阅读说明：本技术 一种空中目标的定位方法及装置 (Aerial target positioning method and device ) 是由 张鑫 刘云光 段刘刚 高伟 何权航 贾山 于 2021-07-29 设计创作，主要内容包括：本发明涉及一种空中目标的定位方法及装置,解决了目标定位方法定位不准确且计算过程较为复杂的问题。该方法包括提取新信号的携带内容,新信号包括新接收到的与空中目标对应的信号,携带内容包括信号模式、目标标识符、信号到达接收站点时间以及新信号接收站点标识；根据目标标识符对应的接收站点数量,得到符合该空中目标的最优配置站点；根据符合该空中目标的最优配置站点以及新信号接收站点标识,得到与该空中目标对应的信号组；根据与该空中目标对应的信号组以及最优配置站点,得到信号组内的信号到达最优配置站点的时间和最优配置站点的坐标,结合CHAN算法,得到该空中目标的位置。降低了定位计算过程的复杂度且提高了定位结果的准确性。(The invention relates to a method and a device for positioning an aerial target, which solve the problems of inaccurate positioning and complex calculation process of a target positioning method. Extracting the carried content of a new signal, wherein the new signal comprises a newly received signal corresponding to an aerial target, and the carried content comprises a signal mode, a target identifier, a signal arrival receiving site time and a new signal receiving site identifier; obtaining an optimal configuration site which accords with the aerial target according to the number of receiving sites corresponding to the target identifier; obtaining a signal group corresponding to the aerial target according to the optimal configuration station conforming to the aerial target and the new signal receiving station identification; and obtaining the time of the signal in the signal group reaching the optimal configuration site and the coordinate of the optimal configuration site according to the signal group corresponding to the aerial target and the optimal configuration site, and obtaining the position of the aerial target by combining a CHAN algorithm. The complexity of the positioning calculation process is reduced, and the accuracy of the positioning result is improved.)

1. A method for locating an airborne target, the method comprising:

extracting the carried content of a new signal, wherein the new signal comprises a newly received signal corresponding to an aerial target, and the carried content of the new signal comprises a signal mode, a target identifier, a signal arrival receiving site time and a new signal receiving site identifier;

obtaining an optimal configuration site which accords with the aerial target according to the number of receiving sites corresponding to the target identifier;

obtaining a signal group corresponding to the aerial target according to the optimal configuration station conforming to the aerial target and the new signal receiving station identification;

and obtaining the time of the signal in the signal group reaching the optimal configuration site and the coordinate of the optimal configuration site according to the signal group corresponding to the aerial target and the optimal configuration site conforming to the aerial target, and obtaining the position of the aerial target by combining a CHAN algorithm.

2. The method according to claim 1, wherein obtaining the optimal configuration site that meets the over-the-air target according to the number of receiving sites corresponding to the target identifier comprises:

obtaining all receiving stations corresponding to the target identifier according to the target identifier, wherein all receiving stations comprise receiving stations corresponding to the new signal receiving station identifier;

when the number of all receiving stations corresponding to the target identifier is smaller than a first station number threshold and larger than a second station number threshold, all receiving stations corresponding to the target identifier are optimal configuration stations conforming to the target identifier;

and when the number of all receiving stations corresponding to the target identifier is greater than or equal to the first station number threshold value, executing an optimal station configuration rule to obtain an optimal configuration station which accords with the aerial target.

3. The positioning method according to claim 2, wherein the first site number threshold is 5, and when the number of all receiving sites corresponding to the target identifier is greater than or equal to the first site number threshold, executing the optimal site configuration rule to obtain the optimal configured site that meets the over-the-air target comprises:

all receiving stations corresponding to the target identifier are arranged and combined to obtain a plurality of receiving station groups, and each receiving station group comprises 4 receiving stations;

performing matrix calculation on the position of the receiving station in each receiving station group according to the following formula, and judging whether the following matrix Matrix is a reversible matrix or not:

wherein x is₀,x₁,x₂,x₃Respectively representing the null of each receiving station in each receiving station group by taking the earth center as a coordinate originX-axis coordinate, y, in a rectangular coordinate system₀,y₁,y₂,y₃Respectively representing the y-axis coordinate, z of each receiving station in each receiving station group in a space rectangular coordinate system with the geocentric as the origin of coordinates₀,z₁,z₂,z₃Respectively representing the z-axis coordinate of each receiving station in each receiving station group in a space rectangular coordinate system with the geocenter as the origin of coordinates;

calculating the minimum station spacing of each receiving station group according to the position coordinates of each receiving station in each receiving station group, and judging whether the minimum station spacing is larger than or equal to a spacing threshold value;

and when the obtained plurality of receiving station groups meet the condition that the matrix MatrixA is a reversible matrix and the minimum station spacing is larger than or equal to the spacing threshold, selecting the receiving station group with the maximum minimum station spacing as the optimal configuration station which meets the aerial target.

