Disclosure of Invention
The invention provides an electromagnetic radiation source positioning method, device, equipment and medium based on fusion information, which are used for solving the problem that measured value deviation caused by an actual measurement environment brings adverse effect on a radiation source positioning result.
The invention is realized by the following technical scheme:
In a first aspect of the present invention, there is provided an electromagnetic radiation source positioning method based on fusion information, including:
creating a grid matrix of a target area to be searched;
Establishing a level probability distribution matrix based on level measurement values of a plurality of monitoring points in the target area to be searched, wherein the dimension of the level probability distribution matrix is the same as that of the grid matrix, and the numerical value of the grid represents the probability that the radiation source is positioned in the grid;
Estimating the position of a radiation source based on the level probability distribution matrix, and calculating the distance from each monitoring point to the position of the radiation source;
Based on the distance from a monitoring point to the position of the radiation source, intercepting a valid direction-indicating line segment from the direction-indicating rays of the monitoring point, and converting the valid direction-indicating line segment into a direction-indicating probability distribution matrix;
And fusing the level probability distribution matrix and the direction probability distribution matrix, and positioning the radiation source based on the fused matrix.
The positioning method disclosed by the invention combines level information and direction indicating degree information, integrates two monitoring information positioning, avoids the accumulation of errors of single monitoring data, automatically reduces the weight of error information and ensures more reliable positioning results. Meanwhile, considering that even weak deviation of the direction line has great influence on the positioning point, the level probability distribution is adopted to estimate the position of the radiation source, so that the approximate distance between the monitoring point and the radiation source is estimated, the direction line segment which is more effective for positioning the radiation source is screened according to the estimated position of the radiation source, and is converted into the two-dimensional probability distribution, so that the situation that the probability of the distribution of the signal source is reduced when the signal source approaches or moves away from the monitoring point from the position with the highest probability is considered, and the situation that the signal source is positioned in a certain range on two sides of the direction line segment is considered. The two-dimensional probability distribution matrix based on the two kinds of information is fused, the level information and the direction-indicating probability distribution of all positions are comprehensively considered, each measured information can be mutually evidence, the effect of correct information is exerted to the greatest extent, and the positioning result approaches to the real position.
In one embodiment, the establishing a level probability distribution matrix based on the level measurement values of the plurality of monitoring points in the target area to be searched includes:
Establishing a level observation matrix on the basis of the grid matrix, wherein the numerical value of the grid where the monitoring point is located in the level observation matrix is a level measurement value of the monitoring point, and the numerical values of the other grids are zero;
And convolving the level observation matrix by using an electromagnetic wave free space attenuation model to obtain a level probability distribution matrix.
In one embodiment, the convolving the level observation matrix with an electromagnetic wave free space attenuation model to obtain a level probability distribution matrix includes:
An ideal propagation curved surface based on an electromagnetic wave free space attenuation model is established, and the ideal propagation curved surface is expressed as follows:
;
Wherein,Representing the transmission of electromagnetic waves from a radiation source to a distance from the radiation source during free space transmissionThe amount of attenuation at the point(s),For the propagation distance of the electromagnetic wave,For the frequency of the radiated signal,Is the speed of light;
When the curve center of an ideal propagation curve is calculated to be coincident with each grid in a level observation matrix, the loss between the level observation matrix and the ideal propagation curve is expressed as:
;
Wherein,Curved surface center and grid representing ideal propagation curved surfaceWhen the two curves are overlapped, the loss between the observation matrix and the ideal propagation curved surface,For representing the two-dimensional coordinates of the grid,,For the level measurement at monitoring point n,The theoretical level value of the projected point of the monitoring point n on the ideal propagation curve,A represents the level value of the center of the curved surface,Is thatIs used for the average value of (a),;
Loss of each gridAs and grid in a level probability distribution matrixAnd obtaining the level probability distribution matrix with the same dimension as the grid matrix by the corresponding element values.
In one embodiment, the estimating the radiation source position based on the level probability distribution matrix comprises calculatingGrid coordinates corresponding to the smallest timeCoordinates are givenIs determined as the estimated radiation source position.
