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CN114384468A - A method and system for direct target location in inconsistent impulse noise environment - Google Patents

A method and system for direct target location in inconsistent impulse noise environmentDownload PDF

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CN114384468A
CN114384468ACN202210292337.9ACN202210292337ACN114384468ACN 114384468 ACN114384468 ACN 114384468ACN 202210292337 ACN202210292337 ACN 202210292337ACN 114384468 ACN114384468 ACN 114384468A
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impulse noise
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receiving station
cost function
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毛毅
段永胜
张峻宁
王军
黄中瑞
安永旺
陈晶
秦立龙
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National University of Defense Technology
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Abstract

The invention provides a method and a system for directly positioning a target in an inconsistent impulse noise environment, and belongs to the technical field of signal processing. The method comprises the following steps: step S1, useLA receiving station, byKIntercepting the secondary signal to obtain the secondary signal from the secondary signal acquisition unitpObserving signals of a single static radiation source, and sampling the observing signals; step S2 based onLInconsistent impulse noise structure for a receiving stationLEach receiving station intercepts the cost function in the time slot; step S3 based onLWeighted coefficient sum of receiving stationsLThe cost functions of each of the receiving stations in the respective time slots construct a global cost function. Aiming at the problem of inconsistent pulse noise dispersion coefficients, the invention uses the noise dispersion coefficients to weight signals with different signal-to-noise ratios by constructing a cost function for directly positioning a target, thereby solving the problem of reduced positioning performance of a direct positioning algorithm under the condition of inconsistent pulse noise.

Description

Translated fromChinese
一种在不一致脉冲噪声环境下的目标直接定位方法和系统A method and system for direct target location in inconsistent impulse noise environment

技术领域technical field

本发明属于信号处理技术领域，尤其涉及一种在不一致脉冲噪声环境下的目标直接定位方法和系统。The invention belongs to the technical field of signal processing, and in particular relates to a method and system for direct target positioning in an environment of inconsistent impulse noise.

背景技术Background technique

目标的无源定位技术通过利用接收站截获由目标发射或反射的信号, 而无需自身发射电磁信号确定目标位置。无源定位具有成本低、抗干扰能力强等优点，在水面舰艇定位、海域监测、地面非法入侵等领域都具有重要应用价值。The passive positioning technology of the target determines the position of the target by using the receiving station to intercept the signal transmitted or reflected by the target without the need to transmit electromagnetic signals by itself. Passive positioning has the advantages of low cost and strong anti-interference ability, and has important application value in the fields of surface ship positioning, sea area monitoring, and ground illegal intrusion.

目标直接定位算法是无源定位的重要发展之一。在“WEISS A J. Directposition determination of narrowband radio transmitters[J]. IEEE SignalProcessing Letters, IEEE, 2004, 11(5): 513–516.”首次提出了直接定位（DirectPosition Determination, DPD）方法。与经典的两步法无源定位算法相比，直接定位算法直接使用观测信号而无需完成时差/频差的估计，在低信噪比条件下通常具有更优的定位精度。The direct target localization algorithm is one of the important developments in passive localization. The DirectPosition Determination (DPD) method was first proposed in "WEISS A J. Directposition determination of narrowband radio transmitters[J]. IEEE SignalProcessing Letters, IEEE, 2004, 11(5): 513–516." Compared with the classical two-step passive localization algorithm, the direct localization algorithm directly uses the observation signal without completing the estimation of the time difference/frequency difference, and usually has better localization accuracy under the condition of low signal-to-noise ratio.

包括DPD在内的绝大多数目标无源定位算法，都是在高斯噪声条件下推导得到的。然而，无论是自然界，还是由于人为因素的影响，实际的噪声，如电力线通信系统中的噪声、浅海水声信道噪声等，通常会呈现出明显的尖峰脉冲特性。这类噪声的分布曲线相比高斯分布具有更厚的拖尾。对于这类噪声，通常可采用α–稳定分布对其建模。其中，分散系数γ是描述α–稳定分布的重要参数之一，表征了分布的离散程度。The vast majority of target passive localization algorithms, including DPD, are derived under the condition of Gaussian noise. However, whether in nature or due to the influence of human factors, actual noise, such as noise in power line communication systems, shallow sea acoustic channel noise, etc., usually exhibits obvious spike characteristics. The distribution curve of this type of noise has thicker tails than the Gaussian distribution. This type of noise can usually be modeled with an alpha-stable distribution. Among them, the dispersion coefficient γ is one of the important parameters to describe the α-stable distribution, which characterizes the degree of dispersion of the distribution.

事实上，在上述脉冲噪声环境下，多种常规的基于高斯噪声条件得到的参数估计算法性能明显恶化。论文“金艳, 任航, 姬红兵. 脉冲噪声下基于相关熵的OFDM时域参数估计[J]. 系统工程与电子技术, 2015, 37(12): 2701–2706.”讨论了经典的正交频分复用时域参数估计方法在脉冲噪声环境下性能恶化的问题。论文“蔡睿妍, 杨力, 钱杨. 脉冲噪声下基于相关熵的相干分布源DOA估计新方法[J]. 电子与信息学报, 2020, 42(11):2600–2606.”讨论了脉冲噪声环境下到达方向估计性能显著恶化的问题。论文“佟祉谏.Alpha稳定分布噪声环境下基于相关熵的时延估计算法研究[D]. 大连理工大学, 2010.”讨论了经典时延估计算法在脉冲噪声条件下的时延估计的性能恶化。In fact, under the above-mentioned impulse noise environment, the performance of various conventional parameter estimation algorithms based on Gaussian noise conditions deteriorates significantly. The paper "Jin Yan, Ren Hang, Ji Hongbing. OFDM time-domain parameter estimation based on correlation entropy under impulse noise [J]. Systems Engineering and Electronic Technology, 2015, 37(12): 2701–2706." discusses the classical quadrature The problem of performance degradation of frequency-division multiplexing time-domain parameter estimation method in impulsive noise environment. The paper "Cai Ruiyan, Yang Li, Qian Yang. A new method for DOA estimation of coherent distributed sources based on correlation entropy under impulse noise [J]. Journal of Electronics and Information, 2020, 42(11):2600–2606." discusses the impulse noise environment Downward direction of arrival estimation performance deteriorates significantly. The paper "Tong Zhijian. Alpha Stable Distributed Noise-Based Time Delay Estimation Algorithm Research [D]. Dalian University of Technology, 2010." discusses the performance of classical time delay estimation algorithms for time delay estimation under impulsive noise conditions deterioration.

此外，多数经典的无源定位算法（包括DPD算法）通常假设各接收站处的高斯噪声是独立、一致的，即噪声是同分布的高斯噪声。而实际中各接收站处的噪声尽管是独立但可能不一致的，比如各个接收站的噪声均为高斯噪声但噪声功率不同；或各个接收站的噪声均为脉冲噪声，但噪声的分散参数不同；或者部分接收站的噪声是高斯噪声，其他接收站的噪声是脉冲噪声。已有研究表明，当各接收机的噪声功率不同时，经典的直接定位算法的定位精度会有所恶化。为了解决这一问题，基于极大似然估计准则，论文“钟华, 阮怀林, 孙兵, 等. 噪声不一致背景下脉冲串辐射源直接定位算法[J]. 西安交通大学学报, 2021,55(08): 157–165.”提出了高斯噪声功率不一致情况下的直接定位（NWO-ML-DPD）算法。在接收站高斯噪声功率不一致且发射信号为脉冲信号的情况下，与经典的DPD算法相比，NWO-ML-DPD具有更优的定位精度。经验证，在脉冲噪声分散系数不一致的环境下，该算法的定位精度有所下降。In addition, most classical passive localization algorithms (including DPD algorithms) usually assume that the Gaussian noise at each receiving station is independent and consistent, that is, the noise is the same distributed Gaussian noise. In practice, although the noise at each receiving station is independent, it may be inconsistent. For example, the noise of each receiving station is Gaussian noise but the noise power is different; or the noise of each receiving station is impulse noise, but the noise dispersion parameters are different; Or the noise of some receiving stations is Gaussian noise, and the noise of other receiving stations is impulse noise. Studies have shown that when the noise power of each receiver is different, the positioning accuracy of the classic direct positioning algorithm will deteriorate. In order to solve this problem, based on the maximum likelihood estimation criterion, the paper "Zhong Hua, Ruan Huailin, Sun Bing, et al. Direct localization algorithm of pulse train radiation source under the background of inconsistent noise [J]. Journal of Xi'an Jiaotong University, 2021,55( 08): 157–165.” proposed the direct localization (NWO-ML-DPD) algorithm in the case of inconsistent Gaussian noise power. Compared with the classical DPD algorithm, NWO-ML-DPD has better positioning accuracy when the Gaussian noise power of the receiving station is inconsistent and the transmitted signal is a pulse signal. It has been verified that the positioning accuracy of the algorithm decreases in the environment where the dispersion coefficient of impulse noise is inconsistent.