4. The method of claim 3, wherein said obtaining a set of signals corresponding to the airborne target comprises:

judging whether the optimal configuration site comprises a receiving site corresponding to the new signal or not according to the new signal receiving site identification;

when the optimal configuration site comprises a receiving site corresponding to the new signal, the new signal is paired with signals corresponding to the aerial target and received by other sites in the optimal configuration site based on a signal pairing rule;

and if the new signal is successfully paired with the signals corresponding to the aerial target and received by other sites in the optimal configuration site, obtaining a signal group corresponding to the aerial target.

5. The positioning method according to claim 4, wherein the signal pairing rule comprises:

based on the time of the signal reaching the receiving stations, judging whether the arrival time difference between the new signal and the signal corresponding to the aerial target and received by any receiving station in the optimal configuration stations is smaller than the maximum time difference between the two receiving stations;

judging whether the signal mode of the new signal is consistent with the signal mode of the signal corresponding to the aerial target received by any receiving station in the optimal configuration stations or not based on the signal mode;

and based on the target identifier, in combination with a fault-tolerant target identifier pairing mechanism, judging whether the new signal and a signal which is received by any receiving station in the optimal configuration station and corresponds to the aerial target are from the same aerial target.

6. The method of claim 5, wherein the fault tolerant pairing mechanism for the target identifier comprises:

when the signal mode of the new signal is consistent with that of the signal corresponding to the aerial target received by any receiving station in the optimal configuration stations and the time difference is less than the maximum time difference of the two receiving stations, judging the similarity of the target identifier of the signal corresponding to the aerial target received by the new signal and any receiving station in the optimal configuration stations;

and if the similarity between the new signal and the optimal configuration site is larger than or equal to the similarity threshold, judging that the new signal and the signal which is received by any receiving site in the optimal configuration site and corresponds to the aerial target are from the same aerial target.

7. The method of claim 6, wherein determining the similarity between the new signal and the target identifier of the signal corresponding to the over-the-air target received by any of the optimally configured sites comprises:

converting the new signal and the target identifier of the signal corresponding to the aerial target received by any receiving station in the optimal configuration stations into binary numbers;

comparing numerical values of each bit of the binary number, and calculating the number of different numerical values;

and calculating the similarity based on the number of the different numerical values.

8. The method of claim 1, wherein said obtaining the position of the airborne target comprises:

according to the time when the signals in the signal group corresponding to the aerial target reach the optimal configuration site and the coordinates of the optimal configuration site, the following hyperbolic equation is constructed:

wherein, x'₀,y′₀,z′₀Coordinates representing a first receiving station in the optimally configured stations; x'_i,y′_i,z′_iThe coordinates of the ith receiving station in the optimal configuration stations are represented, and i is more than or equal to 0 and less than or equal to 3; r₀Representing the distance of the airborne target from the first receiving station; r_iRepresenting the distance of the aerial target from the ith receiving station; Δ R_i＝Δt_ic，ΔR_iRepresenting the distance difference between the aerial target and the first receiving station and the ith receiving station; Δ t_iRepresenting the time difference between the arrival of the signal at the first receiving station and the arrival of the signal at the ith receiving station; c represents the signal propagation speed, and c is the speed of light.

And solving the hyperbolic formula by using a CHAN algorithm to obtain the position of the aerial target.

9. The method of claim 8, wherein when solving the hyperbolic formula using the CHAN algorithm to obtain two solutions, the method further comprises:

respectively judging whether the longitude and latitude and the altitude corresponding to the two solutions are within the preset longitude and latitude and altitude ranges of the optimal configuration station;

and calculating the speed per hour of the aerial target by combining the position and the time of the coordinate at the last moment of the aerial target, and judging whether the speed per hour of the aerial target is less than a speed per hour threshold value so as to obtain the position of the aerial target.

