基于AOA的双机无源定位模型及其解算方法

doi:10.3969/j.issn.1001-506X.2020.05.02

系统工程与电子技术 ›› 2020, Vol. 42 ›› Issue (5): 978-986.doi: 10.3969/j.issn.1001-506X.2020.05.02

基于AOA的双机无源定位模型及其解算方法

吴龙文¹(), 王宝莹¹(), 魏俊杰²(), 何胜阳¹(), 赵雅琴^1,*()

1. 哈尔滨工业大学电子与信息工程学院, 黑龙江哈尔滨 150001
2. 中国航空工业集团公司洛阳光电设备研究所, 河南洛阳 471023

收稿日期:2019-08-04 出版日期:2020-04-30 发布日期:2020-04-30
通讯作者: 赵雅琴 E-mail:wulongwen@hit.edu.cn;wangbaoying_0@163.com;843363017@qq.com;heshengyang@hit.edu.cn;yaqinzhao@hit.edu.cn
作者简介:吴龙文(1988-),男,工程师,博士,主要研究方向为辐射源识别、辐射源个体识别、无源定位、多核学习、医学信号处理。E-mail:wulongwen@hit.edu.cn|王宝莹(1997-),女,硕士研究生,主要研究方向为无源定位。E-mail:wangbaoying_0@163.com|魏俊杰(1995-),男,硕士研究生,主要研究方向为无源定位。E-mail:843363017@qq.com|何胜阳(1983-),男,高级工程师,博士,主要研究方向为无线光通信、辐射源识别与定位。E-mail:heshengyang@hit.edu.cn
基金资助:
国家自然科学基金(61671185)

AOA based dual-aircraft passive positioning model and its location methods

Longwen WU¹(), Baoying WANG¹(), Junjie WEI²(), Shengyang HE¹(), Yaqin ZHAO^1,*()

1. School of Electronics and Information Engineering, Harbin Institute of Technology, Harbin 150001, China
2. Luoyang Institute of Electro-Optical Equipment, Aviation Industry Corporation of China, Luoyang 471023, China

Received:2019-08-04 Online:2020-04-30 Published:2020-04-30
Contact: Yaqin ZHAO E-mail:wulongwen@hit.edu.cn;wangbaoying_0@163.com;843363017@qq.com;heshengyang@hit.edu.cn;yaqinzhao@hit.edu.cn
Supported by:
国家自然科学基金(61671185)

摘要/Abstract

摘要：

在双机协同的无源定位算法中,角度信息有着非常重要的作用。为解决双机无源定位问题,提出了一种只利用角度信息的定位模型,并同时消去中间变量距离的影响。对比了最小二乘法、加权最小二乘法、总体最小二乘法、渐进无偏估计法等方法对该双机定位模型的解算。相比时差/到达角联合定位算法模型,该算法需要更少的观测信息和更少的观测误差,就能提高定位精度。仿真结果验证了上述4种解算算法的定位性能,证明了该算法在定位精度上的优秀性能。最后,还对4种算法在不同误差和约束条件下在双机协同观测定位中的定位精度进行了对比。

关键词: 无源定位, 双机协同, 到达角, 最小二乘估计, 渐进无偏估计

Abstract:

The angle information usually plays a very important role in the passive positioning algorithms of two-aircraft coordination. Focusing on the dual-aircraft passive positioning problem, a positioning model using azimuth and elevation angle information is proposed, which can eliminate the influence of intermediate variable distance. In the location implementation, an ordinary least squares method, a weighted least squares method, a total least square method and an asymptotic unbiased estimation method are exploited to solve the location problem based on the proposed dual-aircraft positioning model. Comparing with time difference of arrival (TDOA)/angle of arrival (AOA) positioning algorithms, the proposed AOA algorithm requires less observation information, which introduces less observation errors and can improve the final positioning accuracy. The numerical simulation results verify the positioning performance of the four methods and show better performance of positioning accuracy comparing with TDOA/AOA. This paper also compares the positioning accuracy of the four algorithms in dual-aircrafc cooperative observation and positioning under different errors and constraints.

Key words: passive positioning, dual-aircraft coordination, angle of arrival (AOA), least squares estimation, asymptotic unbiased estimation

中图分类号:

TN971.1

吴龙文, 王宝莹, 魏俊杰, 何胜阳, 赵雅琴. 基于AOA的双机无源定位模型及其解算方法[J]. 系统工程与电子技术, 2020, 42(5): 978-986.

