CN116660855B - Dynamic three-dimensional space target detection positioning method based on multiple non-cooperative radiation sources - Google Patents
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention discloses a dynamic three-dimensional space target detection and positioning method based on multiple non-cooperative radiation sources, and relates to the field of electronic radars. Aiming at the problems that the target detection signal-to-noise ratio in the traditional platform is not improved enough, multiple radiation sources cannot be effectively utilized and the like, the invention designs a multi-parameter domain projection and multi-source superposition algorithm flow by establishing a three-dimensional space dynamic multi-source received signal model, so as to obtain a target detection positioning method with high signal-to-noise ratio, and solve the problem of target searching and positioning in a dynamic multi-source environment. According to the method, a single-receiving multi-radiation-source target detection model in a dynamic environment can be established according to the use requirement, and the model can be popularized and applied to the situation of multiple-receiving multi-radiation-source.
Description
Technical Field
The invention belongs to the field of electronic radars, and particularly relates to a dynamic three-dimensional space target detection and positioning method based on multiple non-cooperative radiation sources.
Background
The passive radar is used for processing the reflected signals of the target by using an external radiation source such as a broadcast television signal, a communication base station and the like to further obtain target information, so that the passive radar has the advantages of concealment, low detection cost and the like, the application of the passive radar is wider, and the multi-base passive radar collaborative detection is a current research hot spot. However, with the change of application environments of various platforms and the increase of difficulty in acquiring information of external radiation sources, such as non-cooperative radiation source information, the detection and positioning of targets are more difficult. Particularly, the dynamic receiving platform is used for detecting and positioning the target under the condition of multiple non-cooperative radiation sources, the research difficulty is concentrated on the condition of non-coherent caused by the dynamic platform, the signal to noise ratio of the target is weak, the detection and positioning accuracy of the target is poor, and the like. The traditional target detection and positioning modes such as a track tracking method based on Kalman filtering and the like can not meet the target detection and positioning requirements under the condition of dynamic multiple radiation sources.
Under the application scene of multiple non-cooperative radiation sources, the traditional target detection and positioning method cannot meet the requirements due to the following characteristics:
1) Signal to noise ratio improvement is weak: the traditional target detection and positioning method often depends on the relativity of signals, and in a dynamic environment, as the platforms of a radiation source, a target and a receiving system are all dynamically changed, the relativity of echo signals is destroyed, so that the signal-to-noise ratio of the echo is lower, and the target detection and positioning cannot be effectively carried out;
2) The multi-radiation source data utilization rate is low: in the dynamic platform, under the condition that one receives echo signals of a plurality of radiation sources, the target detection capacity cannot be effectively improved by utilizing the plurality of radiation sources due to the non-coherent characteristic.
In summary, the existing technical method cannot be applied to the detection and positioning of targets under multiple non-cooperative radiation sources in a dynamic environment, and the application of the passive radar with multiple radiation sources to the detection and positioning of targets in the dynamic environment is greatly limited.
Disclosure of Invention
In order to solve the technical problems, the invention provides a dynamic three-dimensional space target detection and positioning method based on multiple non-cooperative radiation sources, which is a three-dimensional space target detection and positioning method based on multiple non-cooperative radiation sources in a dynamic environment. Aiming at the relative motion relation among a platform where a receiving system is positioned, a plurality of non-cooperative radiation sources and a moving target, firstly, a dynamic multi-source three-dimensional space target detection model is established, and the model provides a single receiving system, a plurality of non-cooperative radiation sources and a high-speed moving target detection model in a three-dimensional space; on the basis, according to the characteristics of the model and the requirements of the application scene, the echo signals are analyzed and simplified; then, according to the characteristics of echo signals, establishing a target detection positioning method flow based on multiple parameter domains; finally, superposition of echo signals from multiple sources is carried out in a multi-parameter domain space, and the signal-to-noise ratio of signal echoes is improved; finally, the detection and positioning of the target are realized.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a dynamic three-dimensional space target detection positioning method based on multiple non-cooperative radiation sources comprises the following steps:
step 1, establishing a single receiving system and a multi-uncooperative radiation source three-dimensional space high-speed target detection model;
and 2, establishing a multi-source multi-parameter domain target detection positioning algorithm.
