CN113411882A - Pulse signal TOA estimation method, terminal positioning method, device and terminal - Google Patents
Pulse signal TOA estimation method, terminal positioning method, device and terminal Download PDFInfo
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- CN113411882A CN113411882A CN202110660295.5A CN202110660295A CN113411882A CN 113411882 A CN113411882 A CN 113411882A CN 202110660295 A CN202110660295 A CN 202110660295A CN 113411882 A CN113411882 A CN 113411882A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0278—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves involving statistical or probabilistic considerations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a method for estimating a pulse signal TOA, a method for positioning a terminal, a device and a terminal, wherein the method for estimating the pulse signal TOA comprises the following steps: step one, single pulse TOA measurement of matched filtering: locally generating a group of reference signals according to the specific waveform format of the aviation signals, and performing matched filtering with the received signals; step two, calculating a single-pulse self-adaptive weight: calculating the weight of a single pulse by adopting a comprehensive judgment method of pulse width and pulse amplitude and a two-dimensional Gaussian distribution probability density function; step three, multi-pulse TOA weighting calculation: and based on the relative determination of the pulse positions of the aviation signals and the existence of the characteristics of determining continuous pulse groups, respectively carrying out weighting processing on the measured TOAs of the multiple pulses by adopting the weight values of the single pulse calculated in the step two to calculate the TOAs of the pulse signals. The invention improves the measurement precision of the pulse signal TOA.
Description
Technical Field
The invention relates to the technical field of aviation monitoring multipoint positioning, in particular to a pulse signal TOA estimation method, a terminal positioning method, a device and a terminal.
Background
With the increasing number of aircrafts and the wide use of ground radio equipment, frequency points are shared by multiple systems such as secondary surveillance radar, ADS-B, multipoint positioning, air collision avoidance, ranging and navigation, so that various signals are abnormally dense and mutually interfere more and more frequently, and in addition, effects such as reflection, multipath and the like and a dense electromagnetic environment, the interference is inevitable, and aliasing easily occurs between the signals and the interference. Aliasing of the signal affects not only the signal detection but also the measurement of TOA, and if an interfering pulse signal is introduced into the TOA measurement, it affects the measurement accuracy of TOA, further affecting the accuracy of localization.
Disclosure of Invention
The invention aims to provide a method for estimating the TOA of a pulse signal, a method for positioning a terminal, a device and a terminal, so as to improve the measurement accuracy of the TOA.
The invention is realized by the following technical scheme:
a method for estimating the TOA of a pulse signal comprises the following steps:
step one, single pulse TOA measurement of matched filtering: locally generating a group of reference signals by taking the aviation signals as a specific waveform format, and performing matched filtering with the received signals;
step two, calculating a single-pulse self-adaptive weight: calculating the weight of a single pulse by adopting a comprehensive judgment method of pulse width and pulse amplitude and a two-dimensional Gaussian distribution probability density function;
step three, multi-pulse TOA weighting calculation: and based on the relative determination of the pulse positions of the aviation signals and the existence of the characteristics of determining continuous pulse groups, respectively carrying out weighting processing on the measured TOAs of the multiple pulses by adopting the weight values of the single pulse calculated in the step two to calculate the TOAs of the pulse signals.
The output of the matched filtering reaches the maximum when the received signal is overlapped with the local reference signal filter, so that the pulse TOA estimation is converted from the traditional pulse signal rising edge detection into the peak value detection, and the estimation precision of the single pulse TOA is improved.
The invention measures the pulse width and the pulse amplitude, comprehensively judges the influence degree of the pulse on the electromagnetic environment, the channel attenuation and the like, slightly increases the weight of the pulse in the TOA calculation, greatly reduces the weight of the pulse in the TOA calculation to be even 0, and realizes the quick convergence of the TOA estimated value by weighting different pulse TOAs.
In summary, the estimation method of the present invention first converts the pulse TOA estimation from the traditional pulse signal rising edge detection to the peak detection by matched filtering; secondly, a pulse width and pulse amplitude comprehensive judgment method is adopted to carry out self-adaptive weighting on pulses, the weight is set to be high for the pulses with small noise influence, and the weight is set to be low for some pulses with severe power fluctuation and even discarded; and estimating the TOA value of the signal by adopting a multi-pulse TOA weighting calculation mode according to the known priori knowledge of the waveform of the received signal.
