多星时差频差定位技术研究
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摘要
对辐射源目标的无源定位技术具有作用距离远、隐蔽性好等优点,对于提高系统在电子战环境下的生存能力具有重要作用。随着测量技术、信号截获和处理技术的发展,无源时差频差定位技术在电子站系统中占据着越来越重要的地位。
本文研究讨论了多星时差频差联合定位相关关键技术,主要内容有:
对三星时差定位、频差定位及时差频差联合定位进行精度分析,给出了定位精度的几何稀度计算公式和定位误差曲线,讨论了定位误差与时差测量精度、频差测量精度、卫星位置误差和速度误差、目标接收机几何关系之间的关系。
在静态目标定位算法方面,讨论了基于时差解析解算法,研究了基于频差最大似然算法、基于时差频差联合最大比合并算法,并对相应的性能进行了仿真和分析。仿真结果表明,联合定位算法优于单独时差定位算法和单独频差定位算法。
在动态目标定位算法方面,以四星时差频差定位系统为基础,主要讨论运动目标的定位,即基于卡尔曼滤波的定位算法。将卡尔曼滤波运用到时差频差联合定位方法中,对地面低速运动的目标源进行定位,估计其位置和速度。实验得到目标位置、速度估计和运动轨迹的跟踪,当初始位置合适时可以得到高精度的结果。
Passive location of emitter sources has many advantages such as long detected distance, much better security, uneasy to disturb compared to active location. As the developments in measurement and signal-processing technology, the TDOA(Time Difference of Arrival) and FDOA(Frequency Difference of Arrival) location technology is playing a more and more important role in electronic warfare.
TDOA and FDOA location technology is studied in this thesis. The main contents are as following.
Based on the configuration of the locating system with three satellites, the theory and analysis of accuracy in time difference and frequency difference location methods are studied in this thesis. The general formula of location accuracy is derived from GDOP, especially with the relationship of measurement errors, the position error and velocity error of stations.
As for static positioning algorithms, A closed-form of TDOA passive location algorithm, a maximum likelihood (ML) localization of FDOA algorithm, a joint localization of TDOA and FDOA based on maximum ratio combining (MRC) are studied and their performances are analyzed and compared with each other in details. The simulation results shows that the capability of combined TDOA and FDOA measurements is better than TDOA also FDOA measurements.
Concerning dynamic positioning algorithms, Kalman filter is applied to TDOA and FDOA measurements with four satellites and estimate the position and velocity of dynamic sources. Kalman filter can obtain satisfactory position and velocity estimations when the initialized position is appropriate.
本文研究讨论了多星时差频差联合定位相关关键技术,主要内容有:
对三星时差定位、频差定位及时差频差联合定位进行精度分析,给出了定位精度的几何稀度计算公式和定位误差曲线,讨论了定位误差与时差测量精度、频差测量精度、卫星位置误差和速度误差、目标接收机几何关系之间的关系。
在静态目标定位算法方面,讨论了基于时差解析解算法,研究了基于频差最大似然算法、基于时差频差联合最大比合并算法,并对相应的性能进行了仿真和分析。仿真结果表明,联合定位算法优于单独时差定位算法和单独频差定位算法。
在动态目标定位算法方面,以四星时差频差定位系统为基础,主要讨论运动目标的定位,即基于卡尔曼滤波的定位算法。将卡尔曼滤波运用到时差频差联合定位方法中,对地面低速运动的目标源进行定位,估计其位置和速度。实验得到目标位置、速度估计和运动轨迹的跟踪,当初始位置合适时可以得到高精度的结果。
Passive location of emitter sources has many advantages such as long detected distance, much better security, uneasy to disturb compared to active location. As the developments in measurement and signal-processing technology, the TDOA(Time Difference of Arrival) and FDOA(Frequency Difference of Arrival) location technology is playing a more and more important role in electronic warfare.
TDOA and FDOA location technology is studied in this thesis. The main contents are as following.
Based on the configuration of the locating system with three satellites, the theory and analysis of accuracy in time difference and frequency difference location methods are studied in this thesis. The general formula of location accuracy is derived from GDOP, especially with the relationship of measurement errors, the position error and velocity error of stations.
As for static positioning algorithms, A closed-form of TDOA passive location algorithm, a maximum likelihood (ML) localization of FDOA algorithm, a joint localization of TDOA and FDOA based on maximum ratio combining (MRC) are studied and their performances are analyzed and compared with each other in details. The simulation results shows that the capability of combined TDOA and FDOA measurements is better than TDOA also FDOA measurements.