发明内容SUMMARY OF THE INVENTION

为解决上述技术问题，本申请提出一种在不一致脉冲噪声环境下的目标直接定位方案。In order to solve the above-mentioned technical problems, the present application proposes a direct target location solution in an environment of inconsistent impulse noise.

本发明第一方面公开了一种在不一致脉冲噪声环境下的目标直接定位方法。所述方法包括：A first aspect of the present invention discloses a method for directly locating a target in a non-uniform impulse noise environment. The method includes:

步骤S1、利用L个接收站，通过K次信号截取，获取来自位于p处的单个静止辐射源的观测信号，并对所述观测信号进行采样处理；Step S1, usingL receiving stations, throughK times of signal interception, obtain the observation signal from a single stationary radiation source located atp , and perform sampling processing on the observation signal;

其中，所述观测信号相比于所述位于p处的单个静止辐射源的发射信号，包含了时延、多普勒频移以及噪声的影响因素；Wherein, compared with the emission signal of the single stationary radiation source located atp , the observation signal includes the influence factors of time delay, Doppler frequency shift and noise;

步骤S2、基于所述L个接收站的不一致脉冲噪声构造所述L个接收站中的每一个在各次截取所处的时隙中的代价函数；Step S2, constructing the cost function of each of theL receiving stations in the time slot where each interception is located based on the inconsistent impulse noise of theL receiving stations;

步骤S3、基于所述L个接收站的加权系数和所述L个接收站中的每一个在各个所述时隙中的代价函数来构建全局代价函数；Step S3, constructing a global cost function based on the weighting coefficients of theL receiving stations and the cost function of each of theL receiving stations in each of the time slots;

其中，所述全局代价函数的极大值点表征所述单个静止辐射源的估计位置为所述单个静止辐射源的真实位置，所述L个接收站的加权系数依赖于所述L个接收站的不一致脉冲噪声的分散系数。The maximum point of the global cost function indicates that the estimated position of the single stationary radiation source is the real position of the single stationary radiation source, and the weighting coefficients of theL receiving stations depend on theL receiving stations The dispersion coefficient of inconsistent impulse noise.

根据本发明第一方面的方法，在所述步骤S1中，所述L个接收站中的每个接收站都在进行K次信号截取，单次截取时间为T，第l个所述接收站在第k次截取信号时的位置为

Figure 582824DEST_PATH_IMAGE001
，速度为
Figure 523405DEST_PATH_IMAGE002
，所述第k次截取所在的时隙中，所述位于p处的单个静止辐射源的发射信号为
Figure 908250DEST_PATH_IMAGE003
，其中
Figure 753715DEST_PATH_IMAGE004
是载频，
Figure 856801DEST_PATH_IMAGE005
为带宽为W的窄带信号，且
Figure 344283DEST_PATH_IMAGE006
，则第l个所述接收站在所述第k次截取的所述观测信号为：According to the method of the first aspect of the present invention, in the step S1, each of theL receiving stations is performing signal interceptionK times, and the time for a single interception isT , and thelth receiving station The position when the signal is intercepted for thekth time is
Figure 582824DEST_PATH_IMAGE001
, the speed is
Figure 523405DEST_PATH_IMAGE002
, in the time slot where thekth interception is located, the emission signal of the single stationary radiation source located atp is
Figure 908250DEST_PATH_IMAGE003
,in
Figure 753715DEST_PATH_IMAGE004
is the carrier frequency,
Figure 856801DEST_PATH_IMAGE005
is a narrowband signal with bandwidthW , and
Figure 344283DEST_PATH_IMAGE006
, then the observed signal intercepted by thelth receiving station at thekth time is:

Figure 177109DEST_PATH_IMAGE007
Figure 177109DEST_PATH_IMAGE007

其中，

Figure 131159DEST_PATH_IMAGE008
为所述第k次截取中所述发射信号从目标传播到所述第l个接收站的传输时延，c为光速，
Figure 49436DEST_PATH_IMAGE009
为欧氏范数，
Figure 750064DEST_PATH_IMAGE010
为所述第k次截取中所述发射信号从目标传播到第l个接收站产生的多普勒频移，
Figure 437397DEST_PATH_IMAGE011
，
Figure 640976DEST_PATH_IMAGE012
为所述第k次截取中所述第l个接收站的加性脉冲噪声，所述加性脉冲噪声服从
Figure 702342DEST_PATH_IMAGE013
稳定分布。in,
Figure 131159DEST_PATH_IMAGE008
is the transmission delay of the transmitted signal from the target to thelth receiving station in thekth interception,c is the speed of light,
Figure 49436DEST_PATH_IMAGE009
is the Euclidean norm,
Figure 750064DEST_PATH_IMAGE010
is the Doppler frequency shift generated by the propagation of the transmitted signal from the target to thelth receiving station in thekth interception,
Figure 437397DEST_PATH_IMAGE011
,
Figure 640976DEST_PATH_IMAGE012
is the additive impulse noise of thelth receiving station in thekth interception, and the additive impulse noise obeys
Figure 702342DEST_PATH_IMAGE013
stable distribution.

根据本发明第一方面的方法，在所述步骤S1中，以

Figure 547938DEST_PATH_IMAGE014
为采样周期对所述观测信号进行采样处理，则所述第l个接收站在所述第k次截取所在的时隙中接收到的观测信号的样本为：According to the method of the first aspect of the present invention, in the step S1, to
Figure 547938DEST_PATH_IMAGE014
Perform sampling processing on the observed signal for the sampling period, then the sample of the observed signal received by thelth receiving station in the time slot where thekth interception is located is:

Figure 11150DEST_PATH_IMAGE015
Figure 11150DEST_PATH_IMAGE015

其中，

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，向量形式为：in,
Figure 651209DEST_PATH_IMAGE016
, the vector form is:

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Figure 199871DEST_PATH_IMAGE017

其中，in,

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Figure 318000DEST_PATH_IMAGE018

其中，

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表示以
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为对角线元素的对角矩阵，
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为向下移位算子，所述
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通过
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循环移动单位矩阵的行获取，
Figure 686107DEST_PATH_IMAGE023
表示向下取整，使用
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来实现
Figure 388668DEST_PATH_IMAGE025
的移位。in,
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means with
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is a diagonal matrix of diagonal elements,
Figure 485567DEST_PATH_IMAGE021
is the downward shift operator, the
Figure 407386DEST_PATH_IMAGE021
pass
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Circularly move the rows of the identity matrix to get,
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means round down, use
Figure 350306DEST_PATH_IMAGE024
to fulfill
Figure 388668DEST_PATH_IMAGE025
shift.

根据本发明第一方面的方法，在所述步骤S2中，获取所述L个接收站的不一致脉冲噪声的分散系数

Figure 559274DEST_PATH_IMAGE026
，则所述第k次截取所在的时隙中第i个采样点的代价函数为：According to the method of the first aspect of the present invention, in the step S2, the dispersion coefficients of the inconsistent impulse noise of theL receiving stations are obtained
Figure 559274DEST_PATH_IMAGE026
, then the cost function of thei -th sampling point in the time slot where thek -th interception is located is:

Figure 492463DEST_PATH_IMAGE027
Figure 492463DEST_PATH_IMAGE027

其中，

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为高斯核函数，
Figure 766636DEST_PATH_IMAGE029
为取共轭操作，
Figure 664185DEST_PATH_IMAGE030
为核长参数，
Figure 237117DEST_PATH_IMAGE031
表示每个时隙中每个采样点处的多个接收站观测样本的差，
Figure 485696DEST_PATH_IMAGE032
表示向量
Figure 336365DEST_PATH_IMAGE033
的第i个元素。in,
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is the Gaussian kernel function,
Figure 766636DEST_PATH_IMAGE029
To take the conjugate operation,
Figure 664185DEST_PATH_IMAGE030
is the kernel length parameter,
Figure 237117DEST_PATH_IMAGE031
represents the difference of observation samples of multiple receiving stations at each sampling point in each time slot,
Figure 485696DEST_PATH_IMAGE032
representation vector
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theith element of .

根据本发明第一方面的方法，在所述步骤S3中，将所述第k次截取所在的时隙、N个所述采样点的代价函数相加以获取所述全局代价函数，如下所示：According to the method of the first aspect of the present invention, in the step S3, the cost function of the time slot where thekth interception is located and theN sampling points are added to obtain the global cost function, as shown below:

Figure 213054DEST_PATH_IMAGE034
。
Figure 213054DEST_PATH_IMAGE034
.

根据本发明第一方面的方法，在所述步骤S3中，所述全局代价函数的极大值点为：According to the method of the first aspect of the present invention, in the step S3, the maximum value point of the global cost function is:

Figure 832254DEST_PATH_IMAGE035
。
Figure 832254DEST_PATH_IMAGE035
.

