:45-50P
[37]郭艳丽,杨绍全.差分多普勒无源定位.电子对抗技术,2002,17(6)：20-23页
[38]王强.机载单站无源定位跟踪技术研究.国防科学技术大学硕士学位论文.2004：32,49页
[39]牛新亮,赵国庆等.基于多普勒变化率的机载无源定位研究.系统仿真学报.2009,21(11)：3370-3373页
[40]T. L. Song, J. L. Speyer. A stochastic analysis of a modified gain extend Kalman filter with application to estimation With bearings only measurements, IEEE Transaction on Automatic Control,1985,10(30):940-949P
[41]何友,修建娟,张晶炜等著.雷达数据处理及应用.第二版.北京：电子工业出版社. 2009：56页
[42]龚享铱.利用频率变化率和波达角变化率单站无源定位与跟踪的关键技术研究.国防科学技术大学博士学位论文,2004：35-36页
[43]Julier S J, Uhlmann J K and Durrant-Whyte H F. A new approach for filtering nonlinear systems. Proceedings of the American Control Conference. Evanston, IL, USA,1995:1628-1632P
[44]Norgarrd M, Poulsen N and Ravn O. New developments in state estimation for nonlinear systems. Automatica.2000,36(11):1627-1638P
[45]Ito K and Xiong K. Gaussian filters for nonlinear filtering Problems. IEEE Transactions on Automatic Control.2000,45(5):910-927P
[46]E.A.Wan, R.van der Mewre, and A.T.Nelson. Dual Estimation and the Unscented Transformation. In S.Solla, T.Leen, andK.-R. Muller editors, Advances in Neural Information Processing Systems 12, MIT Press,2000:666-672P
[47]Haykin S. Kalman filtering and neural networks. John Wiley & Sons, Inc.2001:23, 232,230,8P
[48]谭红力.航弹族低成本捷联惯导系统关键技术研究.国防科学技术大学博士学位论文,2007：78页
[2]单月晖,孙仲康,皇甫堪.不断发展的无源定位技术.航天电子对抗,2002(1)：33-35页
[3]刘林岩.单站无源定位中频率变化率测量技术研究.国防科学技术大学硕士学位论文.2005：2页
[4]Zachary Lum.Killin EW on the offensive. Journal of electronics defense.1997(7): 37-39P
[5]Editorial Staff. Advance digital receiver offers precision location. Identification SIGNAL.1998(7):41-44P
[6]Litton develops phased interferometers for passive accurate target fixing. AviationWeek&Space.Tech90(10):73-74P
[7]郁春来.基于空频域信息的单站无源定位与跟踪关键技术研究.国防科学技术大学博士学位论文.2008：4-5页
[8]J. L. Poirot, A.Ghassan. Position location:triangulation versus circulation. IEEE Transactions on Aerospace and Electronic Systems,1978 AES-14(1):45-53P
[9]A. G. Lindgren, K. F. Gong. Position and velocity estimation via bearing observations.IEEE Transactions on Aerospace and Electronic Systems1978, AES-14(4):564-577P
[10]R.Baron, K. P.Davis, C. P.Hofmann. Passive direction finding and signal location. Microwave Journal,1982,25(9):59-76P
[11]A.Swindlehurst, T.Kailath, Azimuth/Elevation Direction Finding Using Regular Array, Geometries, IEEE Transactions on Aerospace and Electronic Systems, 1993, AES-29(1):145-156P
[12]R. J. Webster. An exact trajectory solution from Doppler shift Measurement. IEEE Transactions on Aerospace and Electronic Systems.1982,18(2):249-252P
[13]Y. T. Chan, S. Rudnicki, Bearing-only and Doppler-bearing tracking using instrumental variables. IEEE Transactions on Aerospace and Electronic Systems,1992, AES-28(4):1076-1082P
[14]许耀伟.一种快速高精度无源定位方法的研究.国防科学技术大学博士学位论文.1998.
[15]许耀伟,孙仲康.利用相位变化率对固定辐射源无源被动定位.系统工程与电子技术,1999,21(3)：34-37页
[16]李宗华.无机动单站对运动辐射源的无源定位跟踪技术研究.国防科学技术大学博士学位论文,2003.