In one embodiment, the capturing an effective direction-indicating line segment from the direction-indicating ray of the monitoring point based on the distance from the monitoring point to the radiation source position, and converting the effective direction-indicating line segment into a direction-indicating probability distribution matrix includes:
selecting the distance from the monitoring point n on the direction-indicating ray asTaking the point of the (2) as a central point, intercepting an orientation line segment between the central point and a monitoring point n as an effective orientation line segment, wherein,Is the distance of monitoring point n from the location of the radiation source;
and taking the central point as a Gaussian distribution center, and establishing two-dimensional Gaussian distribution along the ray direction of the effective direction line segment and the direction perpendicular to the ray to obtain a direction probability distribution matrix of the effective direction line segment.
In one embodiment, the fusing the level probability distribution matrix and the direction probability distribution matrix, positioning the radiation source based on the fused matrix, includes:
Normalizing the level probability distribution matrix and each direction probability distribution matrix;
Superposing the corresponding elements of the level probability distribution matrix and all the direction indicating degree probability distribution matrixes after normalization processing to obtain a fusion matrix;
and determining grid coordinates corresponding to the maximum probability value in the fusion matrix as the position of the radiation source.
In one embodiment, the normalizing the level probability distribution matrix and each of the direction probability distribution matrices includes:
Carrying out 0-1 normalization on the level probability distribution matrix and an orientation probability distribution matrix generated by monitoring points with the measurement level exceeding 20 dBuV;
and carrying out 0-0.5 normalization on an orientation probability distribution matrix generated by monitoring points with the measurement level smaller than 20 dBuV.
In a second aspect of the present invention, there is provided an electromagnetic radiation source positioning device based on fusion information, comprising:
The creating module is used for creating a grid matrix of the target area to be searched;
The first calculation module is used for establishing a level probability distribution matrix based on level measurement values of a plurality of monitoring points in the target area to be searched, the dimension of the level probability distribution matrix is the same as that of the grid matrix, and the numerical value of the grid represents the probability that the radiation source is positioned in the grid;
the first positioning module is used for estimating the position of the radiation source based on the signal source level probability distribution matrix and calculating the distance from each monitoring point to the position of the radiation source;
the second calculation module is used for intercepting effective direction line segments from direction rays of the monitoring points based on the distance from the monitoring points to the positions of the radiation sources and converting the effective direction line segments into a direction probability distribution matrix;
and the second positioning module is used for fusing the level probability distribution matrix and the direction-indicating probability distribution matrix and positioning the radiation source based on the fused matrix.
In a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the fusion information-based electromagnetic radiation source positioning method according to any one of the first aspects of the present invention when executing the computer program.
In a fourth aspect of the present invention, a computer readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, implements the method for positioning an electromagnetic radiation source based on fusion information according to any one of the first aspects of the present invention.
Compared with the prior art, the invention has the following advantages and beneficial effects:
The two kinds of information of the level and the direction degree are fused, so that the two kinds of information are mutually evidence, the error information weight is automatically reduced, and the final positioning result accords with the maximum probability position of the global observation result;
compared with the traditional POA measurement level deviation from a theoretical model due to the influence of propagation environment, the method of convoluting and observing level distribution is adopted, and the level information of all positions is comprehensively considered, so that the obtained level probability is most reliable;
Compared with the traditional AOA (automatic optical analysis) direction-finding line intersection positioning method, the method has the advantages that the distribution probability of each point signal source on the ray is equivalently regarded, the most effective section is extracted from the direction-finding ray according to the distance between the monitoring point and the radiation source, and the section is converted into two-dimensional probability distribution, so that the situation that the probability of the distribution of the signal sources near or far from the monitoring point from the position with the highest probability is reduced is considered, the situation that the signal sources are positioned in a certain range on two sides of the direction-finding line is considered, and the reliability of the positioning result is improved.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.
It is noted that the terms "comprising" and "having," and any variations thereof, in the description and claims of the present invention and in the foregoing figures, are intended to cover a non-exclusive inclusion, such as a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to or includes other steps or elements inherent to the apparatus.