The invention has the following beneficial effects:
1. according to the method, a single-receiving multi-radiation-source target detection model in a dynamic environment can be established according to the use requirement, and the model can be popularized and applied to the situation of multiple-receiving multi-radiation sources;
2. the traditional target detection and positioning method cannot solve the problem of non-coherent caused by dynamic environment and cannot utilize the target information of multiple radiation sources, so that the target has low signal-to-noise ratio and the target detection and positioning function is limited. In the invention, the multisource multi-parameter domain space and the multisource in-space projection traversing mode are set, so that the multisource superposition effect is realized, and the target coinage is effectively improved;
3. the traditional target detection and positioning method cannot effectively utilize Doppler information of the target, and in the invention, the target detection and positioning algorithm flow is carried out aiming at the Doppler information, so that the utilization rate is improved.
Drawings
FIG. 1 is a diagram of a single-receive multi-uncooperative radiation source three-dimensional spatial target detection model;
FIG. 2 is a flow chart of a multi-source multi-parameter domain target detection positioning algorithm;
wherein, 1-receives the platform, 2-uncooperative radiation source, 3-goal.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Fig. 1 shows an application scenario of the present invention, wherein 1 represents a receiving platform, 2 represents a non-cooperative radiation source, and 3 represents a target; the distance between the receiving platform 1 and the non-cooperative radiation source 2 is far smaller than the distance between the receiving platform 1 and the target 3 and the distance between the non-cooperative radiation source 2 and the target 3, and the receiving platform 1 and the non-cooperative radiation source 2 are in the same plane, namely the same ground or sea surface, and the target 3 is an aerial target.
The invention provides a dynamic three-dimensional space target detection and positioning method based on multiple non-cooperative radiation sources, which mainly comprises the following steps:
step 1, establishing a single receiving system and a multi-uncooperative radiation source three-dimensional space target detection model;
the main functions of the single-receiving system and multi-non-cooperative radiation source three-dimensional space high-speed target detection model are to explain application scenes, characterize the spatial relationship and echo signal model characteristics of the single-receiving system and the multi-non-cooperative radiation source, and serve as a precondition for subsequent information processing.
Step 2, establishing a multi-source multi-parameter domain target detection positioning algorithm;
the main function of the multi-source multi-parameter domain target detection positioning algorithm is to process multi-source echoes, and the multi-source parameter domain space setting is carried out on a space high-speed target to be detected.
Specifically, in step 1, in the dynamic environment, the three-dimensional space target detection models of the single receiving system and the multiple non-cooperative radiation sources are adjusted according to the application requirements, and the model built by the three-dimensional space target detection models is mainly used for representing the signal models of the receiving system, the radiation sources and the targets. The signal model is characterized in that: the radiation source and the receiving platform where the receiving system is positioned are positioned in the same horizontal plane and have different movement speeds; the target moves at a high speed in the air, and the moving speed of the target is far greater than the moving speed of a receiving platform where the receiving system is positioned and a platform where the radiation source is positioned; much larger means more than an order of magnitude. The concrete explanation is as follows:
the three-dimensional space Cartesian coordinate system is established by taking a receiving platform where a receiving system is positioned as an origin, and specifically comprises the following steps:
the coordinates of the receiving system areWhere v is the speed of the receiving system; the coordinates of the target areRespectively representing the coordinate, speed and acceleration of the target in the space X, Y, Z axis, the radiation source coordinate isThe coordinates, velocity and acceleration of the radiation source in the space X, Y, Z axis are shown, respectively.