[17]安玮,孙仲康.利用多普勒变化率的单站无源测距技术.雷达无源定位跟踪技术研讨会论文集,2001：41-45页
[18]孙仲康.基于运动学原理的无源定位技术.制导与引信.2001,22(1)：40-44页
[19]Steven C. Nardone, Vicent J. Aidala. Observability criteria for bearing-only target motion analysis, IEEE Transactions on Aerospace and Electronic Systems.1981, AES-17(2):162-166P
[20]Song T L. Observability of target tracking with range-only measurements. IEEE Journal of Oceanic Engineering.1999,24(3):383-387P
[21]Guan X, Yi X, He Y. Research on unobservability Problem for two-dimensional bearings-only target motion analysis. Proceedings of International Conference on Intelligent Sensing and Information Proeessing.2005:56-60P
[22]Glaude Jauffret, Denis Pillon. Observability in passive target motion analysis, IEEE Transactions on Aerospace and Electronic Systems,1996. AES-32(4):1290-1300P
[23]Aidala V J. Kalman filter behavior in bearing-only tracking applications. IEEE Transactions on Aerospace and Electronic Systems.1979, AES-15(1):29-39P
[24]Vincent J. Aidala, Sherry Hammel.Utilization of modified polar coordinates for bearings-only tracking. IEEE Transactions on Aerospace and Electronic Systems, 1983, AES-28(3):283-294P
[25]Song T L, Speyer J L.A stochastic analysis of a modified gain extend Kalman filter with application to estimation with bearings only measurements.IEEE Transactions on Aerospace and Electronic Systems,1985, AES-30(10):940-949P
[26]Peggy J.Galkowski, Mohammed Islam. A alternative derivation of modified gain function of Song and Speyer. IEEE Transactions on Aerospace and Electronic Systems,1991, AES-36(11):1322-1326P
[27]Guerci J. R, Goetz R, Dimodica J.A Method for Improving Extended Kalman Filter Performance for Angle-Only Passive Ranging. IEEE Transactions on Aerospace and Electronic Systems,1994, AES-30(4):1090-1093P
[28]Fagin S.L. Comments on " a Method for Improving Extended Kalman Filter Performance for Angle-Only Passive Ranging.".IEEE Transactions on Aerospace and Electronic Systems,1995, AES-31(3):1148-1150P
[29]郭福成.基于运动学原理的单站无源定位与跟踪关键技术研究.国防科学技术大学博士学位论文,2002：64-65页
[30]Julier S.J, uhlmann J.K. A New Method for the Nonlinear Transformation of Means and Covariances in Filters and Estimators. IEEE Trans on Automatic Control,2000, 45(3):477-482P
[31]Gordon N, Salmond DJ, Smith A.F. M. Novel Approach to Nonlinear and Non-Gaussian Bayesian State Estimation. IEEE Proceedings-F,1993,140(2):107-113P
[32]张宁红.坐标转换在雷达实时显示软件中的应用.现代雷达.2002(5)：30-32页
[33]单月辉.基于相位差变化率方法的单站无源定位技术.国防科技大学学报,2001(6)：23页
[34]单月辉.空中观测平台对海面慢速目标单站无源定位跟踪及其关键技术研究.国防科学技术大学博士学位论文,2002：11-13页
[35]赵国伟.高精度机载单站无源定位技术研究.西北工业大学硕士学位论文.2007：12页
[36]Dave Adamy, Radar warning receiver:The digital revolution, Journal of Electronic Defence, Jun,2000:45-50P
[37]郭艳丽,杨绍全.差分多普勒无源定位.电子对抗技术,2002,17(6)：20-23页
[38]王强.机载单站无源定位跟踪技术研究.国防科学技术大学硕士学位论文.2004：32,49页
[39]牛新亮,赵国庆等.基于多普勒变化率的机载无源定位研究.系统仿真学报.2009,21(11)：3370-3373页
[40]T. L. Song, J. L. Speyer. A stochastic analysis of a modified gain extend Kalman filter with application to estimation With bearings only measurements, IEEE Transaction on Automatic Control,1985,10(30):940-949P
[41]何友,修建娟,张晶炜等著.雷达数据处理及应用.第二版.北京：电子工业出版社. 2009：56页
[42]龚享铱.利用频率变化率和波达角变化率单站无源定位与跟踪的关键技术研究.国防科学技术大学博士学位论文,2004：35-36页
[43]Julier S J, Uhlmann J K and Durrant-Whyte H F. A new approach for filtering nonlinear systems. Proceedings of the American Control Conference. Evanston, IL, USA,1995:1628-1632P
[44]Norgarrd M, Poulsen N and Ravn O. New developments in state estimation for nonlinear systems. Automatica.2000,36(11):1627-1638P
[45]Ito K and Xiong K. Gaussian filters for nonlinear filtering Problems. IEEE Transactions on Automatic Control.2000,45(5):910-927P
[46]E.A.Wan, R.van der Mewre, and A.T.Nelson. Dual Estimation and the Unscented Transformation. In S.Solla, T.Leen, andK.-R. Muller editors, Advances in Neural Information Processing Systems 12, MIT Press,2000:666-672P
[47]Haykin S. Kalman filtering and neural networks. John Wiley & Sons, Inc.2001:23, 232,230,8P
[48]谭红力.航弹族低成本捷联惯导系统关键技术研究.国防科学技术大学博士学位论文,2007：78页