CN-122017909-A - Passive positioning method and system for anti-unmanned aerial vehicle based on low-orbit satellite external radiation source

CN122017909ACN 122017909 ACN122017909 ACN 122017909ACN-122017909-A

Abstract

The invention provides a passive positioning method and a passive positioning system of an anti-unmanned aerial vehicle based on a low-orbit satellite external radiation source, which relate to the technical field of satellite positioning and comprise the steps of synchronously sampling complex sampling sequences corresponding to a reference receiving channel and a monitoring receiving channel aiming at each ground receiving station under the same time reference by using the low-orbit satellite external radiation source as an irradiation signal source, performing frequency correction and phase correction on the complex sampling sequences of the reference receiving channel and the monitoring receiving channel, performing feature comparison on the complex sampling sequences of the reference receiving channel and a historical steady complex sampling sequence to obtain a feature comparison result, and updating a background reference value for background normalization of a delay-frequency shift diagram and a background reference value permission fluctuation interval based on the feature comparison result.

Inventors

LI CHUNBO
Zhao guangshun
HAO JIAGANG
CAO LONGSHENG
HU TAIMING
LU QIRONG
LI DIE

Assignees

烟台欣飞智能系统有限公司

Dates

Publication Date: 20260512
Application Date: 20260226

Claims (11)