10. An aerial target positioning device, the device comprising:

the information extraction module is used for extracting the carried content of a new signal, wherein the new signal comprises a newly received signal corresponding to an aerial target, and the carried content of the new signal comprises a signal mode, a target identifier, a signal arrival receiving site time and a new signal receiving site identifier;

the optimal configuration site generation module is used for obtaining an optimal configuration site which accords with the aerial target according to the number of receiving sites corresponding to the target identifier;

the signal group generating module is used for obtaining a signal group corresponding to the aerial target according to the optimal configuration station conforming to the aerial target and the new signal receiving station identification;

and the aerial target position generating module is used for obtaining the time of the signal in the signal group reaching the optimal configuration station and the coordinate of the optimal configuration station according to the signal group corresponding to the aerial target and the optimal configuration station conforming to the aerial target, and obtaining the position of the aerial target by combining a CHAN algorithm.

Technical Field

The invention relates to the technical field of positioning, in particular to a method and a device for positioning an aerial target.

Background

With the continuous development of encryption technology, it becomes more difficult to acquire the communication content of the target in the air, so that the acquisition of situation information is particularly important; the position of the aerial target is rapidly and accurately obtained, and the method plays an important role in understanding battlefield tactical deployment and analyzing strategic intent. Positioning techniques are divided into active positioning and passive positioning. The active positioning needs to send signals outwards, is easily interfered and attacked by the other party, and has great limitation on the active positioning technology for stealth targets. The passive positioning system does not emit signals, utilizes the signals emitted by the target to measure signal parameters for positioning, has the characteristics of strong concealment, long detection distance, high positioning speed and the like, and has higher survivability in an information battlefield.

In the prior art, signals are from a fixed hardware system, the system expansibility is not high, the positioning accuracy and the positioning range are greatly influenced by the hardware layout, in the positioning calculation, in the signal pairing process, the original information carried by the signals is directly adopted for matching, and the errors brought in the signal transmission process and the signal receiving process are not considered, so that the signal matching rate is not high, and the positioning result is not comprehensive. Meanwhile, in order to improve the positioning accuracy, an iterative convergence algorithm is adopted in the positioning calculation, so that the positioning speed is low, and the real-time performance of the positioning result is low.

Based on the above analysis, there is an urgent need for a method and a device for positioning an aerial target, which are used for accurately positioning the aerial target.

Disclosure of Invention

In view of the foregoing analysis, embodiments of the present invention provide a method and a system for positioning an aerial target, so as to solve the problems of inaccurate positioning and complicated calculation process of the existing target positioning method.

In one aspect, an embodiment of the present invention provides a method for positioning an aerial target, where the method includes:

extracting the carried content of a new signal, wherein the new signal comprises a newly received signal corresponding to an aerial target, and the carried content of the new signal comprises a signal mode, a target identifier, a signal arrival receiving site time and a new signal receiving site identifier;

obtaining an optimal configuration site which accords with the aerial target according to the number of receiving sites corresponding to the target identifier;

obtaining a signal group corresponding to the aerial target according to the optimal configuration station conforming to the aerial target and the new signal receiving station identification;

and obtaining the time of the signal in the signal group reaching the optimal configuration site and the coordinate of the optimal configuration site according to the signal group corresponding to the aerial target and the optimal configuration site conforming to the aerial target, and obtaining the position of the aerial target by combining a CHAN algorithm.

Further, the obtaining an optimal configuration site according to the number of receiving sites corresponding to the target identifier includes:

obtaining all receiving stations corresponding to the target identifier according to the target identifier, wherein all receiving stations comprise receiving stations corresponding to the new signal receiving station identifier;

when the number of all receiving stations corresponding to the target identifier is smaller than a first station number threshold and larger than a second station number threshold, all receiving stations corresponding to the target identifier are optimal configuration stations conforming to the target identifier;

and when the number of all receiving stations corresponding to the target identifier is greater than or equal to the first station number threshold value, executing an optimal station configuration rule to obtain an optimal configuration station which accords with the aerial target.