Longwen WU, Baoying WANG, Junjie WEI, Shengyang HE, Yaqin ZHAO. AOA based dual-aircraft passive positioning model and its location methods[J]. Systems Engineering and Electronics, 2020, 42(5): 978-986.

图/表 4

参考文献 32

1	秦明峰, 郝青儒, 范广伟. 运动单站无源定位性能分析[J]. 无线电工程, 2014, 44 (4): 50- 53. doi: 10.3969/j.issn.1003-3106.2014.04.015
	QIN M F , HAO Q R , FAN G W . Analysis on passive localization performance of moving single observer[J]. Radio Engineering, 2014, 44 (4): 50- 53. doi: 10.3969/j.issn.1003-3106.2014.04.015
2	刘健, 刘忠, 玄兆林. 纯方位两站协同目标运动分析算法研究[J]. 舰船科学技术, 2006, 28 (1): 64- 69.
	LIU J , LIU Z , XUAN Z L . Algorithms of bearings-only target motion analysis by two observers[J]. Ship Science and Technology, 2006, 28 (1): 64- 69.
3	邓新蒲. 单站无源定位可观测性评述[J]. 中国工程科学, 2007, 9 (11): 54- 62. doi: 10.3969/j.issn.1009-1742.2007.11.010
	DENG X P . Review on observability of single station passive positioning[J]. Engineering Sciences, 2007, 9 (11): 54- 62. doi: 10.3969/j.issn.1009-1742.2007.11.010
4	刘忠, 邓聚龙. 多传感器系统纯方位定位与可观测性分析[J]. 火力与指挥控制, 2004, 29 (5): 79- 83, 87. doi: 10.3969/j.issn.1002-0640.2004.05.024
	LIU Z , DENG J L . Passive localization method and observability analysis for multiple observers bearings-only system[J]. Fire Control & Command Control, 2004, 29 (5): 79- 83, 87. doi: 10.3969/j.issn.1002-0640.2004.05.024
5	MENG Y F, XU J C, HUANG Y, et al. Key factors of multi-station TDOA passive location study[C]//Proc.of the 7th International Conference on Intelligent Human-Machine Systems and Cybernetics, 2015: 220-223.
6	YIN J , WAN Q , YANG S , et al. A simple and accurate TDOA-AOA localization method using two stations[J]. IEEE Signal Processing Letters, 2016, 23 (1): 144- 148. doi: 10.1109/LSP.2015.2505138
7	LI Y Y , QI G Q , SHENG A D . Performance metric on the best achievable accuracy for hybrid TOA/AOA target localization[J]. IEEE Communications Letters, 2018, 22 (7): 1474- 1477.
8	WANG J G, HUA X L, ZHU Y Q, et al. Passive location to moving emitter using DOA and its rate of change[C]//Proc.of the 1st International Congress on Image and Signal Processing, 2008: 229-233.
9	石荣, 阎剑, 张聪. 运动单站定位与多站测向定位的统一理论模型[J]. 舰船电子对抗, 2013, 36 (3): 1- 6. doi: 10.3969/j.issn.1673-9167.2013.03.001
	SHI R , YAN J , ZHANG C . United therory model of mobile single station locaition and muilt-station DF location[J]. Shipboard Electronic Countermeasure, 2013, 36 (3): 1- 6. doi: 10.3969/j.issn.1673-9167.2013.03.001
10	任叶童.基于到达角信息的无源定位算法研究[D].天津:天津大学, 2017.
	REN Y T. Passive localization algorithm research based on direction of arrival information[D]. Tianjin: Tianjin University, 2017.
11	WANG Y , HO D . Unified near-field and far-field localization for AOA and hybrid AOA-TDOA positionings[J]. IEEE Trans.on Wireless Communications, 2018, 17 (2): 1242- 1254. doi: 10.1109/TWC.2017.2777457
12	HEJAZI F, NOROUZI Y, NAYEBI M M. Lower bound of error in AOA based passive source localization using single mo-ving platform[C]//Proc.of IEEE East-West Design & Test Symposium, 2013.
13	XU J , MA M D , LAW C L . Cooperative angle-of-arrival position localization[J]. Measurement, 2015, 59 (1): 302- 313.
14	AN D J, MOON C M, LEE J H. Derivation of an explicit expression of an approximate location estimate in AOA-based localization[C]//Proc.of the 7th IEEE International Symposium on Microwave, Antenna, Propagation, and EMC Technologies, 2017: 552-555.
15	ALMAAITAH A , ALSAIFY B , BANI-HANI R . Three-dimensional empirical AoA localization technique for indoor applications[J]. Sensors, 2019, 19 (24): 5544. doi: 10.3390/s19245544
