CN-115792800-B - Grid search-based double-station three-dimensional cross positioning method

Abstract

The invention discloses a grid search-based double-station three-dimensional cross positioning method, which belongs to the technical field of electronic counterreconnaissance, wherein direction-pitch dimension angle measurement vectors measured by reconnaissance equipment of two stations in the air or on the ground are converted into direction measurement vectors of radiation sources corresponding to the two stations respectively in a northeast coordinate system with the stations as origins, then the double-station direction measurement vectors are converted into the same coordinate system by utilizing a coordinate system conversion method, the coordinates of the radiation sources are searched by utilizing a grid search method with shortest different-plane linear distance, and finally the coordinates of the radiation sources searched for multiple times are clustered to obtain the optimal positioning coordinates.

Inventors

• CHEN CHENG
• SUN JIANDONG
• LIANG ZHIYONG
• CHEN CHANGYUN
• Yu Gunhao

Assignees

• 中国航天科工集团八五一一研究所

Dates

Publication Date

20260505

Application Date

20221215

Claims (2)

1. 1. The grid search-based double-station three-dimensional cross positioning method is characterized by comprising the following steps of: Step 1, the reconnaissance equipment of two stations respectively reconnaissance the direction of the radiation source, the first station reconnaissance equipment and the second station reconnaissance equipment respectively measure the direction-pitch angle (beta 1 ,ε 1 )、(β 2 ,ε 2 ) of the radiation source in a passive angle measurement mode, and the angle measurement error is that Step 2, two stations respectively take self-positioning coordinates as an origin, establish a northeast and north day coordinate system, set the azimuth-pitch angle (0 DEG ) position of the reconnaissance equipment to point to north, and convert the azimuth-pitch angle (beta 1 ,ε 1 )、(β 2 ,ε 2 ) of the radiation source into a direction finding vector e S1 、e S2 of the radiation source in the coordinate system: e S1 ＝[cosε 1 *sinβ 1 cosε 1 *cosβ 1 sinε 1 ] e S2 ＝[cosε 2 *sinβ 2 cosε 2 *cosβ 2 sinε 2 ] Step 3, converting the radiation source direction-finding vector in the northeast coordinate system to the geocentric coordinate system by combining the conversion relation of the northeast coordinate system and the geocentric coordinate system and the self-positioning coordinate S g1 (x g1 y g1 z g1 of the first site in the geocentric coordinate system, and converting the radiation source direction-finding vector e g-S1 ＝[l g1 m g1 n g1 of the first site according to the self-positioning coordinate S g2 (x g2 y g2 z g2 of the second site in the geocentric coordinate system to obtain the radiation source direction-finding vector e g-S2 ＝[l g2 m g2 n g2 ];l ga of the second site after conversion, wherein m ga represents the x-direction component of the corresponding coordinate system in the radiation source direction-finding vector of the a site after conversion, n ga represents the z-direction component of the corresponding coordinate system in the radiation source direction-finding vector of the a site after conversion, and site serial numbers a=1, 2; Step 4, a northeast coordinate system is established by roughly presetting a radiation source coordinate position O= (x 0 y 0 z 0 ) with the coordinate as an origin, a self-positioning coordinate S O-1 (x O1 y O1 z O1 of a first site and a self-positioning coordinate S O-2 (x O2 y O2 z O2 of a second site under the northeast coordinate system are obtained through a conversion relation between the northeast coordinate system and a geocentric coordinate system), a radiation source direction-finding vector e O-S1 ＝[l O1 m O1 n O1 measured by the first site and a radiation source direction-finding vector e O-S2 ＝[l O2 m O2 n O2 measured by the second site are obtained, wherein l Oa represents an x-direction component of a corresponding coordinate system in the radiation source direction-finding vector measured by the a site, m Oa represents a y-direction component of the corresponding coordinate system of the radiation source direction-finding vector measured by the a site, a z-direction component of the corresponding coordinate system in the radiation source direction-finding vector measured by the a site of n Oa , and site serial numbers a=1 and 2; step 5, dividing grid nodes for the equidistant Deltal of the three-dimensional space according to the principle that the distance between the radiation source coordinates and the direction-finding vectors of two stations is shortest, calculating the space distance between the grid and the direction-finding vectors, and taking the grid node corresponding to the shortest space distance as the searching result of the radiation source coordinates, wherein the stepping values of the grid node coordinates T ijk (x i y j z k ),i＝1,2…I,j＝1,2…J,k＝1,2…K;x i ,y j ,z k are Deltal, and I, J, K values determine the searching range of the three-dimensional space; vector e T-S1 of first site to mesh node: e T-S1 ＝[l i m j n k ]＝[x i -x O1 y j -y O1 z k -z O1 ]; calculating the space distance d 1 between the grid node and the first station direction-finding vector by adopting a vector cross multiplication principle: Grid node to second site direction vector spatial distance d 2 : Traversing all grid nodes, taking a grid node T ijk (x i y j z k corresponding to the minimum d 1 +d 2 value as a current radiation source coordinate T 1 ; The two stations perform N times of cross positioning on the radiation source to obtain N times of positioning results T n (x n y n z n ), n=1, 2,3. And 6, clustering the N times of radiation source positioning coordinates based on the shortest distance principle to obtain an optimal positioning result.
2. 2. The grid search-based double-station three-dimensional cross positioning method according to claim 1, wherein in step 6, the positioning coordinates of the radiation sources are clustered for N times based on the shortest distance principle to obtain an optimal positioning result, which is specifically as follows: solving the mean point of N times of positioning results T n (x n y n z n ) Calculating N times of positioning results T n to mean point According to the angular error And the distance of the radiation source from the first station S 1 Calculating positioning errors Removing the positioning coordinates of which the distance between l n and delta d is not less than 10 according to the empirical value; Clustering the rest M positioning coordinates, and solving the square sum of the distances from each coordinate to other M-1 coordinates Taking the least square sum of distances The corresponding coordinates are the optimal radiation source positioning coordinates.