Further, the threshold of the number of first stations is 5, and when the number of all receiving stations corresponding to the target identifier is greater than or equal to the threshold of the number of first stations, executing an optimal station configuration rule to obtain an optimal configuration station that meets the aerial target includes:

all receiving stations corresponding to the target identifier are arranged and combined to obtain a plurality of receiving station groups, and each receiving station group comprises 4 receiving stations;

performing matrix calculation on the position of the receiving station in each receiving station group according to the following formula, and judging whether the following matrix Matrix is a reversible matrix or not:

wherein x is₀,x₁,x₂,x₃Respectively representing the x-axis coordinate and the y-axis coordinate of each receiving station in each receiving station group in a space rectangular coordinate system with the geocenter as the origin of coordinates₀,y₁,y₂,y₃Respectively representing the y-axis coordinate, z of each receiving station in each receiving station group in a space rectangular coordinate system with the geocentric as the origin of coordinates₀,z₁,z₂,z₃Respectively representing the z-axis coordinate of each receiving station in each receiving station group in a space rectangular coordinate system with the geocenter as the origin of coordinates;

calculating the minimum station spacing of each receiving station group according to the position coordinates of each receiving station in each receiving station group, and judging whether the minimum station spacing is larger than or equal to a spacing threshold value;

and when the obtained plurality of receiving station groups meet the condition that the matrix MatrixA is a reversible matrix and the minimum station spacing is larger than or equal to the spacing threshold, selecting the receiving station group with the maximum minimum station spacing as the optimal configuration station which meets the aerial target.

Further, the obtaining a signal group corresponding to the aerial target includes:

judging whether the optimal configuration site comprises a receiving site corresponding to the new signal or not according to the new signal receiving site identification;

when the optimal configuration site comprises a receiving site corresponding to the new signal, the new signal is paired with signals corresponding to the aerial target and received by other sites in the optimal configuration site based on a signal pairing rule;

and if the new signal is successfully paired with the signals corresponding to the aerial target and received by other sites in the optimal configuration site, obtaining a signal group corresponding to the aerial target.

Further, the signal pairing rule includes:

based on the time of the signal reaching the receiving stations, judging whether the arrival time difference between the new signal and the signal corresponding to the aerial target and received by any receiving station in the optimal configuration stations is smaller than the maximum time difference between the two receiving stations;

judging whether the signal mode of the new signal is consistent with the signal mode of the signal corresponding to the aerial target received by any receiving station in the optimal configuration stations or not based on the signal mode;

and based on the target identifier, in combination with a fault-tolerant target identifier pairing mechanism, judging whether the new signal and a signal which is received by any receiving station in the optimal configuration station and corresponds to the aerial target are from the same aerial target.

Further, the fault-tolerant target identifier pairing mechanism comprises:

when the signal mode of the new signal is consistent with that of the signal corresponding to the aerial target received by any receiving station in the optimal configuration stations and the time difference is less than the maximum time difference of the two receiving stations, judging the similarity of the target identifier of the signal corresponding to the aerial target received by the new signal and any receiving station in the optimal configuration stations;

and if the similarity between the new signal and the optimal configuration site is larger than or equal to the similarity threshold, judging that the new signal and the signal which is received by any receiving site in the optimal configuration site and corresponds to the aerial target are from the same aerial target.

Further, the determining the similarity between the new signal and the target identifier of the signal corresponding to the aerial target and received by any receiving station in the optimal configuration station includes:

converting the new signal and the target identifier of the signal corresponding to the aerial target received by any receiving station in the optimal configuration stations into binary numbers;

comparing numerical values of each bit of the binary number, and calculating the number of different numerical values;

and calculating the similarity based on the number of the different numerical values.

Further, the obtaining the position of the aerial target includes:

according to the time when the signals in the signal group corresponding to the aerial target reach the optimal configuration site and the coordinates of the optimal configuration site, the following hyperbolic equation is constructed:

wherein, x'₀,y′₀,z′₀Coordinates representing a first receiving station in the optimally configured stations; x'_i,y′_i,z′_iThe coordinates of the ith receiving station in the optimal configuration stations are represented, and i is more than or equal to 0 and less than or equal to 3; r₀Representing the distance of the airborne target from the first receiving station; r_iRepresenting the distance of the aerial target from the ith receiving station; Δ R_i＝Δt_ic，ΔR_iRepresenting the distance difference between the aerial target and the first receiving station and the ith receiving station; Δ t_iRepresenting the time difference between the arrival of the signal at the first receiving station and the arrival of the signal at the ith receiving station; c represents the signal propagation speed, and c is the speed of light.