16	ZHU G W , HU J H . A distributed continuous-time algorithm for network localization using angle-of-arrival information[J]. Automatica, 2014, 50 (1): 53- 63. doi: 10.1016/j.automatica.2013.09.033
17	YANG Z W , ZHU S Y , CHEN C L , et al. Distributed path optimisation of mobile sensor networks for AOA target localisation[J]. IET Control Theory and Applications, 2019, 13 (17): 2817- 2827. doi: 10.1049/iet-cta.2018.6112
18	HAMDOLLAHZADEH M , AMIRI R , BEHNIA F . Optimal sensor placement for multi-source AOA localisation with distance-dependent noise model[J]. IET Radar Sonar and Navigation, 2019, 13 (6): 881- 891. doi: 10.1049/iet-rsn.2018.5426
19	雷文英, 陈伯孝, 杨明磊, 等. 基于TOA和TDOA的三维无源目标定位方法[J]. 系统工程与电子技术, 2014, 36 (5): 816- 823.
	LEI W Y , CHEN B X , YANG M L , et al. Passive 3D Target location method based on TOA and TDOA[J]. Systems Engineering and Electronics, 2014, 36 (5): 816- 823.
20	YIN J H , WAN Q , YANG S W , et al. A simple and accurate TDOA-AOA localization method using two stations[J]. IEEE Signal Processing Letters, 2016, 23 (1): 144- 148. doi: 10.1109/LSP.2015.2505138
21	ZHAO Y, LI Z, HAO B J, et al. Bias reduced method for TDOA and AOA localization in the presence of sensor errors[C]//Proc.of the IEEE International Conference on Communications, 2017.
22	NOROOZI A, SEBT M A. Algebraic solution of source location estimation using TDOA and AOA measurements[C]//Proc.of the 25th Iranian Conference on Electrical Engineering, 2017: 1609-1614.
23	OH J , LEE K , YOU K . Hybrid TDOA and AOA localization using constrained least squares[J]. IEICE Trans.on Fundamentals of Electronics Communications and Computer Sciences, 2015, 98 (12): 2713- 2718.
24	JIA T Y , WANG H Y , SHEN X H , et al. An accurate TDOA-AOA localization method using structured total least squares[J]. Oceans-IEEE, 2017, 1- 6.
25	韩慧珠.单站测向无源定位技术研究[D].成都:电子科技大学, 2014.
	HAN H Z. Research on the passive location with bearing-only measurement single station[D]. Chengdu: University of Electronic Science and Technology, 2014.
26	冯奇, 曲长文, 李廷军. 基于约束加权最小二乘的无源定位闭式解算方法[J]. 系统工程与电子技术, 2017, 39 (2): 263- 268.
	FENG Q , QU C W , LI Y J . Closed-form for passive localization based on constrained weighted least squares[J]. Systems Engineering and Electronics, 2017, 39 (2): 263- 268.
27	ZHENG Y , SHENG M , LIU J Y , et al. Exploiting AoA estimation accuracy for indoor localization: a weighted AoA-based approach[J]. IEEE Wireless Communications Letters, 2019, 8 (1): 65- 68.
28	ZHOU Q, DUAN Z S. Weighted intersections of bearing lines for AOA based localization[C]//Proc.of the 17th International Conference on Information Fusion, 2017.
29	LIU Y, WU X H, ZUO W. An nonlinear least-squares estimator with non-sensitivity initial guess for passive emitter localization[C]//Porc.of the International Conference on Sensor Network Security Technology and Privacy Communication System, 2013: 97-100.
30	李思奇. 基于加权非线性最小二乘的无源协同定位[J]. 计算机与数字工程, 2018, 46 (5): 900- 903. doi: 10.3969/j.issn.1672-9722.2018.05.011
	LI S Q . Passive cooperative location based on weighted nonlinear least squares[J]. Computer & Digital Engineering, 2018, 46 (5): 900- 903. doi: 10.3969/j.issn.1672-9722.2018.05.011
31	DOGANCAY K . Bearings-only target localization using total least squares[J]. Signal Process, 2005, 85 (9): 1695- 1710. doi: 10.1016/j.sigpro.2005.03.007
32	HO K C , CHAN Y T . An asymptotically unbiased estimator for bearings-only and Doppler-bearing target motion analysis[J]. IEEE Signal Proces, 2006, 54 (3): 809- 822. doi: 10.1109/TSP.2005.861776

