CN-121805991-B - Ground wave radar positioning method, system and device based on unmanned aerial vehicle RIS assistance

CN121805991BCN 121805991 BCN121805991 BCN 121805991BCN-121805991-B

Abstract

The application provides a ground wave radar positioning method, a system and a device based on unmanned aerial vehicle RIS assistance, which are characterized in that a radar terminal is used for transmitting a high-frequency ground wave detection signal, the ground wave detection signal is transmitted to a target for detection through a direct path and an RIS assistance path, the RIS assistance path is a detection path for transmitting the ground wave detection signal to an unmanned aerial vehicle RIS carrying platform for reflection, and then target position information is calculated based on a direct path echo signal, an RIS assistance reflection path echo signal and the real-time position of the unmanned aerial vehicle RIS carrying platform. According to the application, a new detection system for fusing direct and reflected dual-path signals is constructed by introducing the RIS reflecting nodes capable of being regulated and controlled dynamically, the signal quality under non-line-of-sight and complex environments is enhanced actively, the dual-path information complementation and intelligent closed-loop regulation and control are utilized, the positioning precision, environmental adaptability and target tracking capability of the system are improved remarkably, and meanwhile, the positioning error is reduced remarkably through dynamic calibration.

Inventors

YANG FAN
SU YONGKANG
HAN SHUANGSHUANG
LI YAQUAN
HU YUANDONG
WU DI

Assignees

自然资源部珠海海洋中心(自然资源部珠海海洋预报台)
北京科技大学
台山核电合营有限公司

Dates

Publication Date: 20260512
Application Date: 20260311

Claims (8)