And solving the hyperbolic formula by using a CHAN algorithm to obtain the position of the aerial target.

Further, when the CHAN algorithm is used to solve the hyperbolic formula to obtain two solutions, the method further includes:

respectively judging whether the longitude and latitude and the altitude corresponding to the two solutions are within the preset longitude and latitude and altitude ranges of the optimal configuration station;

and calculating the speed per hour of the aerial target by combining the position and the time of the coordinate at the last moment of the aerial target, and judging whether the speed per hour of the aerial target is less than a speed per hour threshold value so as to obtain the position of the aerial target.

In another aspect, an embodiment of the present invention provides an apparatus for positioning an aerial target, where the apparatus includes:

the information extraction module is used for extracting the carried content of a new signal, wherein the new signal comprises a newly received signal corresponding to an aerial target, and the carried content of the new signal comprises a signal mode, a target identifier, a signal arrival receiving site time and a new signal receiving site identifier;

the optimal configuration site generation module is used for obtaining an optimal configuration site which accords with the aerial target according to the number of receiving sites corresponding to the target identifier;

the signal group generating module is used for obtaining a signal group corresponding to the aerial target according to the optimal configuration station conforming to the aerial target and the new signal receiving station identification;

and the aerial target position generating module is used for obtaining the time of the signal in the signal group reaching the optimal configuration station and the coordinate of the optimal configuration station according to the signal group corresponding to the aerial target and the optimal configuration station conforming to the aerial target, and obtaining the position of the aerial target by combining a CHAN algorithm.

Compared with the prior art, the invention can at least realize the following beneficial effects:

according to the method, the carrying content of the new signal is extracted, the optimal configuration site which is in accordance with the aerial target and the signal set corresponding to the aerial target are obtained based on the carrying content of the new signal, the time for the signal in the signal set to reach the optimal configuration site and the coordinate of the optimal configuration site are obtained, and the CHAN algorithm is combined to obtain the position of the aerial target.

In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.

Fig. 1 is a schematic flow chart of a method for positioning an aerial target according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of an aerial target positioning device according to an embodiment of the present application.

Detailed Description

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.

A specific embodiment of the present invention discloses a method for positioning an aerial target, a flow diagram of which is shown in fig. 1, the method comprising:

step S10: extracting the carried content of a new signal, wherein the new signal comprises a newly received signal corresponding to an aerial target, and the carried content of the new signal comprises a signal mode, a target identifier, a signal arrival receiving site time and a new signal receiving site identifier;

step S20: obtaining an optimal configuration site which accords with the aerial target according to the number of receiving sites corresponding to the target identifier;

step S30: obtaining a signal group corresponding to the aerial target according to the optimal configuration station conforming to the aerial target and the new signal receiving station identification;

step S40: and obtaining the time of the signal in the signal group reaching the optimal configuration site and the coordinate of the optimal configuration site according to the signal group corresponding to the aerial target and the optimal configuration site conforming to the aerial target, and obtaining the position of the aerial target by combining a CHAN algorithm.

Compared with the prior art, the aerial target positioning method provided by this embodiment obtains the optimal configuration site that conforms to the aerial target and the signal group corresponding to the aerial target based on the carried content of the new signal by extracting the carried content of the new signal, obtains the time for the signal in the signal group to reach the optimal configuration site and the coordinate of the optimal configuration site, and combines with the CHAN algorithm to obtain the position of the aerial target.

Specifically, the signal corresponding to the aerial target refers to a pulse signal sent by the aerial target received by the receiving station. The receiving station receives the signal transmitted by the aerial target, the signal transmitted by the aerial target includes a signal mode and a target identifier, the receiving station generates a signal reaching the receiving station time after receiving the signal, and packages the receiving station identifiers together to enter a subsequent data processing process, so that the carrying content of the new signal extracted in step S10 includes the signal mode, the target identifier, the time when the signal reaches the receiving station and the new signal receiving station identifier. Further, a plurality of receiving stations are preset at different positions, and after each receiving station receives a signal, the processing is performed, and the processed signal is packaged for a subsequent data processing process.