本发明第二方面公开了一种在不一致脉冲噪声环境下的目标直接定位系统。所述系统包括：A second aspect of the present invention discloses a target direct positioning system in an inconsistent impulse noise environment. The system includes:

第一处理单元，被配置为，利用L个接收站，通过K次信号截取，获取来自位于p处的单个静止辐射源的观测信号，并对所述观测信号进行采样处理；a first processing unit, configured to obtain an observation signal from a single stationary radiation source located atp throughK signal interception by usingL receiving stations, and perform sampling processing on the observation signal;

其中，所述观测信号相比于所述位于p处的单个静止辐射源的发射信号，包含了时延、多普勒频移以及噪声的影响因素；Wherein, compared with the emission signal of the single stationary radiation source located atp , the observation signal includes the influence factors of time delay, Doppler frequency shift and noise;

第二处理单元，被配置为，基于所述L个接收站的不一致脉冲噪声构造所述L个接收站中的每一个在各次截取所处的时隙中的代价函数；a second processing unit configured to, based on the inconsistent impulse noise of theL receiving stations, construct a cost function for each of theL receiving stations in the time slot where each interception is located;

第三处理单元，被配置为，基于所述L个接收站的加权系数和所述L个接收站中的每一个在各个所述时隙中的代价函数来构建全局代价函数；a third processing unit configured to construct a global cost function based on the weighting coefficients of theL receiving stations and the cost function of each of theL receiving stations in each of the time slots;

其中，所述全局代价函数的极大值点表征所述单个静止辐射源的估计位置为所述单个静止辐射源的真实位置，所述L个接收站的加权系数依赖于所述L个接收站的不一致脉冲噪声的分散系数。The maximum point of the global cost function indicates that the estimated position of the single stationary radiation source is the real position of the single stationary radiation source, and the weighting coefficients of theL receiving stations depend on theL receiving stations The dispersion coefficient of inconsistent impulse noise.

根据本发明第二方面的系统，所述L个接收站中的每个接收站都在进行K次信号截取，单次截取时间为T，第l个所述接收站在第k次截取信号时的位置为

Figure 692763DEST_PATH_IMAGE001
，速度为
Figure 422822DEST_PATH_IMAGE002
，所述第k次截取所在的时隙中，所述位于p处的单个静止辐射源的发射信号为
Figure 29383DEST_PATH_IMAGE036
，其中
Figure 616223DEST_PATH_IMAGE004
是载频，
Figure 167290DEST_PATH_IMAGE037
为带宽为W的窄带信号，且
Figure 223408DEST_PATH_IMAGE006
，则第l个所述接收站在所述第k次截取的所述观测信号为：According to the system of the second aspect of the present invention, each of theL receiving stations is performing signal interceptionK times, and a single interception time isT , and thelth receiving station intercepts the signal at thekth time. is located at
Figure 692763DEST_PATH_IMAGE001
, the speed is
Figure 422822DEST_PATH_IMAGE002
, in the time slot where thekth interception is located, the emission signal of the single stationary radiation source located atp is
Figure 29383DEST_PATH_IMAGE036
,in
Figure 616223DEST_PATH_IMAGE004
is the carrier frequency,
Figure 167290DEST_PATH_IMAGE037
is a narrowband signal with bandwidthW , and
Figure 223408DEST_PATH_IMAGE006
, then the observed signal intercepted by thelth receiving station at thekth time is:

Figure 543531DEST_PATH_IMAGE007
Figure 543531DEST_PATH_IMAGE007

其中，

Figure 301272DEST_PATH_IMAGE008
为所述第k次截取中所述发射信号从目标传播到所述第l个接收站的传输时延，c为光速，
Figure 808477DEST_PATH_IMAGE009
为欧氏范数，
Figure 801709DEST_PATH_IMAGE038
为所述第k次截取中所述发射信号从目标传播到第l个接收站产生的多普勒频移，
Figure 38655DEST_PATH_IMAGE039
，
Figure 904980DEST_PATH_IMAGE040
为所述第k次截取中所述第l个接收站的加性脉冲噪声，所述加性脉冲噪声服从
Figure 964728DEST_PATH_IMAGE013
稳定分布。in,
Figure 301272DEST_PATH_IMAGE008
is the transmission delay of the transmitted signal from the target to thelth receiving station in thekth interception,c is the speed of light,
Figure 808477DEST_PATH_IMAGE009
is the Euclidean norm,
Figure 801709DEST_PATH_IMAGE038
is the Doppler frequency shift generated by the propagation of the transmitted signal from the target to thelth receiving station in thekth interception,
Figure 38655DEST_PATH_IMAGE039
,
Figure 904980DEST_PATH_IMAGE040
is the additive impulse noise of thelth receiving station in thekth interception, and the additive impulse noise obeys
Figure 964728DEST_PATH_IMAGE013
stable distribution.

根据本发明第二方面的系统，所述第一处理单元具体被配置为：以

Figure 246804DEST_PATH_IMAGE014
为采样周期对所述观测信号进行采样处理，则所述第l个接收站在所述第k次截取所在的时隙中接收到的观测信号的样本为：According to the system of the second aspect of the present invention, the first processing unit is specifically configured to:
Figure 246804DEST_PATH_IMAGE014
Perform sampling processing on the observed signal for the sampling period, then the sample of the observed signal received by thelth receiving station in the time slot where thekth interception is located is:

Figure 197312DEST_PATH_IMAGE041
Figure 197312DEST_PATH_IMAGE041

其中，

Figure 375483DEST_PATH_IMAGE016
，向量形式为：in,
Figure 375483DEST_PATH_IMAGE016
, the vector form is:

Figure 44231DEST_PATH_IMAGE042
Figure 44231DEST_PATH_IMAGE042

其中，in,

Figure 598840DEST_PATH_IMAGE043
Figure 598840DEST_PATH_IMAGE043

其中，

Figure 403854DEST_PATH_IMAGE019
表示以
Figure 549665DEST_PATH_IMAGE020
为对角线元素的对角矩阵，
Figure 911900DEST_PATH_IMAGE044
为向下移位算子，所述
Figure 535780DEST_PATH_IMAGE044
通过
Figure 664142DEST_PATH_IMAGE022
循环移动单位矩阵的行获取，
Figure 715274DEST_PATH_IMAGE023
表示向下取整，使用
Figure 93035DEST_PATH_IMAGE024
来实现
Figure 989447DEST_PATH_IMAGE025
的移位。in,
Figure 403854DEST_PATH_IMAGE019
means with
Figure 549665DEST_PATH_IMAGE020
is a diagonal matrix of diagonal elements,
Figure 911900DEST_PATH_IMAGE044
is the downward shift operator, the
Figure 535780DEST_PATH_IMAGE044
pass
Figure 664142DEST_PATH_IMAGE022
Circularly move the rows of the identity matrix to get,
Figure 715274DEST_PATH_IMAGE023
means round down, use
Figure 93035DEST_PATH_IMAGE024
to fulfill
Figure 989447DEST_PATH_IMAGE025
shift.

根据本发明第二方面的系统，所述第二处理单元具体被配置为：获取所述L个接收站的不一致脉冲噪声的分散系数

Figure 769053DEST_PATH_IMAGE026
，则所述第k次截取所在的时隙中第i个采样点的代价函数为：According to the system of the second aspect of the present invention, the second processing unit is specifically configured to: acquire dispersion coefficients of inconsistent impulse noise of theL receiving stations
Figure 769053DEST_PATH_IMAGE026
, then the cost function of thei -th sampling point in the time slot where thek -th interception is located is:

Figure 384229DEST_PATH_IMAGE027
Figure 384229DEST_PATH_IMAGE027

其中，

Figure 593494DEST_PATH_IMAGE045
为高斯核函数，
Figure 683810DEST_PATH_IMAGE029
为取共轭操作，
Figure 396551DEST_PATH_IMAGE030
为核长参数，
Figure 445278DEST_PATH_IMAGE046
表示每个时隙中每个采样点处的多个接收站观测样本的差，
Figure 548363DEST_PATH_IMAGE047
表示向量
Figure 567004DEST_PATH_IMAGE048
的第i个元素。in,
Figure 593494DEST_PATH_IMAGE045
is the Gaussian kernel function,
Figure 683810DEST_PATH_IMAGE029
To take the conjugate operation,
Figure 396551DEST_PATH_IMAGE030
is the kernel length parameter,
Figure 445278DEST_PATH_IMAGE046
represents the difference of observation samples of multiple receiving stations at each sampling point in each time slot,
Figure 548363DEST_PATH_IMAGE047
representation vector
Figure 567004DEST_PATH_IMAGE048
theith element of .

根据本发明第二方面的系统，所述第三处理单元具体被配置为：将所述第k次截取所在的时隙、N个所述采样点的代价函数相加以获取所述全局代价函数，如下所示：According to the system of the second aspect of the present invention, the third processing unit is specifically configured to: obtain the global cost function by adding the cost function of the time slot where thekth interception is located and theN sampling points, As follows:

Figure 9618DEST_PATH_IMAGE049
。
Figure 9618DEST_PATH_IMAGE049
.

根据本发明第二方面的系统，所述第三处理单元具体被配置为：所述全局代价函数的极大值点为：According to the system of the second aspect of the present invention, the third processing unit is specifically configured to: the maximum value point of the global cost function is:

Figure 368528DEST_PATH_IMAGE035
。
Figure 368528DEST_PATH_IMAGE035
.