The terminology used in the various embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the various embodiments of the invention. As used herein, the singular is intended to include the plural as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the invention belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments of the invention.
The embodiment of the invention provides a method, a device, equipment and a medium for positioning an electromagnetic radiation source based on fusion information, which are suitable for positioning and tracking a signal source, are beneficial to reducing the influence of measurement deviation on a positioning result and improve the positioning accuracy.
Fig. 1 is a flowchart of an electromagnetic radiation source positioning method based on fusion information according to an embodiment of the present invention. Comprising the following steps.
S1, creating a grid matrix of the target area to be searched.
S2, establishing a level probability distribution matrix based on level measurement values of a plurality of monitoring points in the target area to be searched. Wherein the dimension of the level probability distribution matrix is the same as the grid matrix, and the numerical value of the grid represents the probability that the radiation source is positioned in the grid.
And S3, estimating the position of the radiation source based on the level probability distribution matrix, and calculating the distance from each monitoring point to the position of the radiation source.
S4, based on the distance from the monitoring point to the position of the radiation source, intercepting an effective direction-indicating line segment from the direction-indicating rays of the monitoring point, and converting the effective direction-indicating line segment into a direction-indicating probability distribution matrix.
S5, fusing the level probability distribution matrix and the direction probability distribution matrix, and positioning the radiation source based on the fused matrix.
In step S1, the geographical area to be searched is divided into two-dimensional grids according to a specific resolution, for example, each grid is 1km×1km, 0.5km×0.5km, the two-dimensional grids form a two-dimensional grid matrix, each grid corresponds to a matrix element position in the grid matrix, monitoring data of a plurality of monitoring points are projected into the grid matrix to establish a probability distribution matrix of each monitoring parameter, the numerical value of the grid represents the probability that the radiation source is positioned in the grid, and the positioning of the radiation source is realized based on the level probability distribution matrix according to the association of the elements of the corresponding grid in the matrix and the geographical position of the target area to be searched.
As shown in the schematic diagram of the level and the direction-ray observation data in FIG. 2, blue points represent monitoring points, red points represent radiation sources, red lines represent direction-rays, grids represent grid matrixes and grid coordinate reference coordinate systems x-y-z. The data monitored by the monitoring points comprises level information and direction information (an included angle between the direction of the true north of the meridian of the earth at the observation point and the connecting line direction of the observation point to the tested radio emission source), and each monitoring point can monitor one or two of the level information and the direction information.
The implementation of the method is not affected by the grid thickness degree (namely resolution), the finer the grid resolution is, the larger the calculation amount is needed, the higher the accuracy of the output positioning result is, the coarser the grid calculation amount is, but the lower the accuracy of the positioning result is. The appropriate resolution may be set according to the actual search area size and geographical environment.
In step S2, a level observation matrix is first established on the basis of the grid matrix, and then the level observation matrix is converted into a level probability distribution matrix.
Specifically, according to the positions of the monitoring points in the two-dimensional grids, the level measured values of the monitoring points are projected in the grid matrix, a multi-monitoring-point combined level observation matrix is established, namely, the dimension of the level observation matrix is the same as that of the grid matrix, the positions of each grid are in one-to-one correspondence with the element positions in the level observation matrix, the numerical value of the grid (corresponding to the element positions of the matrix) where the monitoring points are located in the level observation matrix is the level measured value of the monitoring point, and the numerical values of the other grids are zero.
In one embodiment, the level observation matrix is converted into a level probability distribution matrix by a maximum likelihood estimation concept. Compared with the traditional POA measurement level deviation theory model caused by the influence of propagation environment, the method adopts the electromagnetic wave free space attenuation model to convolve the level observation matrix to obtain the level probability distribution matrix, comprehensively considers the level information of all positions, and ensures that the obtained level probability is most reliable. Fig. 3 is a schematic diagram of a convolution level observation matrix using an electromagnetic wave free space attenuation model (ideal propagation curved surface), and fig. 4 is a schematic diagram of a level probability distribution obtained after convolution processing, wherein the color depth represents the probability size, and the darker the color, the greater the position probability. The method specifically comprises the following steps.