Further, the signal mode comprises A mode and C mode of ADS-B, SSR; the target identifier comprises an identification code corresponding to the A mode, and ICAO addresses corresponding to the ADS-B and S modes. The signal pattern and the target identifier may be determined based on the actual situation.

In a specific embodiment, step S20 includes:

step S21: obtaining all receiving stations corresponding to the target identifier according to the target identifier, wherein all receiving stations comprise receiving stations corresponding to the new signal receiving station identifier;

specifically, before the current new signal is extracted, a mapping relationship between the target identifier and the corresponding receiving station is already formed, so that all receiving stations corresponding to the target identifier of the new signal can be obtained based on the target identifier of the current new signal and by combining the mapping relationship, and the all receiving stations include the receiving station of the current new signal.

Step S22: when the number of all receiving stations corresponding to the target identifier is smaller than a first station number threshold and larger than a second station number threshold, all receiving stations corresponding to the target identifier are optimal configuration stations conforming to the target identifier;

specifically, the first site number threshold is 5, the second site number threshold is 2, and when the number of all receiving sites corresponding to the target identifier obtained in step S21 is 3 or 4, then the 3 or 4 receiving sites are the optimal configuration sites meeting the target identifier, and are used for subsequently positioning the aerial target corresponding to the target identifier. Further, when the number of all receiving stations corresponding to the target identifier is 1 or 2, the number of receiving stations at this time cannot complete positioning of the aerial target corresponding to the target identifier, and may be used to update the mapping relationship between the target identifier and the receiving station corresponding to the target identifier, and when a new signal corresponding to the target identifier enters subsequently, subsequent positioning is performed.

Step S23: and when the number of all receiving stations corresponding to the target identifier is greater than or equal to the first station number threshold value, executing an optimal station configuration rule to obtain an optimal configuration station which accords with the aerial target.

Specifically, in the embodiment of the present application, in order to find 4 receiving stations corresponding to the target identifier as a basis for subsequent positioning, when the number of all receiving stations corresponding to the target identifier is greater than or equal to 5, an optimal station configuration rule needs to be executed, and 4 receiving stations that meet the aerial target are obtained as optimal configuration stations.

The number of the optimal configuration sites is selected to be 4, the aerial target corresponding to the target identifier is positioned, the positioning result is the longitude, the latitude and the height of the aerial target, and the positioning result is more accurate.

In a specific embodiment, step S23 includes:

step S231: all receiving stations corresponding to the target identifier are arranged and combined to obtain a plurality of receiving station groups, and each receiving station group comprises 4 receiving stations;

specifically, 4 receiving stations are arbitrarily selected from all receiving stations corresponding to the target identifier to form a receiving station group, and all possible multiple receiving station groups including 4 receiving stations are obtained in a permutation and combination manner. For example, all receiving stations corresponding to the target identifier include station 1, station 2, station 3, station 4, and station 5, then the following five groups of receiving stations may be formed: first receiving station group: station 1, station 2, station 3, station 4, a second group of receiving stations: station 1, station 3, station 4, station 5, a third group of receiving stations: station 1, station 2, station 4, station 5, a fourth group of receiving stations: station 1, station 2, station 3, station 5, a fifth group of receiving stations: station 2, station 3, station 4, station 5. When the number of receiving stations corresponding to the target identifier is greater than 5, the principle of permutation and combination is the same as the case described above where all the receiving stations corresponding to the target identifier include station 1, station 2, station 3, station 4, and station 5.

Step S232: performing matrix calculation on the position of the receiving station in each receiving station group according to the following formula, and judging whether the following matrix Matrix is a reversible matrix or not:

wherein x is₀,x₁,x₂,x₃Respectively representing the x-axis coordinate and the y-axis coordinate of each receiving station in each receiving station group in a space rectangular coordinate system with the geocenter as the origin of coordinates₀,y₁,y₂,y₃Respectively representing the y-axis coordinate, z of each receiving station in each receiving station group in a space rectangular coordinate system with the geocentric as the origin of coordinates₀,z₁,z₂,z₃Respectively representing the z-axis coordinate of each receiving station in each receiving station group in a space rectangular coordinate system with the geocenter as the origin of coordinates;

specifically, if the matrix corresponding to a certain receiving station group is irreversible, it is considered that each station in the receiving station group is located on the same horizontal plane, and the station group cannot be used as a positioning station group.