本发明第三方面公开了一种电子设备。所述电子设备包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时，实现本公开第一方面中任一项所述的一种在不一致脉冲噪声环境下的目标直接定位方法中的步骤。A third aspect of the present invention discloses an electronic device. The electronic device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the computer program in any one of the first aspects of the present disclosure is implemented in an inconsistent impulse noise environment The steps in the target direct localization method.

本发明第四方面公开了一种计算机可读存储介质。所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时，实现本公开第一方面中任一项所述的一种在不一致脉冲噪声环境下的目标直接定位方法中的步骤。A fourth aspect of the present invention discloses a computer-readable storage medium. A computer program is stored on the computer-readable storage medium, and when the computer program is executed by the processor, the method for directly locating a target in an inconsistent impulse noise environment according to any one of the first aspects of the present disclosure is implemented. A step of.

综上，本发明提供的技术方案构造了目标直接定位的代价函数，针对脉冲噪声分散系数不一致的问题，利用噪声分散系数对不同信噪比的信号进行加权，解决了直接定位算法在不一致的脉冲噪声情况下，定位性能下降的问题。To sum up, the technical solution provided by the present invention constructs a cost function for direct target positioning, and for the problem of inconsistent pulse noise dispersion coefficients, the noise dispersion coefficients are used to weight signals with different signal-to-noise ratios, which solves the problem that the direct positioning algorithm is not consistent with pulses. In the case of noise, the localization performance is degraded.

附图说明Description of drawings

为了更清楚地说明本发明具体实施方式或现有技术中的技术方案下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the specific embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

图1为根据本发明实施例的一种在不一致脉冲噪声环境下的目标直接定位方法的流程图；FIG. 1 is a flowchart of a method for direct target location in an inconsistent impulse noise environment according to an embodiment of the present invention;

图2为根据本发明第一实施例的目标直接定位算法的流程示意图；2 is a schematic flowchart of a target direct positioning algorithm according to the first embodiment of the present invention;

图3为根据本发明第二实施例的ML-DPD算法、NWO-ML-DPD算法、NU-MCC-DPD算法在噪声不一致情况下的定位精度RMSE随广义信噪比GSNR变化的曲线；3 is a graph showing the variation of the positioning accuracy RMSE with the generalized signal-to-noise ratio GSNR of the ML-DPD algorithm, the NWO-ML-DPD algorithm, and the NU-MCC-DPD algorithm under the condition of inconsistent noise according to the second embodiment of the present invention;

图4为根据本发明实施例的一种在不一致脉冲噪声环境下的目标直接定位系统的结构图；4 is a structural diagram of a target direct positioning system in an inconsistent impulse noise environment according to an embodiment of the present invention;

图5为根据本发明实施例的一种电子设备的结构图。FIG. 5 is a structural diagram of an electronic device according to an embodiment of the present invention.

具体实施方式Detailed ways

为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例只是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

本发明第一方面公开了一种在不一致脉冲噪声环境下的目标直接定位方法。图1为根据本发明实施例的一种在不一致脉冲噪声环境下的目标直接定位方法的流程图；如图1所示，所述方法包括：A first aspect of the present invention discloses a method for directly locating a target in a non-uniform impulse noise environment. FIG. 1 is a flowchart of a method for direct target location in an inconsistent impulse noise environment according to an embodiment of the present invention; as shown in FIG. 1 , the method includes:

步骤S1、利用L个接收站，通过K次信号截取，获取来自位于p处的单个静止辐射源的观测信号，并对所述观测信号进行采样处理；Step S1, usingL receiving stations, throughK times of signal interception, obtain the observation signal from a single stationary radiation source located atp , and perform sampling processing on the observation signal;

其中，所述观测信号相比于所述位于p处的单个静止辐射源的发射信号，包含了时延、多普勒频移以及噪声的影响因素；Wherein, compared with the emission signal of the single stationary radiation source located atp , the observation signal includes the influence factors of time delay, Doppler frequency shift and noise;

步骤S2、基于所述L个接收站的不一致脉冲噪声构造所述L个接收站中的每一个在各次截取所处的时隙中的代价函数；Step S2, constructing the cost function of each of theL receiving stations in the time slot where each interception is located based on the inconsistent impulse noise of theL receiving stations;

步骤S3、基于所述L个接收站的加权系数和所述L个接收站中的每一个在各个所述时隙中的代价函数来构建全局代价函数；Step S3, constructing a global cost function based on the weighting coefficients of theL receiving stations and the cost function of each of theL receiving stations in each of the time slots;

其中，所述全局代价函数的极大值点表征所述单个静止辐射源的估计位置为所述单个静止辐射源的真实位置，所述L个接收站的加权系数依赖于所述L个接收站的不一致脉冲噪声的分散系数。The maximum point of the global cost function indicates that the estimated position of the single stationary radiation source is the real position of the single stationary radiation source, and the weighting coefficients of theL receiving stations depend on theL receiving stations The dispersion coefficient of inconsistent impulse noise.

在一些实施例中，在所述步骤S1中，所述L个接收站中的每个接收站都在进行K次信号截取，单次截取时间为T，第l个所述接收站在第k次截取信号时的位置为

Figure 958910DEST_PATH_IMAGE001
，速度为
Figure 718924DEST_PATH_IMAGE002
，所述第k次截取所在的时隙中，所述位于p处的单个静止辐射源的发射信号为
Figure 78361DEST_PATH_IMAGE036
，其中
Figure 327946DEST_PATH_IMAGE004
是载频，
Figure 608886DEST_PATH_IMAGE037
为带宽为W的窄带信号，且
Figure 234908DEST_PATH_IMAGE006
，则第l个所述接收站在所述第k次截取的所述观测信号为：In some embodiments, in the step S1, each of theL receiving stations is performing signal interceptionK times, and the single interception time isT , and thelth receiving station is thekth receiving station. The position when the signal is intercepted for the second time is
Figure 958910DEST_PATH_IMAGE001
, the speed is
Figure 718924DEST_PATH_IMAGE002
, in the time slot where thekth interception is located, the emission signal of the single stationary radiation source located atp is:
Figure 78361DEST_PATH_IMAGE036
,in
Figure 327946DEST_PATH_IMAGE004
is the carrier frequency,
Figure 608886DEST_PATH_IMAGE037
is a narrowband signal with bandwidthW , and
Figure 234908DEST_PATH_IMAGE006
, then the observed signal intercepted by thelth receiving station at thekth time is:

Figure 576415DEST_PATH_IMAGE007
Figure 576415DEST_PATH_IMAGE007

其中，

Figure 747634DEST_PATH_IMAGE050
为所述第k次截取中所述发射信号从目标传播到所述第l个接收站的传输时延，c为光速，
Figure 296295DEST_PATH_IMAGE051
为欧氏范数，
Figure 414424DEST_PATH_IMAGE038
为所述第k次截取中所述发射信号从目标传播到第l个接收站产生的多普勒频移，
Figure 997721DEST_PATH_IMAGE052
，
Figure 808682DEST_PATH_IMAGE040
为所述第k次截取中所述第l个接收站的加性脉冲噪声，所述加性脉冲噪声服从
Figure 844640DEST_PATH_IMAGE013
稳定分布。in,
Figure 747634DEST_PATH_IMAGE050
is the transmission delay of the transmitted signal from the target to thelth receiving station in thekth interception,c is the speed of light,
Figure 296295DEST_PATH_IMAGE051
is the Euclidean norm,
Figure 414424DEST_PATH_IMAGE038
is the Doppler frequency shift generated by the propagation of the transmitted signal from the target to thelth receiving station in thekth interception,
Figure 997721DEST_PATH_IMAGE052
,
Figure 808682DEST_PATH_IMAGE040
is the additive impulse noise of thelth receiving station in thekth interception, and the additive impulse noise obeys
Figure 844640DEST_PATH_IMAGE013
stable distribution.