S3-1, firstly, an ideal propagation curved surface based on an electromagnetic wave free space attenuation model is established, and the ideal propagation curved surface is expressed as:
;
In the formula,Representing the transmission of electromagnetic waves from a radiation source to a distance from the radiation source during free space transmissionThe amount of attenuation at the point(s),For the propagation distance of the electromagnetic wave,For the frequency of the radiated signal,In order to achieve the light velocity, the light beam is,M/s, the unit of attenuation is dB.
Ideal propagation curve of electromagnetic waveIs the propagation distanceThe center of the curved surface is the position of the preset radiation source, namely the distance from the point on the curved surface to the center of the curved surfaceThe nearer the attenuation amountSmaller, conversely, the amount of attenuationThe larger.
S3-2, convolving the level observation matrix by using an electromagnetic wave free space attenuation model.
In this embodiment, the level observation matrix is convolved by the electromagnetic wave free space attenuation model, that is, when the center of the curved surface of the ideal propagation curved surface is calculated and each grid in the level observation matrix is overlapped, the loss between the level observation matrix and the ideal propagation curved surface is calculated, the loss value corresponding to each grid is used as a matrix element corresponding to the grid position in the level probability distribution matrix, the dimension of the level probability distribution matrix is the same as that of the grid matrix, and the element positions are in one-to-one correspondence with the grid coordinates.
The loss function between the level observation matrix and the ideal propagation curved surface is expressed as follows:
;
In the formula,Curved surface center and grid representing ideal propagation curved surfaceWhen the two monitoring points are overlapped, the loss between the observation matrix and the ideal propagation curved surface reflects the difference between the level measured value of each monitoring point and the level value of the corresponding position on the ideal propagation curved surface,For representing the position of the grid in a two-dimensional coordinate system x-y, see the coordinate system shown in figure 3,Level measurement representing monitoring point nLevel value corresponding to position of monitoring point n on ideal propagation curveThe difference between the two is that,,Is thatIs used for the average value of (a),。
When the curved surface is centered and meshedWhen the two monitoring points are overlapped, referring to the coordinates of each monitoring point n shown in FIG. 3Can be projected onto an ideal propagation curved surface along the z-axisCalculation ofThe distance d from the center of the curved surface, so that the theoretical level value of the point is calculated according to an attenuation formula, wherein the formula isA is used to represent the level value of the center of the curved surface, i.e. the radiation intensity of the radiation source. Because the curved center of the ideal propagation curved surface is the assumed radiation source position, when the curved center and the gridIf the loss function is at this time when it is coincidentIf the value of (2) is minimum, it shows that the more the level probability distribution accords with the electromagnetic wave free space attenuation model, the grid can be preliminarily determinedIs where the radiation source is located.
The first term of the loss function indicates that the theoretical propagation surface center is located at each gridAt the time, the level of each measuring point is measuredMean from theoretical valueThe second term of the loss function represents that the theoretical propagation surface center is located at each gridIn the time of measuring the level of each measuring point and the variance of the theoretical value。
By the convolution method described above, the final level probability distribution matrix is a distribution containing the unknown quantity a. However, no matter how the value of A is, the reflected distribution characteristics are not changed, so that the final positioning result is not affected.
Further, the radiation source position is estimated from the level probability distribution matrix, i.e. by calculationAt minimum, the center position of ideal level curved surface and which gridCoincidence, solvingThe position is the radiation source position.
The loss function can be understood as when the curved surface is centeredWhen the central position of the ideal propagation curved surface and the corresponding position of the level observation matrix areIf the grid is the grid point that most "fits" with the ideal propagation surface, then the mean value at that time isSum of variancesCompared with any other position, the position reaches the minimum, namely the minimumCorresponding ideal level curved surface positionI.e. the desired radiation source position. Thus by solving for the minimum of the objective function, its correspondingI.e. the estimated radiation source position, which is marked as shown in fig. 4。
Further, after the estimated radiation source position is obtained, the distance between each monitoring point and the radiation source can be obtained according to the monitoring point position and the radiation source position, and the distance relation between the monitoring point and the radiation source can be reflected. Taking four monitoring points n=1, 2, 3,4 as an example, each monitoring point is toThe distances of (2) are respectively,,、,For the location of the monitoring point 1,For the location of the monitoring point 2,For the location of the monitoring point 3,Is the location of the monitoring point 4.