Step S233: calculating the minimum station spacing of each receiving station group according to the position coordinates of each receiving station in each receiving station group, and judging whether the minimum station spacing is larger than or equal to a spacing threshold value;

specifically, the spacing threshold is 30 KM.

Further, the minimum inter-site distance of each receiving site group is calculated as follows:

and calculating the distance between any two receiving stations according to the position coordinates of any two receiving stations in the receiving station group, and taking the minimum distance between any two receiving stations in the receiving station group as the minimum station spacing of the receiving station group. If the minimum station spacing is smaller than 30KM, the probability of failure in resolving the target positioning is considered to be too large when the position information of the station group is used for positioning the target in the air. Not as a group of positioning stations.

Step S234: and when the obtained plurality of receiving station groups meet the condition that the matrix MatrixA is a reversible matrix and the minimum station spacing is larger than or equal to the spacing threshold, selecting the receiving station group with the maximum minimum station spacing as the optimal configuration station which meets the aerial target.

Specifically, after a plurality of receiving station groups pass through steps S232 and S233, the plurality of receiving station groups satisfy that the matrix is a reversible matrix and the minimum station spacing is greater than or equal to the spacing threshold, each receiving station group corresponds to a minimum station spacing, and the receiving station group corresponding to the maximum minimum station spacing among the plurality of minimum station spacings is taken as the optimal configuration station that meets the aerial target.

In a specific embodiment, step S30 includes:

step S31: judging whether the optimal configuration site comprises a receiving site corresponding to the new signal or not according to the new signal receiving site identification;

step S32: when the optimal configuration site comprises a receiving site corresponding to the new signal, the new signal is paired with signals corresponding to the aerial target and received by other sites in the optimal configuration site based on a signal pairing rule;

step S33: and if the new signal is successfully paired with the signals corresponding to the aerial target and received by other sites in the optimal configuration site, obtaining a signal group corresponding to the aerial target.

Further, when the optimal configuration station does not include a receiving station corresponding to the new signal, the signal corresponding to the aerial target received by the optimal configuration station is the signal group corresponding to the aerial target, and is directly used for subsequent positioning of the aerial target.

In a specific embodiment, the signal pairing rule in step S32 includes:

based on the time of the signal reaching the receiving stations, judging whether the arrival time difference between the new signal and the signal corresponding to the aerial target and received by any receiving station in the optimal configuration stations is smaller than the maximum time difference between the two receiving stations;

judging whether the signal mode of the new signal is consistent with the signal mode of the signal corresponding to the aerial target received by any receiving station in the optimal configuration stations or not based on the signal mode;

and based on the target identifier, in combination with a fault-tolerant target identifier pairing mechanism, judging whether the new signal and a signal which is received by any receiving station in the optimal configuration station and corresponds to the aerial target are from the same aerial target.

Specifically, an arrival time exists when the signal arrives at the receiving station, whether the arrival time difference between the arrival time of the new signal arriving at the receiving station and the arrival time of the signal received by any receiving station with the same target identifier as the new signal in the optimal configuration is smaller than the maximum time difference between the two receiving stations is judged, and if the arrival time difference is smaller than the maximum time difference, the requirement for the arrival time difference in the signal pairing rule is met.

Further, the maximum time difference Δ t between the two receiving stations is satisfiedWherein x'_i,y′_i,z′_iThe coordinates of the ith receiving station in the optimal configuration stations are represented, and i is more than or equal to 0 and less than or equal to 3; x'_j,y′_j,z′_jThe coordinates of the jth receiving station in the optimal configuration stations are represented, j is more than or equal to 0 and less than or equal to 3, j is not equal to i, c is the speed of light, and c is 2.99792458 multiplied by 10⁸。

In a specific embodiment, the fault-tolerant target identifier pairing mechanism includes:

when the signal mode of the new signal is consistent with that of the signal corresponding to the aerial target received by any receiving station in the optimal configuration stations and the time difference is less than the maximum time difference of the two receiving stations, judging the similarity of the target identifier of the signal corresponding to the aerial target received by the new signal and any receiving station in the optimal configuration stations;

and if the similarity between the new signal and the optimal configuration site is larger than or equal to the similarity threshold, judging that the new signal and the signal which is received by any receiving site in the optimal configuration site and corresponds to the aerial target are from the same aerial target.