1. The passive positioning method of the anti-unmanned aerial vehicle based on the low-orbit satellite external radiation source is characterized by comprising the following steps of: Under the same time reference, using an external radiation source of a low-orbit satellite as an irradiation signal source, synchronously sampling complex sampling sequences corresponding to a reference receiving channel and a monitoring receiving channel aiming at each ground receiving station, and executing frequency correction and phase correction on the complex sampling sequences of the reference receiving channel and the monitoring receiving channel; step two, comparing the complex sampling sequence of the reference receiving channel with the historical steady complex sampling sequence to obtain a feature comparison result, and updating a background reference value for background normalization of the delay-frequency shift diagram and a background reference value fluctuation permission interval based on the feature comparison result; Step three, acquiring a delay frequency shift combination set, correcting a complex sampling sequence of a monitoring receiving channel under each delay frequency shift combination in the delay frequency shift combination set, performing association analysis with the complex sampling sequence of a reference receiving channel, generating a delay-frequency shift diagram through association analysis results, and analyzing high-confidence candidate peak points of each unmanned aerial vehicle based on the delay-frequency shift diagram, a background reference value and a background reference value allowable fluctuation interval; And step four, counting high confidence coefficient candidate peak points of each unmanned aerial vehicle in each ground receiving station, combining the low-orbit satellite position and each ground receiving station position, establishing a weighted residual cost function for evaluating the consistency degree of the positions of the unmanned aerial vehicles observed by the plurality of ground receiving stations, and carrying out iterative optimization to minimize the weighted residual cost function, so that the positions of the unmanned aerial vehicles are solved, and passive positioning of the unmanned aerial vehicles is realized.
2. The passive positioning method of an anti-unmanned aerial vehicle based on an external radiation source of a low orbit satellite according to claim 1, wherein the frequency correction and the phase correction are performed on the complex sampling sequences of the reference receiving channel and the monitoring receiving channel, and the specific correction process is as follows: based on the complex sampling sequence of the reference receiving channel, analyzing a sequence residual frequency deviation value and a sequence phase drift amount of a corresponding ground receiving station, and generating a frequency compensation amount and a phase compensation amount; Performing frequency correction on the complex sampling sequence of the reference receiving channel based on the frequency compensation quantity; Based on the phase compensation quantity, carrying out phase correction on a complex sampling sequence of a reference receiving channel; After the correction is completed, the complex sampling sequence of the reference receiving channel is updated.
3. The passive positioning method of an anti-unmanned aerial vehicle based on a low-orbit satellite external radiation source according to claim 1, wherein the feature comparison between the complex sampling sequence of the reference receiving channel and the historical robust complex sampling sequence is specifically: The characteristic comparison comprises amplitude stability characteristic comparison, phase continuity characteristic comparison, frequency consistency characteristic comparison and peak shape coherence characteristic comparison; Counting a feature comparison result, if the inconsistent feature quantity in the feature comparison result is not higher than a first defined quantity, maintaining a current background reference value and a background reference value allowable fluctuation interval, and reducing an abnormal count by one, wherein the abnormal count is not smaller than zero; If the inconsistent feature quantity in the feature comparison result is higher than the first defined quantity and lower than the second defined quantity, the abnormal count is increased by one, the abnormal count is acquired, if the abnormal count is higher than the defined abnormal count, the background reference value is increased and the background reference value allowable fluctuation interval is enlarged based on the inconsistent feature quantity, the abnormal count is cleared, and if the abnormal count is not higher than the defined abnormal count, the current background reference value and the background reference value allowable fluctuation interval are maintained; if the inconsistent feature quantity in the feature comparison result is not lower than the second defined quantity, abnormality detection is carried out on the reference receiving channel, and the reference receiving channel is marked as unavailable.
4. The passive positioning method of the anti-unmanned aerial vehicle based on the low-orbit satellite external radiation source according to claim 1, wherein the delay-frequency shift map is generated according to the correlation analysis result, and the specific generation process is as follows: Correcting the complex sampling sequence of the monitoring receiving channel through each delay frequency shift combination in the delay frequency shift combination set, performing association analysis on the complex sampling sequence of the monitoring receiving channel and the complex sampling sequence of the reference receiving channel after correction is completed, and marking the association as the association of each delay frequency shift combination; Based on the association degree of each delay frequency shift combination, matching the pixel value corresponding to each delay frequency shift combination; And taking the delay as a first dimension, shifting the frequency to a second dimension, and filling pixel values corresponding to each delay frequency shift combination into corresponding two-dimensional grid positions to form a delay-frequency shift thermodynamic diagram.
5. The delay-shift thermodynamic diagram is converted into a deviation degree diagram.
6. The passive positioning method of an anti-unmanned aerial vehicle based on an external radiation source of a low orbit satellite according to claim 4, wherein the delay-frequency shift thermodynamic diagram is converted into a deviation degree diagram by the following specific conversion process: performing difference processing on pixel values of grid points in the delay-frequency shift thermodynamic diagram and a background reference value, performing ratio processing on a processing result and a section width of a fluctuation allowable section of the background reference value, and finally marking the processed result as a background deviation value of the grid points; establishing a deviation degree diagram with delay coordinates and frequency shift coordinates which are the same as the delay-frequency shift thermodynamic diagram, and filling background deviation values of grid points to the same positions of the deviation degree diagram according to one-to-one correspondence of the coordinates; Setting a negative value in the deviation degree map to zero; and preliminarily screening candidate peak points of each unmanned aerial vehicle from the deviation degree graph.
7. The passive positioning method of anti-unmanned aerial vehicle based on low-orbit satellite external radiation source according to claim 5, wherein the preliminary screening of candidate peak points of each unmanned aerial vehicle from the deviation degree graph comprises the following specific screening process: detecting local maximum values in the deviation degree graph, taking adjacent neighborhood windows for each grid point of the deviation degree graph, and judging whether the grid point meets the following conditions simultaneously, wherein the background deviation value of the grid point is larger than or equal to the background deviation value of all other grid points in the neighborhood windows and larger than the background deviation value of at least one grid point in the neighborhood windows; if the two candidate peak points are met, marking the grid points as candidate peak points of the unmanned aerial vehicle; Screening candidate peak points of each unmanned aerial vehicle from the deviation degree graph, counting high-order number marks in the deviation degree graph as candidate gates, and correcting the candidate gates based on inconsistent feature quantity; Screening out a plurality of unmanned aerial vehicle candidate peak points with background deviation values smaller than the candidate threshold, so as to screen out and update the candidate peak points of each unmanned aerial vehicle; And deeply extracting high-confidence candidate peak points of each unmanned aerial vehicle from the candidate peak points of each unmanned aerial vehicle.