Compared with the existing TOA estimation method, the method not only improves the pulse TOA estimation precision through weighting and fast convergence under the conditions of weak interference and low signal-to-noise ratio, but also greatly reduces the influence on the TOA estimation by the interference under the condition of strong interference, and effectively improves the measurement precision of multipoint positioning.
Further, in step two, the calculation formula of the single pulse weight f (x) is as follows:
wherein X is (X)1,x2) U-u (u1, u2), u1 and u2 are x, respectively1、x2Mean of variables, x1、x2Pulse width and pulse amplitude, respectively;
By selecting the appropriate delta11、δ22Ensuring the interval (u)1-δ11,u1+δ11) And(u2-δ22,u2+δ22) Inner probability of 68%, interval (u)1-2δ11,u1+2δ11) And (u)2-2δ22,u2+2δ22) The internal probability is 95%, so that weighting processing is realized, and TOA measurement performance under different weighting coefficients is guaranteed.
Further, in step three, assuming that the number of pulses that the detected signal participates in the calculation is M, the TOA estimation of the whole detected signal can be decomposed into TOA measured by each sub-pulse minus the fixed deviation from the first sub-pulse, and then each pulse TOA measurement value is sequentially represented as TOA01、TOA02、TOA0M(ii) a Suppose TOA0iTOA, f measured for the ith pulsei(X) is the weight of the ith pulse TOA measurement, and the final signal TOA calculation formula is as follows:
in the absence of interference, if the noise of M pulses is independently and identically distributed, it is assumed that TOA0iHas a mean value of zero and a variance of (delta T)0)2(ii) a In case of approximately equal weights, i.e. f1(X)＝f2(X)＝fM(X), weighted TOAMHas a mean value of zero and a root mean square of
It can be demonstrated that the result of averaging the measured values of the pulses results in an improved accuracy
Doubling; under the condition of interference or low signal-to-noise ratio, the TOA weight of the pulse with larger influence is reduced and the TOA weight of the pulse with smaller influence is increased through weighting processing, so that the TOA measurement accuracy of the current type signal is improved.
Further, the aviation signals comprise Mark XIIA, ATC, ADS-B, TACAN/DME.
A terminal positioning method comprises the following steps:
determining location information of a plurality of other terminals;
obtaining the TOA time from each other terminal to the current terminal by adopting the estimation method;
and obtaining the current position information of the terminal based on the TOA time and the position information of a plurality of other terminals.
An apparatus for estimating a TOA of a pulse signal, comprising:
the receiving module is used for receiving signals of other terminals;
the matched filtering module is in communication connection with the receiving module, stores a group of reference signals generated for a specific waveform format based on the aviation signals, and performs matched filtering on the reference signals and the received signals;
the calculation module is used for calculating the weight of a single pulse;
the measurement module is used for measuring TOAs of a plurality of pulses of other terminals reaching the current middle terminal;
and the estimation module is used for weighting the measured TOAs of the multiple pulses respectively by adopting the weight of a single pulse to calculate the pulse signal TOA.
A positioning apparatus of a terminal, comprising:
the first determining module is used for determining the position information of a plurality of other terminals;
estimating means for obtaining an adaptively weighted based pulse signal TOA;
and the second determining module is used for obtaining the current position information of the terminal based on the TOA time and the position information of a plurality of other terminals.
A storage medium having stored thereon computer instructions which, when executed, perform the steps of the estimation method or the positioning method.
A terminal comprising a memory and a processor, the memory having stored thereon computer instructions for execution on the processor, the execution of the computer instructions by the processor being to perform steps in the estimation method or the positioning method.