Concerning dynamic positioning algorithms, Kalman filter is applied to TDOA and FDOA measurements with four satellites and estimate the position and velocity of dynamic sources. Kalman filter can obtain satisfactory position and velocity estimations when the initialized position is appropriate.
引文
[1]S.Rehnmark.Passive precision direction finding.Journal of Electronic Defense,Aug,1990,:77-80
[2]Dace Adamy.Radar waring receivers:the digital revolution.Journal of Electronic Defense,June,2000:45-49
[3]Dace Adamy.Time of arrival emitter location.Journal of Electronic Defense,June,1995:80-81
[4]Dace Adamy.Precise targeting:sensors get smarter.Journal of Electronic Defense,Sept,2000
[5]Don Herskovits.A sampling of direction finding systems.Journal of Electronic Defense,Aug,1998:53-61
[6]Nicholas Ciaxos.The new generation of direction finding and intercept system.Journal of Electronic Defense,Oct,1992:52-55
[7]孙仲康,周一宇,何黎星.单多基地有源/无源定位技术.北京,国防工业出版社,1996
[8]孙仲康,陈辉煌.定位导航与制导.北京,国防工业出版社,1998
[9]赵国庆.雷达对抗原理.西安,西安电子科技大学出版社,1999
[10]孙龙祥.发展中的无源定位技术.中国电子学会电子对抗分会第十二届学术年会论文集:429-433
[11]孙仲康.基于运动学原理的无源定位技术.制导与引信,2001.3:40-43
[12]邓勇,徐晖,周一宇.平面三站时差定位中的模糊及无解研究.系统工程与电子术,2000.3:27-29
[13].王海丽,陈磊.三星时差定位卫星簇的分析与设计.国防科技大学学报,2001
[14]潭剑锋,周彩根.三星时差定位算法和精度分析.第十一届电子对抗年会论文集,1999
[15]丁鹭飞,张平.雷达系统.西北电讯工程学院出版社.1984
[16]丁鹭飞,耿富录.雷达原理.西安电子科技大学出版社,1995
[17]Francois Dufour,Michel Mariton Matra.Tracking a 3D maneuvering target with passive sensors.IEEE AES vol.27,1991:725-739
[18]李华.多站差分多普勒定位技术,电子对抗技术,1998
[19]郭艳丽,杨绍全.差分多普勒无源定位.电子对抗技术,2002
[20]顾敦和,张弦,郁易生.线性代数.高等教育出版社,2001
[21]徐仲,张凯院,陆全,冷国伟.矩阵论简明教程.科学出版社.2007
[22]盛骤,谢式千,潘承毅.概率论与数理统计.高等教育出版社,2003
[23]Steven M.Kay.Fundamentals of Statistical Signal Processing.Publishing House of Electronics Industry,2006
[24]边少锋,李文魁.卫星导航系统概论。电子工业出版社,2005
[25]王海丽,任萱,陈磊.三星时差定位星座的定位精度分析.中国空间科学技术,2000年10月
[26]Paul C.Chestnut.Emitter location accuracy using TDOA and differential Doppler.IEEE Trans,on AES.Vol.18,No.2,March,1982:214-218
[27]R.Schmidt.Least squares range difference location.IEEE Trans,on AES.Vol.32,No.1,Jan,1996:234-241
[28]Schau.H.C.Passive source localization employing intersecting spherical surfaces form time of arrival differences.IEEE Trans.on ASSS.Vol.35,No.8,Aug,1987:1223-1225
[29]常新亚,张立华,陶成华.三星时差定位系统的目标定位精度分析.航天器工程Vol.16,No.4,2007.7:121-126
[30]王成,李少洪,黄槐.测时差定位精度分析与最优布站.火控雷达技术,2003
[31]Y.T.Chan.Sequential location of a radiating source by Doppler-shifted frequency measurements.IEEE Trans.on AES.Vol.28,No.4,Oct,1992:1084-1089
[32]J.K.Statman.Parameter estimation based on doppler frequency shifts.IEEE Trans.on AES.Vol.18,No.2,March,1982:249-252
[33]N.Levanon.Some results from utilizing doppler derivatives.IEEE Trans.on AES.Vol.16,No.5,Sept,1980:727-729
[34]潘琴格,严盟,廖桂生.多站时差和多普勒频差联合定位技术.雷达科学与技术.NO.6.2005:332-335