Assuming that the emission signals of the plurality of radiation sources are independent, the specific form is as follows:
（1）
wherein ,representing the amplitude of the signal emitted by the different radiation sources, < >>Indicating carrier frequency->Representing the corresponding initial phase. exp () is the complex representation of the signal, +.>For the radiation source to emit a signal j is an imaginary number. Performing pulse compression operation on the target echo signal to obtain a distance-Doppler domain signal +.>The following formula:
（2）
wherein ,indicating distance to time,/day>Indicating azimuth time, < >>For complex scattering coefficient of the target, < >>Indicating the speed of light +.>Is a cross-correlation function of the echo signal and the direct wave signal. />Is a dual-base distance history, in which. wherein ,/>For receiving the distance of the system to the target, +.>For the distance of the radiation source to the target, +.>Distance from the radiation source for the receiving system; phase +.>Is->And deriving azimuth time to obtain:
（3）
wherein ,、/>respectively representing Doppler centroid and Doppler shift frequency, < >>In order to be distance-wise frequency,is the derivative of the double-base distance history. T denotes the duration of each frame signal. Another expression for finding the double-base distance history after integration is:
（4）
wherein ,is the double base distance of the reference instant. Performing a distance fourier transform on equation (2):
（5）
wherein ,for the range-Doppler domain signal after the range-to-Fourier transform,>is->Is a fourier transform of (a). Establishing a three-dimensional space Cartesian coordinate system, and setting the position vector of the target at the reference moment as +.>The velocity vector is +.>Acceleration is +.>. First->The position vector of the individual radiation sources is +.>The velocity vector is +.>Acceleration is +.>. The receiving system speed parameter is 0 (actually +.>) The actual target and radiation source motion parameters need to be corrected based on the receive system motion parameters. The double-base distance history is expressed as:
（6）
deriving the formula (6), comparing the formula (4) with the formula (6), wherein the Doppler parameter expression of the target echo when the azimuth time is 0 is as follows:
（7）
（8）
in connection with the present invention, when<</>When the angle of the double base is smaller(8) The approximation can be:
（9）
wherein the target velocity component，/>Is-> and />Is called the observation angle; radial acceleration vector of the object->，/>Is-> and />Is included in the bearing. From formula (9), consider +.>And->The magnitude relation and the double base angle of (a) can be assumed that the same target echo under different radiation sources has equal Doppler frequency modulation values, namely Doppler frequency modulation and +.>The values are independent.
The single-receiving multi-non-cooperative radiation source dynamic three-dimensional space high-speed target table detection model gives a dynamic three-dimensional space target echo signal model based on multiple non-cooperative sources, and a specific model of Doppler frequency modulation value is obtained through analysis of target echo signals.
The step 2 is shown in fig. 2, and the specific steps are as follows:
step 2.1, performing pulse compression on target echo signals under multiple radiation sources to obtain range-Doppler domain information of target detection by different radiation sources, wherein the range-Doppler domain information is specifically shown as a formula (2);
step 2.2, dividing the space to be detected into grids to obtain position parameters (x, y, z) of each grid point in the three-dimensional space, and obtaining the distance from the grid to the receiving systemAnd observation angle->And projection to the xoy plane angle +.>. After the target Doppler modulation frequency has been extracted +.>On the premise of (1) carrying into formula (9), the target speed +/corresponding to each grid point can be obtained>The method comprises the following steps:
（10）
setting a set of speed valuesAccording to the target speed->Observation angle-> and />Radial acceleration of the targetCalculating the velocity vector of the possible target of the grid points of the space +.>The invention considers the condition that the mobility of the target is small and the acceleration is negligible in a short time when the target moves at a high speed, and can be understood as radial acceleration +.>=0。
（11）
Wherein sign is used for judging the positive and negative values in the sign, and returns to-1 when the value in the sign is negative, and returns to 1 when the value in the sign is positive.