Further, the similarity threshold is 90%.

In a specific embodiment, the determining the similarity between the new signal and the target identifier of the signal corresponding to the aerial target and received by any receiving station in the optimally configured stations includes:

converting the new signal and the target identifier of the signal corresponding to the aerial target received by any receiving station in the optimal configuration stations into binary numbers;

comparing numerical values of each bit of the binary number, and calculating the number of different numerical values;

and calculating the similarity based on the number of the different numerical values.

Specifically, when the similarity is greater than or equal to 90%, the two target identifiers are considered to be the same, and the corresponding two signals originate from the same target.

In a specific embodiment, step S40 includes:

step S41: according to the time when the signals in the signal group corresponding to the aerial target reach the optimal configuration site and the coordinates of the optimal configuration site, the following hyperbolic equation is constructed:

wherein, x'₀,y′₀,z′₀Coordinates representing a first receiving station in the optimally configured stations; x'_i,y′_i,z′_iThe coordinates of the ith receiving station in the optimal configuration stations are represented, and i is more than or equal to 0 and less than or equal to 3; r₀Representing the distance of the airborne target from the first receiving station; r_iRepresenting the distance of the aerial target from the ith receiving station; Δ R_i＝Δt_ic，ΔR_iRepresenting the distance difference between the aerial target and the first receiving station and the ith receiving station; Δ t_iRepresenting the time difference between the arrival of the signal at the first receiving station and the arrival of the signal at the ith receiving station; c represents the signal propagation speed, and c is the speed of light.

Step S42: and solving the hyperbolic formula by using a CHAN algorithm to obtain the position of the aerial target.

In a specific embodiment, when the CHAN algorithm is used to solve the hyperbolic equation in step S42 to obtain two solutions, the method further includes:

respectively judging whether the longitude and latitude and the altitude corresponding to the two solutions are within the preset longitude and latitude and altitude ranges of the optimal configuration station;

and calculating the speed per hour of the aerial target by combining the position and the time of the coordinate at the last moment of the aerial target, and judging whether the speed per hour of the aerial target is less than a speed per hour threshold value so as to obtain the position of the aerial target.

When two solutions exist in the hyperbolic equation, a unique solution is screened out according to the reasonableness of the geodetic coordinates. Specifically, the preset longitude and latitude of the optimal configuration site means that the precision is within 300km of the optimal configuration site in latitude; the altitude range refers to an altitude greater than 0 and less than 15000 m. Specifically, the speed threshold is 10000 km/h.

Further, when there is a unique solution to the hyperbolic equation above, then the unique solution is the location of the aerial target.

One embodiment of the present invention discloses a positioning device for an aerial target, the structural diagram of the device is shown in fig. 2, and the device comprises:

the information extraction module is used for extracting the carried content of a new signal, wherein the new signal comprises a newly received signal corresponding to an aerial target, and the carried content of the new signal comprises a signal mode, a target identifier, a signal arrival receiving site time and a new signal receiving site identifier;

the optimal configuration site generation module is used for obtaining an optimal configuration site which accords with the aerial target according to the number of receiving sites corresponding to the target identifier;

the signal group generating module is used for obtaining a signal group corresponding to the aerial target according to the optimal configuration station conforming to the aerial target and the new signal receiving station identification;

and the aerial target position generating module is used for obtaining the time of the signal in the signal group reaching the optimal configuration station and the coordinate of the optimal configuration station according to the signal group corresponding to the aerial target and the optimal configuration station conforming to the aerial target, and obtaining the position of the aerial target by combining a CHAN algorithm.

Compared with the prior art, the embodiment combines the information extraction module, the optimal configuration site generation module, the signal group generation module and the aerial target position generation module, obtains the optimal configuration site which conforms to the aerial target and the signal group corresponding to the aerial target by extracting the carried content of the new signal and based on the carried content of the new signal, obtains the time for the signal in the signal group to reach the optimal configuration site and the coordinate of the optimal configuration site, and combines the CHAN algorithm to obtain the position of the aerial target.

The specific implementation process of the embodiment of the present invention may be implemented by referring to the above method embodiment, and the details of the embodiment are not repeated herein. Since the principle of the present embodiment is the same as that of the above method embodiment, the present device also has the corresponding technical effects of the above method embodiment.

Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.