[35]Guangxiang Yao,Zhiwen Liu,Yougen Xu.TDOA/FDOA Joint Estimation in a Correlated Noise Environment.IEEE Trans,2005:831-834
[36]K.C.Ho,Y.T.Chan.Solution and performance analysis of geolocation by TDOA.IEEE Trans.an AES.Vol.29.No.4.Oct.1 993:1311-1322
[37]谢恺,钟丹星.邓新蒲,周一宇.一种空间时差定位的新算法.信号处理,Vol.22,No.2,2006(4):129-135
[38]B.Friedlander.A passive localization algorithm and its accuracy analysis.IEEE Trans,No.1,Jan,1987:234-245
[39]G..Mellen,M.Pachter,J.Raquet.Closed-form solution for determining emitter location using time difference of arrival measurements.IEEE Trans,on AES,Vol.39,No.3,July,2003:1056-1058
[40]K.C.Ho,Y.T.Chan.Optimum discrete wavelet scaling and its application to delay and Doppler estimation.IEEE Trans,Signal Processing vol.46,1998:2285-2290
[41]K.C.Ho,Y.T.Chan.Geolocation of a known altitude object from TDOA and FDOA measurements.IEEE Trans,on AES.Vol.33,No.3,July,1997:770-783
[42]Thomas L.Marzetta.A Simple Derivation of the Constrained Multiple Parameter Cramer-Rao Bound.IEEE Trans,on SIGNAL PROCESSING,Vol.41,No.6,June,1993:2247-2250
[43]黄清明,刘琚.基于卡尔曼滤波的测量值重构及定位算法.电子与信息学报,2007,29(7):1551-1555
[44]张锐,张长虹,陈利超.INS/GPS导航中联邦卡尔曼滤波算法.战术导弹控制技术,2006,52(1):52-55
[45]K.C.Ho,Y.T.Chan.An Accurate Algebraic Solution for Moving Source Location Using TDOA and FDOA Measurements.IEEE Trans,on SIGNAL PROCESSING.Vol.52,No.9,Sept,2004:2453-2463
[46]罗鹏飞,张文明.一种多目标跟踪航迹起始算法及其性能评估.国防科技大学学报,1999.12.Vol.21.No.6
[47]K.F.McDonald and W.S.Kuklinski,"Track maintenance and positional estimation via ground moving target indicator and geolocation data fusion".Proc.of the IEEE Radar Conference,pp.239-245,2001
[2]Dace Adamy.Radar waring receivers:the digital revolution.Journal of Electronic Defense,June,2000:45-49
[3]Dace Adamy.Time of arrival emitter location.Journal of Electronic Defense,June,1995:80-81
[4]Dace Adamy.Precise targeting:sensors get smarter.Journal of Electronic Defense,Sept,2000
[5]Don Herskovits.A sampling of direction finding systems.Journal of Electronic Defense,Aug,1998:53-61
[6]Nicholas Ciaxos.The new generation of direction finding and intercept system.Journal of Electronic Defense,Oct,1992:52-55
[7]孙仲康,周一宇,何黎星.单多基地有源/无源定位技术.北京,国防工业出版社,1996
[8]孙仲康,陈辉煌.定位导航与制导.北京,国防工业出版社,1998
[9]赵国庆.雷达对抗原理.西安,西安电子科技大学出版社,1999
[10]孙龙祥.发展中的无源定位技术.中国电子学会电子对抗分会第十二届学术年会论文集:429-433
[11]孙仲康.基于运动学原理的无源定位技术.制导与引信,2001.3:40-43
[12]邓勇,徐晖,周一宇.平面三站时差定位中的模糊及无解研究.系统工程与电子术,2000.3:27-29
[13].王海丽,陈磊.三星时差定位卫星簇的分析与设计.国防科技大学学报,2001
[14]潭剑锋,周彩根.三星时差定位算法和精度分析.第十一届电子对抗年会论文集,1999
[15]丁鹭飞,张平.雷达系统.西北电讯工程学院出版社.1984
[16]丁鹭飞,耿富录.雷达原理.西安电子科技大学出版社,1995
[17]Francois Dufour,Michel Mariton Matra.Tracking a 3D maneuvering target with passive sensors.IEEE AES vol.27,1991:725-739
[18]李华.多站差分多普勒定位技术,电子对抗技术,1998
[19]郭艳丽,杨绍全.差分多普勒无源定位.电子对抗技术,2002
[20]顾敦和,张弦,郁易生.线性代数.高等教育出版社,2001
[21]徐仲,张凯院,陆全,冷国伟.矩阵论简明教程.科学出版社.2007