在一些实施例中，在所述步骤S1中，以

Figure 500881DEST_PATH_IMAGE053
为采样周期对所述观测信号进行采样处理，则所述第l个接收站在所述第k次截取所在的时隙中接收到的观测信号的样本为：In some embodiments, in the step S1, to
Figure 500881DEST_PATH_IMAGE053
Perform sampling processing on the observed signal for the sampling period, then the sample of the observed signal received by thelth receiving station in the time slot where thekth interception is located is:

Figure 207193DEST_PATH_IMAGE054
Figure 207193DEST_PATH_IMAGE054

其中，

Figure 923476DEST_PATH_IMAGE055
，向量形式为：in,
Figure 923476DEST_PATH_IMAGE055
, the vector form is:

Figure 446730DEST_PATH_IMAGE017
Figure 446730DEST_PATH_IMAGE017

其中，in,

Figure 172241DEST_PATH_IMAGE056
Figure 172241DEST_PATH_IMAGE056

其中，

Figure 543179DEST_PATH_IMAGE019
表示以
Figure 476369DEST_PATH_IMAGE020
为对角线元素的对角矩阵，
Figure 440914DEST_PATH_IMAGE021
为向下移位算子，所述
Figure 219383DEST_PATH_IMAGE021
通过
Figure 116932DEST_PATH_IMAGE057
循环移动单位矩阵的行获取，
Figure 427215DEST_PATH_IMAGE023
表示向下取整，使用
Figure 675794DEST_PATH_IMAGE024
来实现
Figure 523533DEST_PATH_IMAGE025
的移位。in,
Figure 543179DEST_PATH_IMAGE019
means with
Figure 476369DEST_PATH_IMAGE020
is a diagonal matrix of diagonal elements,
Figure 440914DEST_PATH_IMAGE021
is the downward shift operator, the
Figure 219383DEST_PATH_IMAGE021
pass
Figure 116932DEST_PATH_IMAGE057
Circularly move the rows of the identity matrix to get,
Figure 427215DEST_PATH_IMAGE023
means round down, use
Figure 675794DEST_PATH_IMAGE024
to fulfill
Figure 523533DEST_PATH_IMAGE025
shift.

在一些实施例中，在所述步骤S2中，获取所述L个接收站的不一致脉冲噪声的分散系数

Figure 744430DEST_PATH_IMAGE026
，则所述第k次截取所在的时隙中第i个采样点的代价函数为：In some embodiments, in the step S2, the dispersion coefficients of the inconsistent impulse noise of theL receiving stations are obtained
Figure 744430DEST_PATH_IMAGE026
, then the cost function of thei -th sampling point in the time slot where thek -th interception is located is:

Figure 285002DEST_PATH_IMAGE027
Figure 285002DEST_PATH_IMAGE027

其中，

Figure 224139DEST_PATH_IMAGE058
为高斯核函数，
Figure 609990DEST_PATH_IMAGE029
为取共轭操作，
Figure 685393DEST_PATH_IMAGE030
为核长参数，
Figure 653656DEST_PATH_IMAGE046
表示每个时隙中每个采样点处的多个接收站观测样本的差，
Figure 548931DEST_PATH_IMAGE047
表示向量
Figure 4052DEST_PATH_IMAGE033
的第i个元素。in,
Figure 224139DEST_PATH_IMAGE058
is the Gaussian kernel function,
Figure 609990DEST_PATH_IMAGE029
To take the conjugate operation,
Figure 685393DEST_PATH_IMAGE030
is the kernel length parameter,
Figure 653656DEST_PATH_IMAGE046
represents the difference of observation samples of multiple receiving stations at each sampling point in each time slot,
Figure 548931DEST_PATH_IMAGE047
representation vector
Figure 4052DEST_PATH_IMAGE033
theith element of .

在一些实施例中，在所述步骤S3中，将所述第k次截取所在的时隙、N个所述采样点的代价函数相加以获取所述全局代价函数，如下所示：In some embodiments, in the step S3, the time slot where thek -th interception is located and the cost functions of theN sampling points are added to obtain the global cost function, as shown below:

Figure 199541DEST_PATH_IMAGE059
。
Figure 199541DEST_PATH_IMAGE059
.

在一些实施例中，在所述步骤S3中，所述全局代价函数的极大值点为：In some embodiments, in the step S3, the maximum value point of the global cost function is:

Figure 816336DEST_PATH_IMAGE035
。
Figure 816336DEST_PATH_IMAGE035
.

第一实施例first embodiment

图2为根据本发明第一实施例的目标直接定位算法的流程示意图；如图2所示，该流程包括：FIG. 2 is a schematic flowchart of a direct target location algorithm according to the first embodiment of the present invention; as shown in FIG. 2 , the process includes:

步骤1：考虑利用L个接收站对位于p处的单个静止辐射源目标进行定位。假设每个接收站进行K次信号截取，单次截取时间为T。第l个接收站在第k次截取信号时的位置和速度分别为

Figure 261224DEST_PATH_IMAGE001
和
Figure 723298DEST_PATH_IMAGE002
，
Figure 304452DEST_PATH_IMAGE060
，
Figure 563920DEST_PATH_IMAGE061
。设在第k个时隙中辐射源的发射信号是
Figure 230524DEST_PATH_IMAGE003
，其中，
Figure 496289DEST_PATH_IMAGE004
是载频，
Figure 197529DEST_PATH_IMAGE005
是带宽为W的窄带信号，满足
Figure 624968DEST_PATH_IMAGE006
。考虑时延、多普勒频移及噪声的影响，第l个接收站第k次截取的观测信号为：Step 1: Consider locating a single stationary radiation source target atp withL receiver stations. Assuming that each receiving station performsK signal interception times, the time for a single interception isT . The position and velocity of thelth receiving station when the signal is intercepted at thekth time are
Figure 261224DEST_PATH_IMAGE001
and
Figure 723298DEST_PATH_IMAGE002
,
Figure 304452DEST_PATH_IMAGE060
,
Figure 563920DEST_PATH_IMAGE061
. Suppose the transmitted signal of the radiation source in thekth time slot is
Figure 230524DEST_PATH_IMAGE003
,in,
Figure 496289DEST_PATH_IMAGE004
is the carrier frequency,
Figure 197529DEST_PATH_IMAGE005
is a narrowband signal with bandwidthW , satisfying
Figure 624968DEST_PATH_IMAGE006
. Considering the influence of time delay, Doppler frequency shift and noise, the observed signal intercepted by thelth receiving station at thekth time is:

Figure 44448DEST_PATH_IMAGE007
Figure 44448DEST_PATH_IMAGE007

其中，

Figure 458112DEST_PATH_IMAGE062
为第k次截取的发射信号从目标传播到第l个接收站的传输时延，c为光速，
Figure 138492DEST_PATH_IMAGE051
为欧氏范数；
Figure 536500DEST_PATH_IMAGE038
为第k次截取的发射信号从目标传播到第l个接收站产生的多普勒频移，其中，
Figure 380959DEST_PATH_IMAGE052
；
Figure 519686DEST_PATH_IMAGE040
为第k次截取时第l个接收站处的加性脉冲噪声，服从
Figure 398780DEST_PATH_IMAGE013
稳定分布。in,
Figure 458112DEST_PATH_IMAGE062
is the transmission delay of the transmitted signal intercepted at thekth time from the target to thelth receiving station,c is the speed of light,
Figure 138492DEST_PATH_IMAGE051
is the Euclidean norm;
Figure 536500DEST_PATH_IMAGE038
is the Doppler frequency shift generated by the propagation of the transmitted signal intercepted at thekth time from the target to thelth receiving station, where,
Figure 380959DEST_PATH_IMAGE052
;
Figure 519686DEST_PATH_IMAGE040
is the additive impulse noise at thelth receiving station at thekth interception, subject to
Figure 398780DEST_PATH_IMAGE013
stable distribution.

步骤2：以

Figure 964759DEST_PATH_IMAGE014
为采样周期对接收信号进行采样，则第l个接收站第k个时隙的接收信号的样本为：Step 2: Take
Figure 964759DEST_PATH_IMAGE014
Sampling the received signal for the sampling period, then the sample of the received signal in thekth time slot of thelth receiving station is:

Figure 93252DEST_PATH_IMAGE063
Figure 93252DEST_PATH_IMAGE063

其中，

Figure 238932DEST_PATH_IMAGE016
。将上式写成如下向量形式in,
Figure 238932DEST_PATH_IMAGE016
. Write the above formula in the following vector form

Figure 769270DEST_PATH_IMAGE017
Figure 769270DEST_PATH_IMAGE017

其中，in,

Figure 509081DEST_PATH_IMAGE064
Figure 509081DEST_PATH_IMAGE064

其中，

Figure 62553DEST_PATH_IMAGE019
表示以
Figure 543082DEST_PATH_IMAGE020
为对角线元素的对角矩阵。
Figure 396768DEST_PATH_IMAGE021
为向下移位算子，通过
Figure 304550DEST_PATH_IMAGE022
循环移动单位矩阵的行得到，
Figure 407635DEST_PATH_IMAGE023
表示向下取整，使用
Figure 895117DEST_PATH_IMAGE024
来实现
Figure 134469DEST_PATH_IMAGE025
的移位。in,
Figure 62553DEST_PATH_IMAGE019
means with
Figure 543082DEST_PATH_IMAGE020
is a diagonal matrix of diagonal elements.
Figure 396768DEST_PATH_IMAGE021
is the downward shift operator, by
Figure 304550DEST_PATH_IMAGE022
Circularly shifting the rows of the identity matrix yields,
Figure 407635DEST_PATH_IMAGE023
means round down, use
Figure 895117DEST_PATH_IMAGE024
to fulfill
Figure 134469DEST_PATH_IMAGE025
shift.

