无源时差定位技术及应用研究
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摘要
无源定位是指测量站不向目标发射电磁波,仅通过接收目标辐射源所辐射、反射和散射的电磁波来确定目标的位置。相对有源定位,无源定位可以更有效地抗击电子干扰、隐身技术、反辐射武器等威胁,且无源定位可以对干扰源、手机、电台等辐射源进行定位。现在无源定位中的时差(TDOA)定位技术尤其受到广泛关注,因为其具有精度高、易组网实现、能对付宽带低谱密度信号等优点。本文对时差定位技术进行了比较全面的分析研究,包括定位算法、精度分析、模糊无解、应用系统设计等内容,最后还对外场初步实验的情况和结果进行了分析。本文具体工作如下:
首先,对基本时差定位技术中的定位算法、精度分析、模糊无解进行了研究。给出了TDOA双曲线模型,对Chan、泰勒级数展开、AML等几种主要的定位算法进行了推导分析,并通过仿真得到了它们在不同条件下的定位性能,找出了存在的问题;对时差测量误差和站址误差对定位精度的影响进行了分析,仿真了多种布站形式下的GDOP分布,并专门分析了目标高度对平面三站时差定位精度的影响,得出了计算定位误差模和方向的表达式;研究了平面三站情况时存在的定位模糊和无解问题,得出了其分布区域。
其次,对TDOA定位技术在卫星对地观测定位上的应用进行了详细的研究。研究集中在受地球面限制的TDOA定位技术,分别介绍了正球体和WGS-84椭球体两种地球模型下的几种定位算法,并在此基础上本文提出了一种在WGS-84模型下已知目标海拔高度信息时的新定位算法,对各种算法的定位性能进行了仿真;对于影响星载受限TDOA定位精度的各种因素本文也进行了详细分析,并对误差分布情况进行了仿真。
接着,针对当前的无线电监测定位系统存在的问题,本文设计了一个采用TDOA定位技术,并基于小型接收机网络的无线电监测定位系统,对系统方案、小型接收机设计及处理流程进行了介绍。
最后,做了外场三站时差定位初步实验,对实验方案及数据处理方法进行了介绍,并对结果进行了分析。
The definition of passive location is that measurement-stations do not radiate electromagnetic wave towards objects and locate objects only by receiving electromagnetic wave from radiant points. Relative to active location, passive location can withstand various menaces more effectively, such as electronic interference, stealth technology and anti-radiation weapons; furthermore, passive location can locate these radiant points of electronic interference, mobile telephone and broadcasting. The TDOA location technology in passive location is payed extensive attention especially, because it has many strongpoints, such as high accuracy and easy engineering realization. This paper studies the TDOA location technology in many aspects, including location algorithms, accuracy analysis, the problems of ambiguity and non-solution, applied system design and so on. Finally, the results of the initial outfield data-collection experiment are analyzed. The detailed works are as follows:
First of all, location algorithms, accuracy analysis and the problems of ambiguity and non-solution in basic TDOA location technology are studied. The mathematical model of TDOA hyperbolic equations is established, the several major location algorithms, namely Chan, Taylor-series expansion and AML, are analyzed in detail, location performance in different conditions is obtained based on simulations. The impacts that TDOA measurement error and location error of measurement-station bring to location accuracy are analyzed, and the GDOP distribution in several measurement-station layouts is simulated. The object height’s impact on 2D tri-station TDOA location is analyzed especially, the equations that calculate location error and its direction vector are obtained. The problems of ambiguity and non-solution in 2D tri-station are also studied, and their distribution regions are obtained.
Secondly, the application of TDOA location technology to satellite location is studied in detail. Several location algorithms in two models of the sphere and the WGS-84 oblate spheroid are introduced, and based on these algorithms, a new location algorithm in WGS-84 model when object’s altitude is known is brought forward. Location performance of these algorithms is obtained by simulations. Diversified factors that influence satellites TDOA location are analyzed, and the error distributions are simulated.
Thirdly, in the face of problems in current radio monitoring location system, a new radio monitoring location system which adopts TDOA location technology and bases on minitype receiver network is designed in this paper. The system scheme, minitype receiver design and processing flow are introduced detailedly.
Finally, an initial outfield tri-station TDOA location experiment is done, the experiment scheme and method of data processing are introduced, and then the results of data processing are analyzed.