Compared with the prior art, the invention has the following advantages and beneficial effects:
compared with the existing TOA estimation method, the method not only improves the pulse TOA estimation precision through weighting and fast convergence under the conditions of weak interference and low signal-to-noise ratio, but also greatly reduces the influence on the TOA estimation by the interference under the condition of strong interference, and effectively improves the measurement precision of multipoint positioning.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a block flow diagram of a high-precision TOA estimation technique based on adaptive weighting;
FIG. 2 is a schematic diagram illustrating the effect of interference signals;
FIG. 3 is a schematic diagram of two-dimensional Gaussian distribution adaptive weight calculation;
FIG. 4 is a comparison graph of ADS-B TOA performance simulation;
FIG. 5 is a logic block diagram of an estimation device;
FIG. 6 is a logic block diagram of a positioning device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1:
the method is suitable for aviation signals such as Mark XIIA, ATC, ADS-B, TACAN/DME and the like, and the ADS-B signal is taken as an example for explanation:
referring to fig. 1, a method for estimating a TOA of a pulse signal includes the following steps:
step one, single pulse TOA measurement of matched filtering:
in TOA measurement, according to the PPM waveform format of ADS-B leading pulse signal, the rising edge is 0.05:0.1 μ s, the falling edge is 0.05:0.2 μ s, and the pulse width is 0.5 + -0.05 μ s, locally generating PPM pulse reference signal, performing matched filtering with the received signal, and receiving the output of matched filteringThe received signal is maximum when being overlapped with a local reference signal filter, so that the pulse TOA estimation is converted from the traditional pulse signal rising edge detection into peak detection, and the estimation precision of the single pulse TOA is improved. The pulse number of ADS-B detection signal participating in calculation is leading pulse, the pulse number is 4, the TOA estimation of the whole detection signal can be disassembled into the TOA measured by each sub-pulse minus the fixed deviation relative to the first sub-pulse, and then the TOA measured value of each pulse is sequentially represented as TOA01、TOA02、TOA0M；
Step two, calculating a single-pulse self-adaptive weight:
ADS-B leading pulse width x1And amplitude x2According to a normal distribution, pulse width x10.5 +/-0.05 mus, and in the weight calculation process, converting the pulse width into ns for convenience of integral calculation, so that the average pulse width u1 of the ADS-B leading pulse is 500ns, and delta11Variance 25 ns; amplitude x of the pulse2In relation to the magnitude of the received signal, δ assuming that the reference level u2 of the ADS-B preamble pulse output by the pulse power uniformity detection is 51222The variance is about 50. Assuming that the received signal and the interference signal generate aliasing, as shown in fig. 2, it can be known from the graph that the interference affects not only the detection of the pulse width and amplitude of the signal, but also the measurement of TOA, and through the calculation of the mean and variance, the signals outside the error range can be eliminated, and the weight of the signals within the error range is reduced. Using pulse width x1And the pulse amplitude x2The comprehensive decision method uses two-dimensional Gaussian distribution probability density function X ═ X1,x2) Calculating the weight f (X) of the pulse:
wherein u ═ (u1, u2) is x1，x2The mean of the variables;
sigma is covariance matrix, describing x1，x2The degree of correlation between the variables is
Wherein delta11、δ22Characterization of x1，x2Variance of the variables, δ12、δ21Characterization of x1，x2Correlation of variables, pulse width x1And the pulse amplitude x2Exhibits weak correlation when pulsing x2Pulse width x for larger amplitudes1The wider, when the pulse x2The smaller the amplitude is, the pulse width x1The narrower, delta12＝δ21The value is 5.
The covariance matrix can thus be expressed as:
the weight f (x) distribution of the pulses is shown in fig. 3.
Step three, multi-pulse TOA weighting calculation:
based on the prior knowledge of the relative determination of the ADS-B pulse positions and the existence of the characteristics of determining the continuous pulse group, the TOA of a plurality of measured pulses is weighted, and the TOA is assumed0iTOA, f measured for the ith pulsei(X) is the weight value of the ith pulse TOA measurement, each pulse is weighted and processed through the known conditions of the waveform, and the final signal TOA calculation formula is as follows:
the leading pulse of the S-answer mode/ADS-B signal is composed of four pulses, the single pulse, the four pulses and the self-adaptive weighted four-pulse TOA measurement estimation value are simulated respectively, the TOA performance of the method is shown in figure 4, the precision of the four-pulse measurement is approximately 2 times of the precision of the single pulse, and the four-pulse self-adaptive weighted TOA has higher precision than the four-pulse mean TOA, especially under the condition of low signal to noise ratio.
Example 2:
a terminal positioning method comprises the following steps:
determining location information of a plurality of other terminals;
obtaining the TOA time from each other terminal to the current terminal by adopting the estimation method in the embodiment 1;
and obtaining the current position information of the terminal based on the TOA time and the position information of a plurality of other terminals.
Example 3:
as shown in fig. 5, an apparatus for estimating a TOA of a pulse signal includes:
the receiving module is used for receiving signals of other terminals;
the matched filtering module is in communication connection with the receiving module, stores a group of reference signals generated for a specific waveform format based on the aviation signals, and performs matched filtering on the reference signals and the received signals;
the calculation module is used for calculating the weight of a single pulse;
the measurement module is used for measuring TOAs of a plurality of pulses of other terminals reaching the current middle terminal;
and the estimation module is used for weighting the measured TOAs of the multiple pulses respectively by adopting the weight of a single pulse to calculate the pulse signal TOA.