1. The ground wave radar positioning method based on unmanned aerial vehicle RIS assistance is characterized by comprising the following steps of: the radar terminal transmits a high-frequency ground wave detection signal, and transmits the ground wave detection signal to a target for detection through a direct path and an RIS auxiliary path, wherein the RIS auxiliary path is a detection path for transmitting the ground wave detection signal to an unmanned aerial vehicle RIS carrying platform for reflection to the target; The unmanned aerial vehicle RIS carrying platform is carried with a RIS panel and is used for receiving the ground wave detection signal, and forming a controllable reflection wave beam to be transmitted to the target by regulating and controlling the electromagnetic characteristics of a RIS unit on the surface of the RIS panel; synchronously receiving and distinguishing a direct path echo signal and an RIS auxiliary reflection path echo signal; Calculating target position information based on the direct path echo signal, the RIS auxiliary reflection path echo signal and the real-time position of the RIS carrying platform of the unmanned aerial vehicle; The calculating target position information includes: extracting the time delay of the direct path echo signal and the RIS auxiliary reflection path echo signal through a cross correlation algorithm; According to the signal-to-noise ratio of the direct path echo signal and the RIS auxiliary reflection path echo signal, after fusion weights are distributed to the direct path echo signal and the RIS auxiliary reflection path echo signal, a weighted fusion algorithm is adopted to fuse the direct path echo signal and the RIS auxiliary reflection path echo signal, and a fusion signal is obtained; According to the time delay of the direct path echo signal and the RIS auxiliary reflection path echo signal, the fusion signal and the real-time position of the RIS carrying platform of the unmanned aerial vehicle, the fusion distance between the target and the radar is calculated through a geometric relationship; After calculating the target position information, determining a target coordinate according to the target position information, and performing hierarchical compensation to perform dynamic error calibration on the target coordinate, wherein performing hierarchical compensation to perform dynamic error calibration on the target coordinate includes: Collecting sea surface environment parameters, unmanned aerial vehicle RIS carrying platform state parameters and radar terminal deployment parameters; Calculating the distance deviation and azimuth deviation caused by the sea surface environment through a pre-established correlation function based on the sea surface environment parameters, and mapping the distance deviation and azimuth deviation into a first coordinate compensation component; calculating a reflection path length deviation and a beam deviation angle based on the position deviation and the attitude angle deviation of the unmanned aerial vehicle RIS carrying platform state parameter, and converting the reflection path length deviation and the beam deviation angle into a second coordinate compensation component; Calculating systematic errors based on the radar terminal deployment parameters, and converting the systematic errors into third coordinate compensation components; And carrying out weighted superposition on the first coordinate compensation component, the second coordinate compensation component and the third coordinate compensation component to obtain a total calibration compensation quantity, and correcting the initial positioning target coordinate.
2. The ground wave radar positioning method of claim 1, wherein the unmanned RIS-mounted platform, after forming a controllable reflected beam for transmission to the target, further comprises: receiving an auxiliary detection return signal of the target, and then reflecting an RIS auxiliary reflection path echo signal; And dynamically adjusting the gesture of the unmanned aerial vehicle RIS carrying platform or the phase distribution of the surface unit of the unmanned aerial vehicle RIS carrying platform according to the signal quality of the auxiliary detection return signal.
3. The ground wave radar positioning method of claim 1, wherein the determining the target coordinates from the target position information includes: Realizing beam electric scanning through an antenna array carried by a radar, and acquiring a coarse azimuth value of a target; calculating the accurate azimuth angle and pitch angle of the target by using the echo phase difference measured by the adjacent units of the antenna array; And determining the three-dimensional coordinates of the target through conversion from spherical coordinates to rectangular coordinates based on the fusion distance, the precise azimuth angle and the pitch angle between the target and the radar.
4. A ground wave radar positioning method according to claim 3, characterized in that after said performing a step of dynamic error calibration of the target coordinates by hierarchical compensation, it further comprises: performing time sequence weighted average on the positioning result of the target coordinate after dynamic calibration through a moving average filtering step, and inhibiting random noise; through the particle filtering optimization step, nonlinear deviation correction is carried out on the filtered positioning result based on the target motion model and the observation model; the dynamic error calibration step, the moving average filtering step and the particle filtering optimization step form a three-level positioning result optimization link.
5. Ground wave radar positioning system based on unmanned aerial vehicle RIS assists, characterized in that includes: The ground wave radar terminal is used for transmitting a high-frequency ground wave detection signal and transmitting the ground wave detection signal to a target for detection through a direct path and an RIS auxiliary path, wherein the RIS auxiliary path is a detection path for transmitting the ground wave detection signal to an unmanned aerial vehicle RIS carrying platform for reflection, and is also used for synchronously receiving and distinguishing a direct path echo signal and an RIS auxiliary reflection path echo signal; The unmanned aerial vehicle RIS carrying platform is carried with a RIS panel and is used for receiving the ground wave detection signal, and forming a controllable reflection wave beam to be transmitted to the target by regulating and controlling the electromagnetic characteristics of a RIS unit on the surface of the RIS panel; the data processing center is used for calculating target position information based on the direct path echo signal, the RIS auxiliary reflection path echo signal and the real-time position of the RIS carrying platform of the unmanned aerial vehicle; The calculating target position information includes: extracting the time delay of the direct path echo signal and the RIS auxiliary reflection path echo signal through a cross correlation algorithm; According to the signal-to-noise ratio of the direct path echo signal and the RIS auxiliary reflection path echo signal, after fusion weights are distributed to the direct path echo signal and the RIS auxiliary reflection path echo signal, a weighted fusion algorithm is adopted to fuse the direct path echo signal and the RIS auxiliary reflection path echo signal, and a fusion signal is obtained; According to the time delay of the direct path echo signal and the RIS auxiliary reflection path echo signal, the fusion signal and the real-time position of the RIS carrying platform of the unmanned aerial vehicle, the fusion distance between the target and the radar is calculated through a geometric relationship; After calculating the target position information, determining a target coordinate according to the target position information, and performing hierarchical compensation to perform dynamic error calibration on the target coordinate, wherein performing hierarchical compensation to perform dynamic error calibration on the target coordinate includes: Collecting sea surface environment parameters, unmanned aerial vehicle RIS carrying platform state parameters and radar terminal deployment parameters; Calculating the distance deviation and azimuth deviation caused by the sea surface environment through a pre-established correlation function based on the sea surface environment parameters, and mapping the distance deviation and azimuth deviation into a first coordinate compensation component; calculating a reflection path length deviation and a beam deviation angle based on the position deviation and the attitude angle deviation of the unmanned aerial vehicle RIS carrying platform state parameter, and converting the reflection path length deviation and the beam deviation angle into a second coordinate compensation component; Calculating systematic errors based on the radar terminal deployment parameters, and converting the systematic errors into third coordinate compensation components; And carrying out weighted superposition on the first coordinate compensation component, the second coordinate compensation component and the third coordinate compensation component to obtain a total calibration compensation quantity, and correcting the initial positioning target coordinate.
6. The ground wave radar positioning system of claim 5, further comprising a positioning calibration module, wherein the positioning calibration module performs dynamic error calibration, moving average filtering and particle filtering optimization sequentially to form a three-level positioning result optimization link.
7. Ground wave radar positioner based on unmanned aerial vehicle RIS is supplementary, its characterized in that includes: a memory unit for storing executable instructions, and A processing unit for interfacing with a memory to execute executable instructions to perform the method of any one of claims 1-4.
8. A computer readable storage medium, having stored thereon a computer program, the computer program being executable by a processor to implement the method of any of claims 1-4.