步骤3：考虑各个接收站的噪声不一致情况，各接收站的脉冲噪声分散参数分别为

Figure 696642DEST_PATH_IMAGE026
，利用样本值代替期望，得到第k个时隙中第i个采样点的代价函数为：Step 3: Considering the inconsistency of the noise of each receiving station, the impulse noise dispersion parameters of each receiving station are:
Figure 696642DEST_PATH_IMAGE026
, using the sample value to replace the expectation, the cost function of thei -th sampling point in thek -th time slot is obtained as:

Figure 21444DEST_PATH_IMAGE027
Figure 21444DEST_PATH_IMAGE027

其中，

Figure 719142DEST_PATH_IMAGE058
为高斯核函数，
Figure 406475DEST_PATH_IMAGE029
为取共轭操作，
Figure 656060DEST_PATH_IMAGE030
为核长参数。
Figure 858371DEST_PATH_IMAGE046
表示每个时隙中每个采样点处的多个接收站观测样本的差，
Figure 297442DEST_PATH_IMAGE047
表示向量
Figure 638950DEST_PATH_IMAGE033
的第i个元素。in,
Figure 719142DEST_PATH_IMAGE058
is the Gaussian kernel function,
Figure 406475DEST_PATH_IMAGE029
To take the conjugate operation,
Figure 656060DEST_PATH_IMAGE030
is the kernel length parameter.
Figure 858371DEST_PATH_IMAGE046
represents the difference of observation samples of multiple receiving stations at each sampling point in each time slot,
Figure 297442DEST_PATH_IMAGE047
representation vector
Figure 638950DEST_PATH_IMAGE033
theith element of .

步骤4：将不同截取时刻、不同采样点的代价函数相加，获得全局代价函数：Step 4: Add the cost functions of different interception moments and different sampling points to obtain the global cost function:

Figure 810168DEST_PATH_IMAGE065
Figure 810168DEST_PATH_IMAGE065

步骤6：求全局代价函数

Figure 30934DEST_PATH_IMAGE066
的极大值点，得到目标估计位置
Figure 663909DEST_PATH_IMAGE067
：Step 6: Find the global cost function
Figure 30934DEST_PATH_IMAGE066
The maximum point of , get the estimated position of the target
Figure 663909DEST_PATH_IMAGE067
:

Figure 997939DEST_PATH_IMAGE035
Figure 997939DEST_PATH_IMAGE035

第二实施例Second Embodiment

仿真条件：Simulation conditions:

取静止目标位置为

Figure 667954DEST_PATH_IMAGE068
，考虑接收站数量
Figure 313699DEST_PATH_IMAGE070
，截取时隙
Figure 625732DEST_PATH_IMAGE071
，运动速度均为
Figure 941831DEST_PATH_IMAGE072
,各接收站初始位置分别为
Figure 704120DEST_PATH_IMAGE073
、
Figure 712527DEST_PATH_IMAGE074
。发射信号的载频为2GHz，信号带宽为200kHz，每次截取时间为3.9ms。Take the stationary target position as
Figure 667954DEST_PATH_IMAGE068
, considering the number of receiving stations
Figure 313699DEST_PATH_IMAGE070
, intercept the time slot
Figure 625732DEST_PATH_IMAGE071
, the movement speed is
Figure 941831DEST_PATH_IMAGE072
, the initial positions of each receiving station are
Figure 704120DEST_PATH_IMAGE073
,
Figure 712527DEST_PATH_IMAGE074
. The carrier frequency of the transmitted signal is 2GHz, the signal bandwidth is 200kHz, and each interception time is 3.9ms.

由于脉冲噪声不存在有限的方差，定义广义信噪比（generalized signal-to-noise ratio, GSNR）：Since impulse noise does not have finite variance, define the generalized signal-to-noise ratio (GSNR):

Figure 687305DEST_PATH_IMAGE075
Figure 687305DEST_PATH_IMAGE075

其中，

Figure 730348DEST_PATH_IMAGE076
为信号的方差，
Figure 132379DEST_PATH_IMAGE077
为服从
Figure 893662DEST_PATH_IMAGE079
稳定分布的噪声的分散参数。仿真实验采用均方根误差（Root Mean Squared Error, RMSE）来衡量算法的定位性能，定义如下：in,
Figure 730348DEST_PATH_IMAGE076
is the variance of the signal,
Figure 132379DEST_PATH_IMAGE077
to obey
Figure 893662DEST_PATH_IMAGE079
The dispersion parameter for the noise of the stable distribution. The simulation experiment uses the root mean squared error (Root Mean Squared Error, RMSE) to measure the positioning performance of the algorithm, which is defined as follows:

Figure 143902DEST_PATH_IMAGE080
Figure 143902DEST_PATH_IMAGE080

其中，Q为蒙特卡洛实验次数，本文实验中

Figure 307030DEST_PATH_IMAGE081
；
Figure 879963DEST_PATH_IMAGE082
为第q次蒙特卡洛实验中目标的估计位置。Among them,Q is the number of Monte Carlo experiments, in this experiment
Figure 307030DEST_PATH_IMAGE081
;
Figure 879963DEST_PATH_IMAGE082
is the estimated position of the target in theqth Monte Carlo experiment.

参数设置：parameter settings:

给定脉冲噪声特征参数

Figure 862962DEST_PATH_IMAGE083
，MCC准则的核长参数
Figure 710701DEST_PATH_IMAGE085
。第一、第三个接收站接收信号的广义信噪比分别固定为-5 dB、-2 dB，第二、第四、第五个接收站接收信号的广义信噪比变化为-15、-10、-5、0、5、10、15dB。Given impulse noise characteristic parameters
Figure 862962DEST_PATH_IMAGE083
, the kernel length parameter of the MCC criterion
Figure 710701DEST_PATH_IMAGE085
. The generalized signal-to-noise ratios of the signals received by the first and third receiving stations are fixed at -5 dB and -2 dB respectively, and the generalized signal-to-noise ratios of the signals received by the second, fourth and fifth receiving stations are changed to -15, - 10, -5, 0, 5, 10, 15dB.

图3为根据本发明第二实施例的ML-DPD算法、NWO-ML-DPD算法、NU-MCC-DPD算法在噪声不一致情况下的定位精度RMSE随广义信噪比GSNR变化的曲线；如图3所示，本发明的算法比基于极大似然准则的定位算法的定位效果更佳。与未考虑脉冲噪声的NWO-ML-DPD算法相比，利用噪声分散系数对不同信噪比信号加权后的NU-MCC-DPD算法显著提高了目标的定位精度。Fig. 3 is the curve according to the ML-DPD algorithm of the second embodiment of the present invention, NWO-ML-DPD algorithm, NU-MCC-DPD algorithm under the condition of noise inconsistency, the positioning accuracy RMSE varies with generalized signal-to-noise ratio GSNR; As shown in Fig. 3, the algorithm of the present invention has better positioning effect than the positioning algorithm based on the maximum likelihood criterion. Compared with the NWO-ML-DPD algorithm without considering the impulse noise, the NU-MCC-DPD algorithm using the noise dispersion coefficient to weight the signals with different signal-to-noise ratios significantly improves the positioning accuracy of the target.

本发明第二方面公开了一种在不一致脉冲噪声环境下的目标直接定位系统。图4为根据本发明实施例的一种在不一致脉冲噪声环境下的目标直接定位系统的结构图；如图4所示，所述系统400包括：A second aspect of the present invention discloses a target direct positioning system in an inconsistent impulse noise environment. FIG. 4 is a structural diagram of a target direct positioning system in an inconsistent impulse noise environment according to an embodiment of the present invention; as shown in FIG. 4 , the system 400 includes:

第一处理单元401，被配置为，利用L个接收站，通过K次信号截取，获取来自位于p处的单个静止辐射源的观测信号，并对所述观测信号进行采样处理；The first processing unit 401 is configured to obtain an observation signal from a single stationary radiation source located atp throughK signal interception by usingL receiving stations, and perform sampling processing on the observation signal;

其中，所述观测信号相比于所述位于p处的单个静止辐射源的发射信号，包含了时延、多普勒频移以及噪声的影响因素；Wherein, compared with the emission signal of the single stationary radiation source located atp , the observation signal includes the influence factors of time delay, Doppler frequency shift and noise;

第二处理单元402，被配置为，基于所述L个接收站的不一致脉冲噪声构造所述L个接收站中的每一个在各次截取所处的时隙中的代价函数；The second processing unit 402 is configured to, based on the inconsistent impulse noise of theL receiving stations, construct a cost function of each of theL receiving stations in the time slot where each interception is located;

第三处理单元403，被配置为，被配置为，基于所述L个接收站的加权系数和所述L个接收站中的每一个在各个所述时隙中的代价函数来构建全局代价函数；The third processing unit 403 is configured to construct a global cost function based on the weighting coefficients of theL receiving stations and the cost function of each of theL receiving stations in each of the time slots ;

其中，所述全局代价函数的极大值点表征所述单个静止辐射源的估计位置为所述单个静止辐射源的真实位置，所述L个接收站的加权系数依赖于所述L个接收站的不一致脉冲噪声的分散系数。The maximum point of the global cost function indicates that the estimated position of the single stationary radiation source is the real position of the single stationary radiation source, and the weighting coefficients of theL receiving stations depend on theL receiving stations The dispersion coefficient of inconsistent impulse noise.