Experimental simulation verifies that the distance from the monitoring point to the real signal source is the same as that of the monitoring point under most conditionsIs very close and can thereforeRoughly seen as the distance of the monitoring point from the radiation source. The higher the measured level value, the more closely it is generally to the radiation source, and thereforeUsually smaller, vice versaThe larger.
In step S4, the conventional direction ray pointing from the monitoring point to the signal incoming wave direction is converted into a direction probability distribution, so as to be fused with the level probability distribution. The invention screens the direction indicating degree information according to the estimated radiation source position, namely, according to the distance from the monitoring point to the estimated radiation source position, the direction indicating line segment positioned in the distance is intercepted from the direction indicating rays, and the direction indicating probability distribution matrix is extracted based on the intercepted line segment, thereby avoiding the interference of errors of information which is not important for positioning on the positioning result.
In one embodiment, step S4 is specifically as follows.
S4-1, selecting the distance from the monitoring point n on the direction-indicating ray asAs a central point, intercepting an orientation line segment from the central point to a monitoring point n as an effective orientation line segment.
S4-2, taking the central point as a Gaussian distribution center, and establishing two-dimensional Gaussian distribution along the ray direction of the effective direction line segment and the direction perpendicular to the ray to obtain a direction probability distribution matrix of the effective direction line segment.
As shown in fig. 5, which is a schematic diagram of the probability distribution of the direction obtained by the above method, the deeper the color is, the larger the probability value is.The distance from the monitoring point n to the estimated radiation source prd1 is the distance, and for the monitoring point with the direction indicating degree information, the direction indicating ray is obtained based on the direction indicating probability distribution matrix of the effective direction indicating line segment through the processing mode. It can be understood that the above processing method is described with respect to a certain direction-indicating ray, but for the case that multiple direction-indicating rays are obtained by monitoring multiple monitoring points in the method, the same processing is performed on each direction-indicating ray, and if there are M total direction-indicating probability distribution matrices of each obtained effective direction-indicating line segment, the M direction-indicating probability distribution matrices are fused with the level probability distribution matrix.
The method for establishing two-dimensional direction Gaussian distribution comprises firstly establishing one-dimensional Gaussian distribution along direction of direction rays, wherein the distribution is at distance from monitoring pointsThe probability of the center point is highest, and the probability of the signal source distribution is reduced from the center point to the monitoring point or from the center point to the monitoring point. And then taking each point on the one-dimensional Gaussian distribution along the direction-oriented ray as a central position, and establishing continuous Gaussian distribution perpendicular to the direction-oriented ray to obtain the final two-dimensional direction-oriented Gaussian distribution.
The vertical gaussian distribution generation indicates that there is a probability of signal source distribution to a certain extent on both sides of the ray, corresponding to a scene where the direction line "rubs" across the signal source. In actual operation, a two-dimensional orientation gaussian distribution can be directly established through a covariance matrix, which is expressed as follows:
;
Wherein,Is a distribution center,Representing points to be calculated,Is a covariance matrix. The covariance matrix used in the method refers to engineering experience values and is taken。
The most effective section is extracted from the direction-indicating rays and is converted into two-dimensional probability distribution, the situation that the probability of the signal source distribution near or far from the monitoring point from the position with the highest probability is reduced is considered, the situation that the signal source is positioned in a certain range on two sides of the direction-indicating rays is considered, and when various information conflicts exist, the method can find the most reliable position, so that the positioning result is more accurate.
In step S5, the level probability distribution matrix and the direction probability distribution matrix are combined, i.e. the position elements corresponding to the matrices are superimposed.
Specifically, the number of the level probability distribution matrixes is 1, each direction-indicating ray is represented by 1 direction-indicating probability distribution matrix, the dimensions of the level probability distribution matrix and the direction-indicating probability distribution matrix are the same, the level probability distribution matrix and the direction-indicating probability distribution matrix are equal to the grid matrix, and the 1 level probability distribution matrix and the M direction-indicating probability distribution matrixes with the same dimensions are combined to finally obtain a fusion matrix with the same dimension. The merging step is as follows.