[22]盛骤,谢式千,潘承毅.概率论与数理统计.高等教育出版社,2003
[23]Steven M.Kay.Fundamentals of Statistical Signal Processing.Publishing House of Electronics Industry,2006
[24]边少锋,李文魁.卫星导航系统概论。电子工业出版社,2005
[25]王海丽,任萱,陈磊.三星时差定位星座的定位精度分析.中国空间科学技术,2000年10月
[26]Paul C.Chestnut.Emitter location accuracy using TDOA and differential Doppler.IEEE Trans,on AES.Vol.18,No.2,March,1982:214-218
[27]R.Schmidt.Least squares range difference location.IEEE Trans,on AES.Vol.32,No.1,Jan,1996:234-241
[28]Schau.H.C.Passive source localization employing intersecting spherical surfaces form time of arrival differences.IEEE Trans.on ASSS.Vol.35,No.8,Aug,1987:1223-1225
[29]常新亚,张立华,陶成华.三星时差定位系统的目标定位精度分析.航天器工程Vol.16,No.4,2007.7:121-126
[30]王成,李少洪,黄槐.测时差定位精度分析与最优布站.火控雷达技术,2003
[31]Y.T.Chan.Sequential location of a radiating source by Doppler-shifted frequency measurements.IEEE Trans.on AES.Vol.28,No.4,Oct,1992:1084-1089
[32]J.K.Statman.Parameter estimation based on doppler frequency shifts.IEEE Trans.on AES.Vol.18,No.2,March,1982:249-252
[33]N.Levanon.Some results from utilizing doppler derivatives.IEEE Trans.on AES.Vol.16,No.5,Sept,1980:727-729
[34]潘琴格,严盟,廖桂生.多站时差和多普勒频差联合定位技术.雷达科学与技术.NO.6.2005:332-335
[35]Guangxiang Yao,Zhiwen Liu,Yougen Xu.TDOA/FDOA Joint Estimation in a Correlated Noise Environment.IEEE Trans,2005:831-834
[36]K.C.Ho,Y.T.Chan.Solution and performance analysis of geolocation by TDOA.IEEE Trans.an AES.Vol.29.No.4.Oct.1 993:1311-1322
[37]谢恺,钟丹星.邓新蒲,周一宇.一种空间时差定位的新算法.信号处理,Vol.22,No.2,2006(4):129-135
[38]B.Friedlander.A passive localization algorithm and its accuracy analysis.IEEE Trans,No.1,Jan,1987:234-245
[39]G..Mellen,M.Pachter,J.Raquet.Closed-form solution for determining emitter location using time difference of arrival measurements.IEEE Trans,on AES,Vol.39,No.3,July,2003:1056-1058
[40]K.C.Ho,Y.T.Chan.Optimum discrete wavelet scaling and its application to delay and Doppler estimation.IEEE Trans,Signal Processing vol.46,1998:2285-2290
[41]K.C.Ho,Y.T.Chan.Geolocation of a known altitude object from TDOA and FDOA measurements.IEEE Trans,on AES.Vol.33,No.3,July,1997:770-783
[42]Thomas L.Marzetta.A Simple Derivation of the Constrained Multiple Parameter Cramer-Rao Bound.IEEE Trans,on SIGNAL PROCESSING,Vol.41,No.6,June,1993:2247-2250
[43]黄清明,刘琚.基于卡尔曼滤波的测量值重构及定位算法.电子与信息学报,2007,29(7):1551-1555
[44]张锐,张长虹,陈利超.INS/GPS导航中联邦卡尔曼滤波算法.战术导弹控制技术,2006,52(1):52-55
[45]K.C.Ho,Y.T.Chan.An Accurate Algebraic Solution for Moving Source Location Using TDOA and FDOA Measurements.IEEE Trans,on SIGNAL PROCESSING.Vol.52,No.9,Sept,2004:2453-2463
[46]罗鹏飞,张文明.一种多目标跟踪航迹起始算法及其性能评估.国防科技大学学报,1999.12.Vol.21.No.6
[47]K.F.McDonald and W.S.Kuklinski,"Track maintenance and positional estimation via ground moving target indicator and geolocation data fusion".Proc.of the IEEE Radar Conference,pp.239-245,2001