根据本发明第二方面的系统，所述L个接收站中的每个接收站都在进行K次信号截取，单次截取时间为T，第l个所述接收站在第k次截取信号时的位置为

Figure 197177DEST_PATH_IMAGE001
，速度为
Figure 472170DEST_PATH_IMAGE002
，所述第k次截取所在的时隙中，所述位于p处的单个静止辐射源的发射信号为
Figure 145728DEST_PATH_IMAGE036
，其中
Figure 53948DEST_PATH_IMAGE004
是载频，
Figure 926089DEST_PATH_IMAGE037
为带宽为W的窄带信号，且
Figure 575245DEST_PATH_IMAGE006
，则第l个所述接收站在所述第k次截取的所述观测信号为：According to the system of the second aspect of the present invention, each of theL receiving stations is performing signal interceptionK times, and a single interception time isT , and thelth receiving station intercepts the signal for thekth time. is located at
Figure 197177DEST_PATH_IMAGE001
, the speed is
Figure 472170DEST_PATH_IMAGE002
, in the time slot where thekth interception is located, the emission signal of the single stationary radiation source located atp is
Figure 145728DEST_PATH_IMAGE036
,in
Figure 53948DEST_PATH_IMAGE004
is the carrier frequency,
Figure 926089DEST_PATH_IMAGE037
is a narrowband signal with bandwidthW , and
Figure 575245DEST_PATH_IMAGE006
, then the observed signal intercepted by thelth receiving station at thekth time is:

Figure 532837DEST_PATH_IMAGE007
Figure 532837DEST_PATH_IMAGE007

其中，

Figure 987958DEST_PATH_IMAGE008
为所述第k次截取中所述发射信号从目标传播到所述第l个接收站的传输时延，c为光速，
Figure 183447DEST_PATH_IMAGE009
为欧氏范数，
Figure 800242DEST_PATH_IMAGE010
为所述第k次截取中所述发射信号从目标传播到第l个接收站产生的多普勒频移，
Figure 372693DEST_PATH_IMAGE011
，
Figure 116658DEST_PATH_IMAGE012
为所述第k次截取中所述第l个接收站的加性脉冲噪声，所述加性脉冲噪声服从
Figure 415921DEST_PATH_IMAGE013
稳定分布。in,
Figure 987958DEST_PATH_IMAGE008
is the transmission delay of the transmitted signal from the target to thelth receiving station in thekth interception,c is the speed of light,
Figure 183447DEST_PATH_IMAGE009
is the Euclidean norm,
Figure 800242DEST_PATH_IMAGE010
is the Doppler frequency shift generated by the propagation of the transmitted signal from the target to thelth receiving station in thekth interception,
Figure 372693DEST_PATH_IMAGE011
,
Figure 116658DEST_PATH_IMAGE012
is the additive impulse noise of thelth receiving station in thekth interception, and the additive impulse noise obeys
Figure 415921DEST_PATH_IMAGE013
stable distribution.

根据本发明第二方面的系统，所述第一处理单元401具体被配置为：以

Figure 219929DEST_PATH_IMAGE014
为采样周期对所述观测信号进行采样处理，则所述第l个接收站在所述第k次截取所在的时隙中接收到的观测信号的样本为：According to the system of the second aspect of the present invention, the first processing unit 401 is specifically configured to:
Figure 219929DEST_PATH_IMAGE014
Perform sampling processing on the observed signal for the sampling period, then the sample of the observed signal received by thelth receiving station in the time slot where thekth interception is located is:

Figure 604643DEST_PATH_IMAGE015
Figure 604643DEST_PATH_IMAGE015

其中，

Figure 152299DEST_PATH_IMAGE016
，向量形式为：in,
Figure 152299DEST_PATH_IMAGE016
, the vector form is:

Figure 915856DEST_PATH_IMAGE017
Figure 915856DEST_PATH_IMAGE017

其中，in,

Figure 15399DEST_PATH_IMAGE018
Figure 15399DEST_PATH_IMAGE018

其中，

Figure 687076DEST_PATH_IMAGE019
表示以
Figure 976106DEST_PATH_IMAGE020
为对角线元素的对角矩阵，
Figure 781120DEST_PATH_IMAGE021
为向下移位算子，所述
Figure 395772DEST_PATH_IMAGE021
通过
Figure 286237DEST_PATH_IMAGE022
循环移动单位矩阵的行获取，
Figure 175695DEST_PATH_IMAGE023
表示向下取整，使用
Figure 304057DEST_PATH_IMAGE024
来实现
Figure 620769DEST_PATH_IMAGE025
的移位。in,
Figure 687076DEST_PATH_IMAGE019
means with
Figure 976106DEST_PATH_IMAGE020
is a diagonal matrix of diagonal elements,
Figure 781120DEST_PATH_IMAGE021
is the downward shift operator, the
Figure 395772DEST_PATH_IMAGE021
pass
Figure 286237DEST_PATH_IMAGE022
Circularly move the rows of the identity matrix to get,
Figure 175695DEST_PATH_IMAGE023
means round down, use
Figure 304057DEST_PATH_IMAGE024
to fulfill
Figure 620769DEST_PATH_IMAGE025
shift.

根据本发明第二方面的系统，所述第二处理单元402具体被配置为：获取所述L个接收站的不一致脉冲噪声的分散系数

Figure 204722DEST_PATH_IMAGE086
，则所述第k次截取所在的时隙中第i个采样点的代价函数为：According to the system of the second aspect of the present invention, the second processing unit 402 is specifically configured to: acquire dispersion coefficients of inconsistent impulse noise of theL receiving stations
Figure 204722DEST_PATH_IMAGE086
, then the cost function of thei -th sampling point in the time slot where thek -th interception is located is:

Figure 632292DEST_PATH_IMAGE027
Figure 632292DEST_PATH_IMAGE027

其中，

Figure 880739DEST_PATH_IMAGE028
为高斯核函数，
Figure 102773DEST_PATH_IMAGE029
为取共轭操作，
Figure 436672DEST_PATH_IMAGE030
为核长参数，
Figure 667933DEST_PATH_IMAGE031
表示每个时隙中每个采样点处的多个接收站观测样本的差，
Figure 302045DEST_PATH_IMAGE032
表示向量
Figure 163822DEST_PATH_IMAGE033
的第i个元素。in,
Figure 880739DEST_PATH_IMAGE028
is the Gaussian kernel function,
Figure 102773DEST_PATH_IMAGE029
To take the conjugate operation,
Figure 436672DEST_PATH_IMAGE030
is the kernel length parameter,
Figure 667933DEST_PATH_IMAGE031
represents the difference of observation samples of multiple receiving stations at each sampling point in each time slot,
Figure 302045DEST_PATH_IMAGE032
representation vector
Figure 163822DEST_PATH_IMAGE033
theith element of .

根据本发明第二方面的系统，所述第三处理单元403具体被配置为：将所述第k次截取所在的时隙、N个所述采样点的代价函数相加以获取所述全局代价函数，如下所示：According to the system of the second aspect of the present invention, the third processing unit 403 is specifically configured to: obtain the global cost function by adding the time slot where thekth interception is located and the cost functions of theN sampling points ,As follows:

Figure 530823DEST_PATH_IMAGE087
。
Figure 530823DEST_PATH_IMAGE087
.

根据本发明第二方面的系统，所述第三处理单元403具体被配置为：所述全局代价函数的极大值点为：According to the system of the second aspect of the present invention, the third processing unit 403 is specifically configured to: the maximum value point of the global cost function is:

Figure 300196DEST_PATH_IMAGE035
。
Figure 300196DEST_PATH_IMAGE035
.

本发明第三方面公开了一种电子设备。所述电子设备包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时，实现本公开第一方面中任一项所述的一种在不一致脉冲噪声环境下的目标直接定位方法中的步骤。A third aspect of the present invention discloses an electronic device. The electronic device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the computer program in any one of the first aspects of the present disclosure is implemented in an inconsistent impulse noise environment The steps in the target direct localization method.

图5为根据本发明实施例的一种电子设备的结构图，如图5所示，电子设备包括通过系统总线连接的处理器、存储器、通信接口、显示屏和输入装置。其中，该电子设备的处理器用于提供计算和控制能力。该电子设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统和计算机程序。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该电子设备的通信接口用于与外部的终端进行有线或无线方式的通信，无线方式可通过WIFI、运营商网络、近场通信（NFC）或其他技术实现。该电子设备的显示屏可以是液晶显示屏或者电子墨水显示屏，该电子设备的输入装置可以是显示屏上覆盖的触摸层，也可以是电子设备外壳上设置的按键、轨迹球或触控板，还可以是外接的键盘、触控板或鼠标等。FIG. 5 is a structural diagram of an electronic device according to an embodiment of the present invention. As shown in FIG. 5 , the electronic device includes a processor, a memory, a communication interface, a display screen, and an input device connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The nonvolatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The communication interface of the electronic device is used for wired or wireless communication with an external terminal, and the wireless communication can be realized by WIFI, operator network, near field communication (NFC) or other technologies. The display screen of the electronic device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device may be a touch layer covered on the display screen, or a button, a trackball or a touchpad set on the shell of the electronic device , or an external keyboard, trackpad, or mouse.