Description

Grid search-based double-station three-dimensional cross positioning method Technical Field The invention relates to an electronic countermeasure reconnaissance technology, in particular to a grid search-based double-station three-dimensional cross positioning method. Background The direction-finding cross positioning method is to measure the direction at different positions for multiple times through a single movable site, and position the direction-finding vectors by utilizing the intersection of the direction-finding vectors measured by the time-sharing of the reconnaissance equipment, or position the direction-finding vectors by the intersection of the direction-finding vectors measured by the reconnaissance equipment of multiple stations in the air or the ground. The single-station positioning needs to accumulate a plurality of measurement results for positioning, so that the method has low speed and low precision. However, the multi-station direction-finding cross positioning system has the advantages of rapidness, long detection distance, strong anti-interference capability and the like. The common direction-finding positioning algorithm solves the position information of the radiation source by utilizing a measurement equation set containing target coordinate values, the common method is to simplify a weighted least square positioning algorithm, and the application of the direction-finding cross positioning method in engineering describes a double-station cross positioning method based on a weighted least square method. The method for determining the position information of the radiation source by utilizing the space geometrical relationship of the direction finding vectors of the double-station reconnaissance equipment is high in instantaneity and easy to realize engineering. Disclosure of Invention The invention provides a grid search-based double-station three-dimensional cross positioning method which is high in instantaneity and convenient for engineering realization. The technical scheme includes that the method for positioning the double-station three-dimensional intersection based on grid search comprises the following steps that step 1, two-station reconnaissance equipment adopts a passive mode to respectively measure the azimuth-pitch angle of a radiation source. And 2, respectively taking the self-positioning coordinates as an origin, establishing a northeast coordinate system, and converting the azimuth-pitch angle of the radiation source into a direction-finding vector of the radiation source in each coordinate system. And 3, converting the self-positioning coordinates of the double stations and the direction-finding vector of the radiation source into a geocentric coordinate system through the conversion relation between the northeast coordinate system and the geocentric coordinate system. And 4, setting up a northeast coordinate system by roughly presetting the coordinate position of the radiation source, and converting the self-positioning coordinates of the double stations in the geocentric coordinate system and the direction-finding vector of the radiation source into the same coordinate system by the conversion relation between the geocentric coordinate system and the northeast coordinate system. And 5, calculating the space distance from the grid to the direction-finding vector for the three-dimensional space division grid node by using the principle that the distance from the radiation source to the double-station direction-finding vector is shortest, and taking the grid node with the shortest space distance as the positioning coordinate of the secondary radiation source. And 6, clustering the radiation source positioning coordinates for a plurality of times by a clustering method based on a least square method to obtain final radiation source positioning coordinates. Compared with the prior art, the invention has the remarkable advantages that: (1) The least square positioning algorithm solves the position information of the radiation source by utilizing a measurement equation set containing target coordinate values, and has the problems of large calculated amount, high calculation resource consumption, difficult engineering realization and the like, and is difficult to meet the real-time requirement. The positioning method can quickly position the radiation source through the direction finding result of a group of double stations. Compared with the traditional method for solving the equation set, the method for calculating the radiation source coordinates has the advantages that grid nodes are divided to search the radiation source coordinates, and implementation of embedded software is facilitated. (2) The spacing of the grid nodes can be selected according to the positioning accuracy requirement. When the radiation source coordinates are estimated, the distance between grid nodes can be set to be several kilometers or even tens of kilometers, coarse radiation source coordina