And S5-1, carrying out normalization processing on the level probability distribution matrix and each direction-indicating probability distribution matrix.
S5-2, superposing the level probability distribution matrix after normalization processing and the same position elements of all the direction-indicating degree probability distribution matrices to obtain a fusion matrix.
In step S5-1, the two matrices are preferably normalized in a consistent manner, for example, 0-1 normalization is performed. The probability density of the matrix which is originally introduced with the unknown parameters A is unchanged after normalization.
In one embodiment, the normalization processing is that 0-1 normalization is performed on a level probability distribution matrix and an orientation probability distribution matrix generated by monitoring points with measurement levels exceeding 20dBuV, and 0-0.5 normalization is performed on an orientation probability distribution matrix generated by monitoring points with measurement levels less than 20 dBuV.
For the monitoring points with the measurement level less than 20dBuV, the reliability of the direction finding result is lower because the monitoring points are farther away from the signal source, the generated direction finding probability normalization matrix is multiplied by 0.5, namely 0-0.5 normalization is carried out, the weight of the part of data is reduced, and the positioning result is more reliable.
As shown in the schematic diagram of the fusion distribution in fig. 6, the highest probability of the fusion matrix is the final predicted position of the radiation source. The results show that in the practical positioning scene based on only a few fixed monitoring stations in the range of tens of square kilometers (such as the ground city), good results are obtained. Compared with the existing direction-indicating line intersection positioning mode, a plurality of contradictory intersection points are often generated in a real environment or the direction-indicating line deviates from a few degrees and then is amplified by a distance of tens of kilometers, and finally the intersection points deviate from tens of kilometers.
The embodiment of the invention also provides an electromagnetic radiation source positioning device based on the fusion information, which is used for executing the electromagnetic radiation source positioning method based on the fusion information of the embodiment, and comprises the following steps:
The creating module is used for creating a grid matrix of the target area to be searched;
The first calculation module is used for establishing a level probability distribution matrix based on level measurement values of a plurality of monitoring points in the target area to be searched, wherein the dimension of the level probability distribution matrix is the same as that of the grid matrix, and the numerical value of the grid represents the probability that the signal source is positioned in the grid;
The first positioning module is used for estimating the position of the radiation source based on the signal source level probability distribution matrix and calculating the distance from each monitoring point to the position of the radiation source;
The second calculation module is used for intercepting effective direction-indicating line segments from direction-indicating rays of the monitoring points based on the distance from the monitoring points to the positions of the radiation sources and converting the effective direction-indicating line segments into a direction-indicating probability distribution matrix;
And the second positioning module is used for fusing the level probability distribution matrix and the direction-indicating probability distribution matrix and positioning the position of the radiation source based on the fused matrix.
The second positioning module comprises a fusion submodule and a positioning submodule, the fusion submodule is used for fusing the level probability distribution matrix and the direction-indicating probability distribution matrix, and the positioning submodule is used for positioning the position of the radiation source based on the fused matrix.
Specifically, the execution method of each module is also referred to the above embodiment, and is not repeated herein.
Embodiments of the present invention also provide an electronic device that includes a processor and a memory, the number of processors may be one or more. The memory is a computer-readable storage medium that can be used to store software programs, computer-executable programs, and modules. The processor executes the software programs, instructions and modules stored in the memory to perform various functional applications and data processing of the electronic device to implement the fusion information-based electromagnetic radiation source positioning method according to any of the above embodiments of the present invention.
The memory may mainly include a storage program area which may store an operating system, an application program required for at least one function, and a storage data area which may store data created according to the use of the terminal, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, the memory may further include memory remotely located with respect to the processor, the remote memory being connectable to the electronic device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Embodiments of the present invention also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the fusion information based electromagnetic radiation source positioning method of any of the embodiments of the present invention.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Embodiments of the present invention also provide a computer program product which, when run on a computer, causes the computer to perform the fusion information based electromagnetic radiation source positioning method of any of the above embodiments of the present invention.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.