Step 2.3, the target speed and the corresponding space point position are brought into a formula (6), and the double-base distance histories corresponding to different radiation sources are calculated. The calculated double-base distance history is carried into the formula (2) to obtain a corresponding azimuth signal +.>：
（12）
Step 2.4 energy accumulates the azimuth signal. Because the complex scattering coefficient changes in the process of the movement of the target, the azimuth signal is divided into N frames, the complex scattering coefficient can be regarded as a constant value in extremely short time, and the nth frame signal is expressed as. Intra-frame signal based on double-base range calendar in received echoThe history information is subjected to phase compensation and azimuth coherent accumulation is completed:
（13）
wherein For the double-base distance history information in the target echo, < > and/or->For the wavelength of electromagnetic wave, incoherent superposition is carried out on the inter-frame signals:
（14）
step 2.5, performing step 2.1-step 2.4 on all the divided points in the space, matching the points in the search space with the target echo information by traversing, simultaneously performing azimuth and framing accumulation, projecting the accumulated result into a parameter space, and performing incoherent accumulation and superposition on the multi-radiation-source signals in the space parameter domain, wherein the result is as follows:
（15）
and 2.6, obtaining the position and the speed corresponding to the target according to the peak position in the incoherent accumulation and superposition result, and realizing the detection and positioning of the target.
The invention discloses a three-dimensional space target detection model and algorithm flow under a single-receiving multi-non-cooperative radiation source in a special application scene, which embody innovation, and the specificity of the three-dimensional space target detection model and algorithm flow is represented by the invention. The innovations described herein are not limited to single-receive, multiple-uncooperative radiation source scenarios, but may also be extended to multiple-receive, multiple-uncooperative radiation source scenarios. The setting of the multiparameter domain space in the algorithm flow is not limited to position and velocity information either.
In summary, the method mentioned in the present invention is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. A dynamic three-dimensional space target detection and positioning method based on multiple non-cooperative radiation sources is characterized by comprising the following steps:
step 1, establishing a single receiving system and a multi-uncooperative radiation source three-dimensional space high-speed target detection model;
the single-receiving system and multi-non-cooperative radiation source three-dimensional space target detection model is a signal model used for representing the receiving system, the radiation source and a target, and the receiving platforms where the radiation source and the receiving system are positioned in the same horizontal plane and have different movement speeds; the target moves at a high speed in the air, and the moving speed of the target is far greater than the moving speed of a receiving platform where the receiving system is positioned and a platform where the radiation source is positioned;
the three-dimensional space Cartesian coordinate system is established by taking a receiving platform where a receiving system is positioned as an origin, and specifically comprises the following steps:
the coordinates of the receiving system areWhere v is the speed of the receiving system; the target coordinates are +.>, wherein ，/>，/>，/>，/>Respectively representing the coordinates and the speeds and the accelerations of the target in the X, Y and Z axes of the space; radiation source coordinates are%）, wherein />The coordinates and velocities of the radiation source in the X, Y, Z axes of space, acceleration, k=1, 2,3, …;
assuming that the emission signals of the plurality of radiation sources are independent, the specific form is as follows:
（1）
wherein ,representing the amplitude of the signal emitted by the different radiation sources, < >>Indicating carrier frequency->Representing the corresponding initial phase; exp () is the complex representation of the signal, +.>Transmitting a signal for a radiation source; j is an imaginary number;
performing pulse compression operation on the target echo signal in the formula (1) to obtain range-Doppler domain informationThe following formula:
（2）
wherein ,indicating distance to time,/day>Indicating azimuth time, < >>For complex scattering coefficient of the target, < >>Indicating the speed of light +.>Is a cross-correlation function of the echo signal and the direct wave signal; />Is a dual-base distance history, in which； wherein ,/>For receiving the distance of the system to the target, +.>For the distance of the radiation source to the target, +.>Distance from the radiation source for the receiving system; phase +.>Is thatAnd deriving azimuth time to obtain:
（3）