首先,对基本时差定位技术中的定位算法、精度分析、模糊无解进行了研究。给出了TDOA双曲线模型,对Chan、泰勒级数展开、AML等几种主要的定位算法进行了推导分析,并通过仿真得到了它们在不同条件下的定位性能,找出了存在的问题;对时差测量误差和站址误差对定位精度的影响进行了分析,仿真了多种布站形式下的GDOP分布,并专门分析了目标高度对平面三站时差定位精度的影响,得出了计算定位误差模和方向的表达式;研究了平面三站情况时存在的定位模糊和无解问题,得出了其分布区域。
其次,对TDOA定位技术在卫星对地观测定位上的应用进行了详细的研究。研究集中在受地球面限制的TDOA定位技术,分别介绍了正球体和WGS-84椭球体两种地球模型下的几种定位算法,并在此基础上本文提出了一种在WGS-84模型下已知目标海拔高度信息时的新定位算法,对各种算法的定位性能进行了仿真;对于影响星载受限TDOA定位精度的各种因素本文也进行了详细分析,并对误差分布情况进行了仿真。
接着,针对当前的无线电监测定位系统存在的问题,本文设计了一个采用TDOA定位技术,并基于小型接收机网络的无线电监测定位系统,对系统方案、小型接收机设计及处理流程进行了介绍。
最后,做了外场三站时差定位初步实验,对实验方案及数据处理方法进行了介绍,并对结果进行了分析。
The definition of passive location is that measurement-stations do not radiate electromagnetic wave towards objects and locate objects only by receiving electromagnetic wave from radiant points. Relative to active location, passive location can withstand various menaces more effectively, such as electronic interference, stealth technology and anti-radiation weapons; furthermore, passive location can locate these radiant points of electronic interference, mobile telephone and broadcasting. The TDOA location technology in passive location is payed extensive attention especially, because it has many strongpoints, such as high accuracy and easy engineering realization. This paper studies the TDOA location technology in many aspects, including location algorithms, accuracy analysis, the problems of ambiguity and non-solution, applied system design and so on. Finally, the results of the initial outfield data-collection experiment are analyzed. The detailed works are as follows:
First of all, location algorithms, accuracy analysis and the problems of ambiguity and non-solution in basic TDOA location technology are studied. The mathematical model of TDOA hyperbolic equations is established, the several major location algorithms, namely Chan, Taylor-series expansion and AML, are analyzed in detail, location performance in different conditions is obtained based on simulations. The impacts that TDOA measurement error and location error of measurement-station bring to location accuracy are analyzed, and the GDOP distribution in several measurement-station layouts is simulated. The object height’s impact on 2D tri-station TDOA location is analyzed especially, the equations that calculate location error and its direction vector are obtained. The problems of ambiguity and non-solution in 2D tri-station are also studied, and their distribution regions are obtained.
Secondly, the application of TDOA location technology to satellite location is studied in detail. Several location algorithms in two models of the sphere and the WGS-84 oblate spheroid are introduced, and based on these algorithms, a new location algorithm in WGS-84 model when object’s altitude is known is brought forward. Location performance of these algorithms is obtained by simulations. Diversified factors that influence satellites TDOA location are analyzed, and the error distributions are simulated.
Thirdly, in the face of problems in current radio monitoring location system, a new radio monitoring location system which adopts TDOA location technology and bases on minitype receiver network is designed in this paper. The system scheme, minitype receiver design and processing flow are introduced detailedly.
Finally, an initial outfield tri-station TDOA location experiment is done, the experiment scheme and method of data processing are introduced, and then the results of data processing are analyzed.
引文
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[40]陈永光,李昌锦,李修和.三站时差定位的精度分析与推算模型.电子学报,2004,32(9): 1452-1455.
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[2]孙仲康.单多基地有源无源定位系统.北京:国防工业出版社,1996,1-4.
[3]胡来招.无源定位.北京:国防工业出版社,2004,1-7.
[4]单月辉,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): 36-42.
[5]赵国庆.雷达对抗原理.西安:西安电子科技大学出版社,1999,60-62.
[6] K.C.Ho, Y.T.Chan.Geolocation of a known altitude object from TDOA and FDOA measurements. IEEE Transactions on Aerospace and Electronic Systems, 1997, 33(3): 770-783.
[7]林雪原,何友,史佩.利用二星TDOA和FDOA测量及辅助高度信息对地面目标的定位算法及精度分析.空间科学学报,2006,26(4): 277-281.
[8] D. J.Torrieri. Statistical theory of passive location systems. IEEE Transactions on Aerospace and Electronic Systems, 1984, 20(2): 183-198.
[9] Paul.C.Chestnut. Emitter Location Accuracy Using TDOA and Differential Doppler. IEEE Transactions on Aerospace and Electronic Systems, 1982, 18(2): 214-218.
[10] James J.Caffery, Jr. A New Approach to the Geometry of TOA Location. IEEE VTC, 2000,4(9): 1943-1949.
[11] Li Cong, Weihua Zhuang. Hybrid TDOA/AOA Mobile User Location for Wideband CDMA Celluar Systems. IEEE Trans. On Wireless Communications, 2002,1(3): 439-447.
[12]范平志,邓平,刘林.蜂窝网无线定位.北京:电子工业出版社,2002,5-19.
[13] Jeffrey H. Reed, Kevin J. Krizman, Brian D. Woerner, et al. An Overview of the Challenges and Progress in Meeting the E-911 Requirement for Location Service. IEEE Communications Magazine, 1998, 4: 30-37.