Description

Ground wave radar positioning method, system and device based on unmanned aerial vehicle RIS assistance Technical Field The application belongs to the technical field of ground wave radar positioning, and particularly relates to a ground wave radar positioning method, system and device based on unmanned aerial vehicle RIS assistance. Background The high-frequency ground wave radar can realize beyond-the-horizon target detection by utilizing electromagnetic waves diffracted and propagated along the surface of the earth, and is applied to the fields of ocean observation and the like. However, the conventional ground wave radar system has the following limitations that (1) the detection performance is seriously dependent on coastline deployment, the adaptability to non-line-of-sight scenes such as island, complex coastal terrains and the like is poor, the signal attenuation is serious, the positioning accuracy is low, (2) the system is mostly fixed or limited in maneuvering deployment (such as a platform type and a ship-borne type), the active adaptability to the detection environment is lacking, and (3) the signal of a single propagation path is easy to be interfered and the stability is insufficient under the complex electromagnetic environment and the dynamic sea condition. In recent years, reconfigurable intelligent super-surface technology has received attention as a novel means of regulating electromagnetic wave propagation. In the prior art, although RIS is applied to communication enhancement, how to deeply fuse the RIS with a ground wave radar to construct a system capable of actively optimizing a signal propagation path and realizing high-precision stable positioning is not yet known as a mature solution. The statements made above merely provide background information related to the present disclosure and may not constitute prior art to the present disclosure except as may be expressly incorporated herein in any of the various aspects of the present disclosure. Disclosure of Invention The invention provides a ground wave radar positioning method, a system and a device based on unmanned aerial vehicle RIS assistance, and the core aim of the invention is to construct a detection new system for fusing direct and reflected dual-path signals by introducing a RIS reflecting node capable of being regulated and controlled dynamically, actively enhance the signal quality under non-line-of-sight and complex environments, and remarkably improve the positioning precision, environmental adaptability and target tracking capability of the system by utilizing dual-path information complementation and intelligent closed-loop regulation and control. According to a first aspect of the embodiment of the application, a ground wave radar positioning method based on unmanned aerial vehicle RIS assistance is provided, which comprises the following steps: The radar terminal transmits a high-frequency ground wave detection signal and transmits the ground wave detection signal to a target for detection through a direct path and an RIS auxiliary path, wherein the RIS auxiliary path is a detection path for transmitting the ground wave detection signal to the unmanned aerial vehicle RIS carrying platform for reflection; The unmanned aerial vehicle RIS carrying platform is carried with a RIS panel and is used for receiving the ground wave detection signal, and forming a controllable reflection beam to be emitted to a target by regulating and controlling the electromagnetic characteristics of a RIS unit on the surface of the RIS panel; synchronously receiving and distinguishing a direct path echo signal and an RIS auxiliary reflection path echo signal; And calculating target position information based on the direct path echo signal, the RIS auxiliary reflection path echo signal and the real-time position of the RIS carrying platform of the unmanned aerial vehicle. In some embodiments of the present application, the unmanned RIS-mounted platform, after forming the controllable reflected beam for emitting to the target, further comprises: receiving an auxiliary detection return signal of the target, and then reflecting back to an echo signal of the RIS auxiliary reflection path; And dynamically adjusting the posture of the RIS carrying platform of the unmanned aerial vehicle or the phase distribution of the surface unit of the RIS carrying platform according to the signal quality of the auxiliary detection return signal of the target. In some embodiments of the present application, calculating target location information includes: extracting the time delay of the direct path echo signal and the RIS auxiliary reflection path echo signal through a cross-correlation algorithm; According to the signal-to-noise ratio of the direct path echo signal and the RIS auxiliary reflection path echo signal, after fusion weights are distributed to the direct path echo signal and the RIS auxiliary reflection path echo signal, a weighted fusion algori