wherein ,、/>respectively representing Doppler centroid and Doppler shift frequency, < >>Is the derivative of the double-base distance history; t represents the duration of each frame of signal, +.>Is distance frequency; after integration, the double-base distance history is determined>Another expression of (2) is:
（4）
wherein ,is the double base distance of the reference moment; performing a distance fourier transform on equation (2):
（5）
wherein ,is distance to FourierLeaf-transformed range-Doppler domain signal, < - > and->Is->Fourier transform of (a);
establishing a three-dimensional space Cartesian coordinate system, and setting the position vector of the target at the reference moment asThe velocity vector is +.>Acceleration is +.>First->The position vector of the individual radiation sources is +.>The velocity vector is +.>Acceleration is +.>The receiving system speed parameter is 0, actually +.>The actual motion parameters of the target and the radiation source are corrected according to the motion parameters of the receiving system;
dual base distance historyExpressed as:
（6）
deriving the equation (6), comparing the equation (4) with the equation (6), and the expressions of Doppler mass center and Doppler frequency modulation when the azimuth time is 0 of the target echo are as follows:
（7）
（8）
when (when)<</>When the double base angle is small, the formula (8) is approximately:
（9）
wherein the target velocity component，/>Is-> and />Is called the observation angle; radial acceleration vector of the object->，/>Is-> and />Is included in the plane of the first part;
a single receiving system and a multi-non-cooperative source three-dimensional space high-speed target detection model give a multi-non-cooperative source-based dynamic three-dimensional space target echo signal model, and a specific model of Doppler frequency modulation value is obtained through analysis of the dynamic three-dimensional space target echo signal model;
and 2, establishing a multi-source multi-parameter domain target detection positioning algorithm.
2. A method for dynamic three-dimensional spatial target detection and localization based on multiple non-cooperative radiation sources according to claim 1, wherein the step 2 comprises the steps of:
step 2.1, performing pulse compression on target echo signals under multiple radiation sources, and obtaining range-Doppler domain information of target detection by different radiation sources by using a formula (2);
step 2.2, performing grid division on the space to be detected to obtain position parameters (x, y, z) of grid points in the three-dimensional space, and obtaining the distance from the grid to a receiving systemAnd observation angle->And projection to the xoy plane angle +.>The method comprises the steps of carrying out a first treatment on the surface of the After the target Doppler modulation frequency has been extracted +.>On the premise of (1) bringing into the publicEquation (9), the target speed ++for each grid point is obtained>The method comprises the following steps:
（10）
setting a set of speed valuesAccording to the target speed->Observation angle->And projection to the xoy plane angle +.>Radial acceleration of the object->Calculating the velocity vector of the possible target of the grid points of the space +.>：
（11）
Wherein sign []For [ to ]]The numerical value in the interior is judged to be positive and negative, when [ []When the internal numerical value is negative, returning to-1, and when the internal numerical value is positive, returning to 1; radial acceleration of a target=0；
Step 2.3 bringing the target speed and the corresponding spatial point position into formula (6) to calculate the corresponding positions of different radiation sourcesDual base distance historyThe method comprises the steps of carrying out a first treatment on the surface of the The calculated double-base distance history is brought into a formula (2) to obtain a corresponding azimuth signal：
（12）
Step 2.4 energy accumulating the azimuth signal, dividing the azimuth signal into N frames, and representing the nth frame signal asThe method comprises the steps of carrying out a first treatment on the surface of the The intra-frame signal performs phase compensation according to the double-base distance history in the received echo, and completes azimuth coherent accumulation:
（13）
wherein For the double-base distance history in the target echo, < >>For the wavelength of electromagnetic wave, incoherent superposition is carried out on the inter-frame signals:
（14）
step 2.5, performing step 2.1-step 2.4 on all the divided points in the space, matching the points in the search space with the target echo information by traversing, simultaneously performing azimuth and framing accumulation, projecting the accumulated result into a parameter space, and performing incoherent accumulation and superposition on the multi-radiation-source signals in the space parameter domain, wherein the result is as follows:
（15）
and 2.6, obtaining the position and the speed corresponding to the target according to the peak position in the result of incoherent accumulation superposition in the step 2.5, and realizing the detection and positioning of the target.
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| 空基辐射源非合作探测系统目标定位;杨博;王丰华;周一宇;黄知涛;;应用科学学报(第03期);全文 * |
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