8. The passive positioning method of anti-unmanned aerial vehicle based on low-orbit satellite external radiation source according to claim 6, wherein the depth extraction of each unmanned aerial vehicle candidate peak point from each unmanned aerial vehicle candidate peak point comprises the following specific extraction process: Acquiring differential phase characteristics, coherence attenuation characteristics and spectral domain energy migration characteristics of candidate peak points of each unmanned aerial vehicle from a complex sampling sequence of a monitoring receiving channel, and forming disturbance characteristic vectors of the candidate peak points of each unmanned aerial vehicle; Comparing the deviation degree of the disturbance characteristic vector of each unmanned aerial vehicle candidate peak point with the reference disturbance characteristic vector; obtaining a deviation degree comparison result, and carrying out normalized weighted aggregation on the deviation degree comparison result so as to obtain the confidence coefficient of each unmanned aerial vehicle candidate peak point; and sequencing the confidence degrees in sequence from large to small, extracting a plurality of unmanned aerial vehicle candidate peak points corresponding to the pre-defined number of confidence degrees, and marking the unmanned aerial vehicle candidate peak points as high-confidence candidate peak points of each unmanned aerial vehicle.
9. The passive positioning method of anti-unmanned aerial vehicle based on low-orbit satellite external radiation source according to claim 1, wherein the statistics of the candidate peak points of high confidence of each unmanned aerial vehicle in each ground receiving station further comprises: Performing pairwise comparison screening on a plurality of unmanned aerial vehicle high confidence coefficient candidate peak points of different ground receiving stations, reserving peak pairs meeting the matching conditions, marking the peak pairs as matching peak points, and determining receiving station identifications and peak identifications corresponding to the matching peak points of each pair; performing target attribution marking on each pair of matching peak points, summarizing the matching peak points with consistent attribution marking to obtain a plurality of pairs of matching peak points belonging to the same unmanned aerial vehicle, and marking the matching peak points as a target observation group; For each pair of matching peak points in the target observation group, obtaining delay parameters corresponding to two unmanned aerial vehicle high-confidence candidate peak points in the matching peak points respectively, subtracting the delay parameter of the other unmanned aerial vehicle high-confidence candidate peak point from the delay parameter of one unmanned aerial vehicle high-confidence candidate peak point, and calculating to obtain delay difference observed quantity corresponding to the matching peak point; Obtaining frequency shift parameters of two corresponding unmanned aerial vehicle high confidence coefficient candidate peak points, subtracting the frequency shift parameter of one high confidence coefficient peak from the frequency shift parameter of the other high confidence coefficient peak, and calculating to obtain the frequency difference observed quantity corresponding to the matching peak point; Performing product operation by utilizing the light velocity constant and delay difference observed quantity corresponding to each pair of matched peak points, and converting the delay difference observed quantity into equivalent ranging difference; Carrying out mean value processing on the confidence coefficient of the two unmanned aerial vehicle high confidence coefficient candidate peak points in the matched peak points, and marking the processing result as the confidence coefficient of the matched peak points; and summarizing and sorting delay difference observables, frequency difference observables and equivalent ranging differences corresponding to all the matched peak points in the target observation group to form an observation quantity set of the complete target observation group.
10. The passive positioning method of the anti-unmanned aerial vehicle based on the low-orbit satellite external radiation source according to claim 1, wherein the establishing is used for evaluating the weighted residual cost function of the consistency degree of the positions of the unmanned aerial vehicles observed by the multi-ground receiving station, and the specific establishing process is as follows: aiming at any target observation group, matching the observation weights of all pairs of matched peak points according to the confidence degrees of all pairs of matched peak points in the target observation group; Acquiring the current space position of a low-orbit satellite, and acquiring the space position of each ground receiving station; Unifying the coordinates of the space position of the low-orbit satellite and the space position of each ground receiving station so as to be in the same coordinate system; Taking the space position of the unmanned aerial vehicle in the target observation group as an unknown quantity to be solved, aiming at the equivalent ranging difference of each pair of matched peak points in the target observation group, acquiring a corresponding reference equivalent ranging difference, performing differential processing, and calculating to obtain the ranging residual error of each pair of matched peak points; weighting and summarizing the ranging residual errors of each pair of matched peak points based on the observation weights of each pair of matched peak points to form a weighted residual error cost function; and searching the space position of the unmanned aerial vehicle by adopting an iterative solution mode, so that the weighted residual cost function is minimized, and thus, the current unmanned aerial vehicle position solution is obtained.
11. Anti-unmanned aerial vehicle passive positioning system based on low orbit satellite external radiation source, characterized in that, the system includes: The sequence correction module is used for synchronously sampling complex sampling sequences corresponding to the reference receiving channel and the monitoring receiving channel aiming at each ground receiving station by using the low-orbit satellite external radiation source as an irradiation signal source under the same time reference, and executing frequency correction and phase correction on the complex sampling sequences of the reference receiving channel and the monitoring receiving channel; The characteristic comparison module is used for comparing the characteristic of the complex sampling sequence of the reference receiving channel with the characteristic of the historical steady complex sampling sequence, obtaining a characteristic comparison result, and updating a background reference value used for background normalization of the delay-frequency shift diagram and a background reference value allowable fluctuation interval based on the characteristic comparison result; The peak point analysis module is used for acquiring a delay frequency shift combination set, correcting a complex sampling sequence of a monitoring receiving channel under each delay frequency shift combination in the delay frequency shift combination set, performing relevance analysis on the complex sampling sequence of a reference receiving channel, generating a delay-frequency shift diagram through a relevance analysis result, and analyzing high-confidence candidate peak points of each unmanned aerial vehicle based on the delay-frequency shift diagram, a background reference value and a background reference value allowable fluctuation interval; The position positioning module is used for counting high-confidence candidate peak points of each unmanned aerial vehicle in each ground receiving station, combining the positions of the low-orbit satellites and the positions of each ground receiving station, establishing a weighted residual cost function for evaluating the consistency degree of the positions of the unmanned aerial vehicles observed by the multiple ground receiving stations, and carrying out iterative optimization to minimize the weighted residual cost function, so that the positions of the unmanned aerial vehicles are solved, and passive positioning of the unmanned aerial vehicles is realized.