[14] Hiroaki Koshima, Joseph Hoshen. Personal Locator Services Emerge. IEEE Spectrum, 2000, 2: 41-48.
[15]朱庆厚.无线电监测与通信侦察.北京:人民邮电出版社,2005,330-342.
[16] Ryota Yamasaki, Atsushi Ogino, Tsuyoshi Tamaki, et al. TDOA Location System for IEEE 802.11b WLAN. IEEE Wireless Communications and Networking Conference, 2005, 4: 2338-2343.
[17]刘月华.时差定位无源雷达的系统设计:[硕士学位论文].南京:南京理工大学,2003,2-3.
[18] C. H. Knapp, G. C. Carter. The Generalized Correlation Method for Estimation of Time Delay. IEEE Transactions on Acoustics, Speech and Signal Processing. 1976, 24(4): 320-327.
[19] G. C. Carter. Coherence and Time Delay Estimation. Proc. IEEE, 1987, 75(2): 236-255.
[20] C.K.Chen, W.A.Garder. Signal selective time-difference of arrival estimation for passive location of man-made signal sources in highly corruptive environment, Part 2: Algorithms and Performance.IEEE Trans. On Signal Processing, 1992, 40(5): 1168-1184.
[21] C.K.Chen, W.A.Garder. Signal selective time-difference of arrival estimation for passive location of man-made signal sources in highly corruptive environment, Part 1: Theory and Method.IEEE Trans. On Signal Processing, 1992, 40(5): 1185-1197.
[22] H.C.So, P.C Ching. Performance analysis of ETDGE - an efficient and unbiased TDOA estimator. IEE Processing: RSN, 1998, 145(6): 325-330.
[23] B.T.Fang. Simple Solutions for Hyperbolic and Related Fixes. IEEE Trans. On Aerospace and Electronic Systems, 1990, 26(5): 748-753.
[24] H.C.Schau, A.Z.Robinson. Passive source localization employing intersecting spherical surfaces from time-of-arrival differences. IEEE Trans on Acoustics, Speech, and Signal Processing, 1987, 35(8):1223-1225.
[25] J.O.Smith,J.S.Abel. Closed-form least-squares source location estimation from range-difference measurements. IEEE Trans. Acoust, Speech, Signal Processing, 1987, 35(11): 1661-1669.
[26] B. Friedlander. A passive localization algorithm and its accuracy analysis. IEEE J.Ocean. Eng. 1987, 12(1): 234-245.
[27] J. S. Abel. A divide and conquer approach to least-squares estimation. IEEE Trans.Aerosp. Electron. Syst, 1990, 26(3): 423-427.
[28] Y.T Chan, K.C Ho. A Simple and Efficient Estimator for Hyperbolic Location . IEEE Trans on Signal Processing , 1994 , 42 (8): 1905-1915.
[29] W.H Foy. Position-location solutions by Taylor series estimation. IEEE Trans on Aerosp Electron Syst, 1976, AES-12(3): 187-194.
[30] Y.T Chan, Herman Yau Chin Hang, Pak-chung Ching. Exact and Approximate Maximum Likelihood Localization Algorithms. IEEE Trans on VTC, 2006, 55(1): 10-16.
[31]刘林,邓平,范平志.基于Chan氏算法和Taylor级数展开法的协同定位方法.电子与信息学报,2004,26(1): 41-46.
[32]熊瑾煜,王巍,朱中梁.基于泰勒级数展开的蜂窝TDOA定位算法.通信学报,2004,25(4):144-150.
[33] K.C Ho, Y.T Chan. Geolocation of a Known Altitude Object From TDOA and FDOA Measurements. IEEE Trans on Aerosp Electron Syst, 1997 ,33(3): 770-783.
[34] Jeff Mason. Algebraic Two-Satellite TOA/FOA Position Solution on an Ellipsoidal Earth. IEEE Transactions on Aerospace and Electronic Systems, 2004,40(3): 1087-1092.
[35]谢恺,钟丹星,周一宇,等.一种空间时差定位的新算法.信号处理,2006,22(2): 129-135.
[36] D.Drakoulis, S.Kyriazakos, G.Karetsos. Improving Subscriber Position Location using a Hybrid Satellite-assisted and Network-based Technique. IEEE VTC, 2000: 1887-1892.
[37]张毅,罗元,汪纪锋,等.基于蜂窝与同步卫星TDOA定位的比较研究.电波科学学报,2004,19(1): 99-103.
[38]杨林,周一宇,孙仲康.TDOA被动定位方法及精度分析.国防科技大学学报,1998,20(2): 49-53.
[39]张正明,杨绍全.平面时差定位精度分析.西安电子科技大学学报,2000,27(1): 13-16.
[40]陈永光,李昌锦,李修和.三站时差定位的精度分析与推算模型.电子学报,2004,32(9): 1452-1455.
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