解算方法	OLS	WLS	TLS	AUE
瞬时定位角度误差1°	2.931 9	3.022 0	2.945 9	2.967 0
瞬时定位角度误差0.5°	1.482 7	1.481 6	1.468 8	1.444 1
累计时间30 s角度误差1°	0.716 6	0.881 7	0.717 4	0.718 4
60 s内平均误差	0.625 5	1.005 0	0.860 9	0.858 8
仅利用最后30 s	0.735 3	0.886 0	0.726 4	0.722 3

[1]	王伟, 王钦钊, 沈岚, 王波, 丁怀. 基于概率累积的非通视无源定位方法[J]. 系统工程与电子技术, 2022, 44(1): 64-69.
[2]	赵跃新, 齐望东, 刘鹏, 袁恩, 徐兵. 三维AoA目标跟踪的二次约束卡尔曼滤波算法[J]. 系统工程与电子技术, 2021, 43(8): 2263-2272.
[3]	刘业民, 李永祯, 黄大通, 庞晨. 基于极化单脉冲雷达扩展目标角度估计方法[J]. 系统工程与电子技术, 2021, 43(6): 1497-1505.
[4]	王曼颖, 龚晓峰, 雒瑞森, 边彤, 王之远. 基于自适应形态学的跳频信号参数联合盲估计[J]. 系统工程与电子技术, 2021, 43(5): 1398-1405.
[5]	苏志刚, 武瑞, 郝敬堂. 分布式无源定位技术的定位精度提高方法[J]. 系统工程与电子技术, 2020, 42(9): 1890-1896.
[6]	单玉浩, 杨晓东, 王旺. 目标运动要素自主隐蔽解析的微分进化策略[J]. 系统工程与电子技术, 2020, 42(2): 277-283.
[7]	蒋伊琳, 刘梦楠, 郜丽鹏, 陈涛. 运动多站无源时差/频差联合定位方法[J]. 系统工程与电子技术, 2019, 41(7): 1441-1449.
[8]	朱晓丹, 朱伟强, 陈卓. 基于TOA变化率有偏估计的单通道无源定位[J]. 系统工程与电子技术, 2019, 41(7): 1459-1467.
[9]	王旭东, 董文杰, 吴楠. 基于TDOA/AOA混合的高精度室内可见光定位算法[J]. 系统工程与电子技术, 2019, 41(10): 2371-2377.
[10]	冯奇, 曲长文, 李廷军. 基于约束加权最小二乘的无源定位闭式解算方法[J]. 系统工程与电子技术, 2017, 39(2): 263-268.
[11]	栗大鹏, 梁伟. 基于自适应LPFT的非平稳信号到达角估计[J]. 系统工程与电子技术, 2017, 39(1): 21-26.
[12]	郝振兴, 罗继勋, 胡朝晖. 空基双探测端分布式定位系统的航迹控制[J]. 系统工程与电子技术, 2016, 38(8): 1886-1891.
[13]	李振强1, 黄振2, 陈曦2, 葛宁1. 时频差精度的时变性影响及补偿估计方法[J]. 系统工程与电子技术, 2016, 38(3): 481-486.
[14]	李万春, 田正武, 唐遒, 王斌, 李英祥. 无参考通道的外辐射源雷达参数估计[J]. 系统工程与电子技术, 2016, 38(11): 2530-2536.
[15]	朱国辉, 冯大政, 向平叶, 周延. 传感器误差情况下的线性校正TOA定位算法[J]. 系统工程与电子技术, 2015, 37(3): 498-502.

基于AOA的双机无源定位模型及其解算方法

AOA based dual-aircraft passive positioning model and its location methods

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

图/表 4

参考文献 32

相关文章 15

编辑推荐

Metrics

本文评价