Description

Passive positioning method and system for anti-unmanned aerial vehicle based on low-orbit satellite external radiation source Technical Field The invention relates to the technical field of satellite positioning, in particular to a passive positioning method and system of an anti-unmanned aerial vehicle based on a low-orbit satellite external radiation source. Background In the anti-unmanned aerial vehicle scene, in order to realize the discovery, identification and spatial position determination of the low-altitude unmanned aerial vehicle, the prior art generally develops and locates around the radio frequency radiation characteristics presented by the unmanned aerial vehicle and the control link thereof. Specifically, one common scheme takes radio signals of an unmanned aerial vehicle control link or a graphic transmission link as a measured object, acquires time delay observables such as signal arrival time or arrival time difference and the like under the condition of deploying a plurality of receiving nodes, obtains a signal source position through multi-point joint solution, and can schedule the time interval of acquisition and solution by combining a monitoring strategy so as to maintain continuous monitoring of a target area under a certain resource constraint. Another type of scheme focuses on acquiring incoming wave direction information through an antenna array, estimating a signal incident direction by adopting an array signal processing method, and realizing the positioning of the unmanned aerial vehicle or a radiation source thereof by utilizing the constraint intersection of azimuth angles and pitch angles of different stations under the multi-station arrangement or multi-array cooperation condition. For example, china patent publication No. CN119224806B discloses a classification evaluation method for positioning result of unmanned aerial vehicle centimeter-level PPK. And (3) obtaining a state vector of forward and reverse Kalman filtering of each epoch and a variance covariance matrix thereof, a positioning solution state and a position accuracy attenuation factor PDOP through PPK positioning solution. And carrying out forward and reverse Kalman filtering epoch common view, and carrying out double-tail normal inspection on forward and reverse filtering state vector mutual difference results after common view. And carrying out positioning grading evaluation and optimizing result output by combining the hypothesis test result, the positioning solution state and the PDOP value. For example, the invention of CN112558111B discloses a positioning method and device for an unmanned aerial vehicle, which determines the reference coordinates of the unmanned aerial vehicle according to the first ranging information fed back by a plurality of base stations monitoring the position of the unmanned aerial vehicle, when determining that there is a target base station with a positioning error record in the plurality of base stations, acquires a correction function corresponding to the target base station, and calibrates the reference coordinates by using the correction function to obtain the positioning information of the unmanned aerial vehicle, thereby preventing the situation that the unmanned aerial vehicle is positioned inaccurately due to the failure of the base station. The above problems have the following technical problems: In the process of passive anti-unmanned aerial vehicle positioning based on low-orbit satellite signals, a receiving end is generally provided with a reference receiving channel and a monitoring receiving channel. The reference receiving channel is used for stably receiving satellite direct signals and forming a comparison standard, and the monitoring receiving channel is used for receiving mixed signals from a protective airspace. The system performs time alignment and frequency alignment on the two paths of sampling data, performs background component suppression processing on the monitoring receiving channel data, calculates to obtain a two-dimensional correlation result taking relative time delay and relative frequency shift as independent variables, and then selects a peak position from the two-dimensional correlation result as a time delay difference and frequency shift difference observed quantity source required by subsequent position calculation. Because the two-dimensional correlation result is obtained by calculating discrete sampling data in a limited time interval, and interference factors such as background reflection, propagation multipath and noise exist in an actual receiving environment, the two-dimensional correlation result is easy to generate phenomena such as energy diffusion, local peak increase or peak splitting on a relative delay dimension and a relative frequency shift dimension. Especially in low-altitude scenes, the drone scatter signal is usually weaker than the background component, the local peaks in the two-dimensional correlation result may com