Example 4:
as shown in fig. 6, a positioning apparatus of a terminal includes:
the first determining module is used for determining the position information of a plurality of other terminals;
the estimation apparatus of claim 6, configured to obtain an adaptively weight based pulse signal TOA;
and the second determining module is used for obtaining the current position information of the terminal based on the TOA time and the position information of a plurality of other terminals.
Example 5:
a storage medium having stored thereon computer instructions which, when executed, perform the steps of the estimation method of embodiment 1 or the positioning method of embodiment 2.
Example 6:
a terminal comprising a memory and a processor, the memory having stored thereon computer instructions for execution on the processor, the execution of the computer instructions by the processor being for performing the steps of the estimation method of embodiment 1 or the positioning method of embodiment 2.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A method for estimating TOA of a pulse signal includes the following steps:
step one, single pulse TOA measurement of matched filtering: locally generating a group of reference signals by taking the aviation signals as a specific waveform format, and performing matched filtering with the received signals;
step two, calculating a single-pulse self-adaptive weight: calculating the weight of a single pulse by adopting a comprehensive judgment method of pulse width and pulse amplitude and a two-dimensional Gaussian distribution probability density function;
step three, multi-pulse TOA weighting calculation: and based on the relative determination of the pulse positions of the aviation signals and the existence of the characteristics of determining continuous pulse groups, respectively carrying out weighting processing on the measured TOAs of the multiple pulses by adopting the weight values of the single pulse calculated in the step two to calculate the TOAs of the pulse signals.
2. The method of claim 1, wherein in step two, the calculation formula of the single pulse weight f (X) is as follows:
in the formula，X＝(x1,x2) U-u (u1, u2), u1 and u2 are x, respectively1、x2Mean of variables, x1、x2Pulse width and pulse amplitude, respectively;
3. The method according to claim 1, wherein in the third step, assuming that the number of pulses of the detected signal involved in the calculation is M, the TOA estimation for the whole detected signal can be decomposed into TOA measured by each sub-pulse minus a fixed deviation from the first sub-pulse, and each TOA measurement value of the pulse is sequentially represented as TOA01、TOA02、TOA0M(ii) a Suppose TOA0iTOA, f measured for the ith pulsei(X) is the weight of the ith pulse TOA measurement, and the final signal TOA calculation formula is as follows:
4. a method for estimating a TOA of a pulse signal according to any one of claims 1 to 3, wherein the aviation signal comprises Mark xii a, ATC, ADS-B, TACAN/DME.
5. A terminal positioning method is characterized by comprising the following steps:
determining location information of a plurality of other terminals;
obtaining the TOA time of each other terminal to the current terminal using the estimation method of any one of claims 1 to 4;
and obtaining the current position information of the terminal based on the TOA time and the position information of a plurality of other terminals.
6. An apparatus for estimating a TOA of a pulse signal, comprising:
the receiving module is used for receiving signals of other terminals;
the matched filtering module is in communication connection with the receiving module, stores a group of reference signals generated for a specific waveform format based on the aviation signals, and performs matched filtering on the reference signals and the received signals;
the calculation module is used for calculating the weight of a single pulse;
the measurement module is used for measuring TOAs of a plurality of pulses of other terminals reaching the current middle terminal;
and the estimation module is used for weighting the measured TOAs of the multiple pulses respectively by adopting the weight of a single pulse to calculate the pulse signal TOA.
7. A positioning apparatus of a terminal, comprising:
the first determining module is used for determining the position information of a plurality of other terminals;
the estimation apparatus of claim 6, configured to obtain an adaptively weight based pulse signal TOA;
and the second determining module is used for obtaining the current position information of the terminal based on the TOA time and the position information of a plurality of other terminals.
8. A storage medium having stored thereon computer instructions, wherein said computer instructions are operable to perform the steps of the estimation method according to any one of claims 1 to 4 or the positioning method according to claim 5.
9. A terminal comprising a memory and a processor, the memory having stored thereon computer instructions for execution on the processor, wherein execution of the computer instructions by the processor is for performing the steps of the estimation method of any one of claims 1 to 4 or the positioning method of claim 5.
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| US20010053699A1 (en) * | 1999-08-02 | 2001-12-20 | Mccrady Dennis D. | Method and apparatus for determining the position of a mobile communication device |
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