本领域技术人员可以理解，图5中示出的结构，仅仅是与本公开的技术方案相关的部分的结构图，并不构成对本申请方案所应用于其上的电子设备的限定，具体的电子设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。Those skilled in the art can understand that the structure shown in FIG. 5 is only a structural diagram of a part related to the technical solution of the present disclosure, and does not constitute a limitation on the electronic equipment to which the solution of the present application is applied. A device may include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

本发明第四方面公开了一种计算机可读存储介质。所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时，实现本公开第一方面中任一项所述的一种在不一致脉冲噪声环境下的目标直接定位方法中的步骤。A fourth aspect of the present invention discloses a computer-readable storage medium. A computer program is stored on the computer-readable storage medium, and when the computer program is executed by the processor, the method for directly locating a target in an inconsistent impulse noise environment according to any one of the first aspects of the present disclosure is implemented. A step of.

综上，本发明提供的技术方案具有如下优点：（1）本发明提出的方法利用接收信号中的时延和多普勒频移信息，实现运动平台对目标的直接定位；（2）本发明基于对脉冲噪声的参数化建模，构造了相应的代价函数，得到的算法能提高脉冲噪声环境下直接定位算法的定位精度；（3）本发明提出的方法针对脉冲噪声分散系数不一致的情况，利用噪声分散系数对不同信噪比信号进行加权，增加了高信噪比信号的定位贡献，有效地提升了脉冲噪声不一致情况下的目标定位精度。To sum up, the technical solution provided by the present invention has the following advantages: (1) the method proposed by the present invention utilizes the time delay and Doppler frequency shift information in the received signal to realize the direct positioning of the target by the moving platform; (2) the present invention Based on the parametric modeling of the impulse noise, the corresponding cost function is constructed, and the obtained algorithm can improve the location accuracy of the direct location algorithm in the impulse noise environment. Using the noise dispersion coefficient to weight signals with different signal-to-noise ratios increases the localization contribution of signals with high signal-to-noise ratios, and effectively improves the target localization accuracy in the case of inconsistent impulse noise.

请注意，以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。Please note that the technical features of the above embodiments can be combined arbitrarily. In order to simplify the description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features , should be considered to be within the scope of this specification. The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims (9)

1. A method for directly locating an object in an environment of inconsistent impulse noise, the method comprising:
step S1, useLA receiving station, byKIntercepting the secondary signal to obtain the secondary signal from the secondary signal acquisition unitpObserving signals of a single static radiation source, and sampling the observing signals;
wherein the observed signal is compared to the sitepThe emission signal of a single static radiation source contains the influence factors of time delay, Doppler frequency shift and noise;
step S2 based onLConstructing the non-uniform impulse noise of a receiving stationLEach receiving station intercepts the cost function in the time slot;
step S3 based onLWeighting factors for a receiving station and saidLConstructing a global cost function by the cost function of each receiving station in each time slot;
wherein the maximum point of the global cost function characterizes the estimated position of the single stationary radiation source as the true position of the single stationary radiation sourceLThe weighting coefficients of the receiving stations being dependent on saidLThe dispersion factor of the inconsistent impulse noise of the individual receiving stations.
2. The method for directly locating the target in the environment of inconsistent impulse noise of claim 1, wherein in said step S1, said stepLEach of the receiving stations is in processKA secondary signal is intercepted, the time of the single interception isTOf 1 atlThe receiving station is atkThe position when the signal is intercepted secondarily is
Figure 616711DEST_PATH_IMAGE001
At a speed of
Figure 330589DEST_PATH_IMAGE002
The first mentionedkIn the time slot in which the secondary intercept is locatedpThe emission signal of a single stationary radiation source is
Figure 907064DEST_PATH_IMAGE003
Wherein
Figure 630169DEST_PATH_IMAGE004
Is the carrier frequency (c) of the carrier,
Figure 241279DEST_PATH_IMAGE005
is a bandwidth ofWA narrow band signal of
Figure 988043DEST_PATH_IMAGE006
Then it is firstlAt the second receiving stationkThe secondary intercepted observation signals are:
Figure 51814DEST_PATH_IMAGE007
wherein,
Figure 47451DEST_PATH_IMAGE008
is the firstkIn which the transmitted signal propagates from the target to the secondlThe transmission delay of the individual receiving stations,cin order to be the speed of light,
Figure 44226DEST_PATH_IMAGE009
is the number of the Euclidean norm,
Figure 834328DEST_PATH_IMAGE010
is the firstkIn which the transmitted signal propagates from the target to the secondlThe doppler shift produced by each of the receiving stations,
Figure 385395DEST_PATH_IMAGE011
，
Figure 715882DEST_PATH_IMAGE012
is the firstkIn the secondary interception of the secondlAdditive impulse noise of a receiving station, said additive impulse noise being subject to
Figure 36005DEST_PATH_IMAGE013
The distribution is stable.
3. The method for directly locating the target in the environment of inconsistent impulse noise of claim 2, wherein in said step S1, the step
Figure 796675DEST_PATH_IMAGE014
Sampling the observation signal for a sampling period, thenlA receiving station at the secondkThe samples of the observation signal received in the time slot where the secondary truncation is located are:
Figure DEST_PATH_IMAGE015
wherein,
Figure 631776DEST_PATH_IMAGE016
the vector form is:
Figure 234796DEST_PATH_IMAGE017
wherein,
Figure 675004DEST_PATH_IMAGE018
wherein,
Figure 338067DEST_PATH_IMAGE019
is shown in
Figure 863726DEST_PATH_IMAGE020
Is a diagonal matrix of diagonal elements,
Figure 866842DEST_PATH_IMAGE021
to shift down an operator, the
Figure 833661DEST_PATH_IMAGE021
By passing
Figure 402045DEST_PATH_IMAGE022
The acquisition of the rows of the identity matrix is cyclically shifted,
Figure 8476DEST_PATH_IMAGE023
indicating rounding down, use
Figure 359823DEST_PATH_IMAGE024
To realize
Figure 633678DEST_PATH_IMAGE025
Is performed.
4. The method for directly locating the target in the environment of inconsistent impulse noise of claim 3, wherein in said step S2, said step S2 is obtainedLDispersion coefficient of inconsistent impulse noise of receiving station
Figure 372964DEST_PATH_IMAGE026
Then said firstkIn the time slot in which the secondary truncation is locatediThe cost function for each sample point is:
Figure 138795DEST_PATH_IMAGE027
wherein,
Figure 370798DEST_PATH_IMAGE028
in the form of a gaussian kernel function,
Figure 640105DEST_PATH_IMAGE029
in order to take out the conjugate operation,
Figure 550292DEST_PATH_IMAGE030
as a parameter of the length of the nucleus,
Figure 803419DEST_PATH_IMAGE031
representing the difference of the multiple receiver station observation samples at each sampling point in each time slot,
Figure 824465DEST_PATH_IMAGE032
representing a vector
Figure 213858DEST_PATH_IMAGE033
To (1) aiAnd (4) each element.
5. The method for directly locating the target in the environment of inconsistent impulse noise of claim 4, wherein in said step S3, said first stepkThe time slot where the secondary interception is located,NAdding the cost functions of the sampling points to obtain the global cost function, as follows:
Figure 294946DEST_PATH_IMAGE034
。
6. the method for directly locating the target in the inconsistent impulse noise environment according to claim 5, wherein in the step S3, the maximum value points of the global cost function are:
Figure DEST_PATH_IMAGE035
。
7. a system for direct localization of an object in an environment of inconsistent impulse noise, the system comprising:
a first processing unit configured to utilizeLA receiving station, byKIntercepting the secondary signal to obtain the secondary signal from the secondary signal acquisition unitpObserving signals of a single static radiation source, and sampling the observing signals;
wherein the observed signal is compared to the sitepThe emission signal of a single static radiation source contains the influence factors of time delay, Doppler frequency shift and noise;
a second processing unit configured to, based on theLConstructing the non-uniform impulse noise of a receiving stationLEach receiving station intercepts the cost function in the time slot;
a third processing unit configured to, based on theLWeighting factors for a receiving station and saidLConstructing a global cost function by the cost function of each receiving station in each time slot;
wherein the maximum point of the global cost function characterizes the estimated position of the single stationary radiation source as the true position of the single stationary radiation sourceLThe weighting coefficients of the receiving stations being dependent on saidLThe dispersion factor of the inconsistent impulse noise of the individual receiving stations.
8. An electronic device, characterized in that the electronic device comprises a memory and a processor, the memory stores a computer program, and the processor, when executing the computer program, implements the steps in a method for direct target localization in an environment of inconsistent impulse noise according to any of claims 1 to 6.
9. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of a method for direct localization of an object in an environment of inconsistent impulse noise as claimed in any one of claims 1 to 6.
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