时钟自同步的分布式雷达运动目标定位方法

doi:10.7527/S1000-6893.2025.31365

Abstract

Abstract:

Current technological methods cannot achieve precise clock synchronization among radar nodes when they are deployed on distributed mobile platforms. Besides， non-ideal clock synchronization among the radar nodes will result in inaccurate time delay and Doppler shift measurements of the signal， making existing methods effective in target localization. For the moving target localization problem in presence of clock synchronization errors among radar nodes after distributed radar time synchronization， this paper proposes a clock self-synchronized target localization method，which estimates the position and velocity of the moving target while correcting the clock synchronization errors among the radar nodes and optimizing the clock synchronization parameters. Specifically， based on the hybrid maximum likelihood and maximum a posteriori probability estimation theory， a moving target localization and clock synchronization algorithm is recommended. This algorithm first lists the estimation process of estimating the moving target position and velocity； then， estimates the clock synchronization errors. To estimate the moving target position and velocity， a localization method based on analytical initial value solving and parameter estimation iterative optimization is proposed.Based on the estimate of the moving target， the clock synchronization errors among the radar nodes are figured out.The experimental results show that the proposed clock self-synchronized target localization method can effectively estimate the position and velocity of the moving target and the clock synchronization errors among the radar nodes with low computational complexity.

Key words: clock synchronization error, distributed radar, target localization, time delay, Doppler shift

CLC Number:

V247

Haibo SONG, Jie WANG, Guofu WU, Caizhi FAN, Gongjian WEN. A clock self-synchronized moving target localization method in distributed radar system[J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(12): 331365.

Figures/Tables 10

Fig.1

Fig.2

Table 1

Positions and velocities of radar transmitting and receiving nodes

$i$	$x t i$ /m	$y t i$ /m	$z t i$ /m	$x ˙ t i$ /（m·s^-1）	$y ˙ t i$ /（m·s^-1）	$z ˙ t i$ /（m·s^-1）
1	200	800	400	30	10	5
2	800	650	450	-10	-20	20
3	-950	400	350	20	5	-10
4	-250	50	0	-20	-10	-5
5	300	-600	100	15	-5	15
6	-450	450	350	25	-15	25
$j$	$x s j$ /m	$y s j$ /m	$z s j$ /m	$x ˙ s j$ /（m·s^-1）	$y ˙ s j$ /（m·s^-1）	$z ˙ s j$ /（m·s^-1）
1	100	400	500	-10	10	-10
2	-250	350	100	30	-15	15
3	650	-50	150	15	10	10
4	900	600	400	5	-20	25
5	1 000	-650	450	-5	-10	15
6	50	900	350	20	10	-5
7	300	750	200	15	-15	5

Table 1

Fig.3

Fig.4

Fig.5

Table 2

Range of positions and velocities of radar transmitting and receiving nodes

取值范围		位置/m		速度/（m·s^-1）
取值范围		$x, y$	$z$	$x ˙, y ˙, z ˙$
雷达节点	上边界	1 000	500	10
雷达节点	下边界	-1 000	0	-10
目标	上边界	2 000	6 000	20
目标	下边界	-2 000	3 000	-20

Table 2

Fig.6

Fig.7

Table 3

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方法	运行耗时/ms
文献［17］	0.83
文献［23］方法	1.40
文献［27］	0.79
本文仅参数优化估计方法	4.00
本文仅解析求解方法	0.95
本文定位方法	2.80

A clock self-synchronized moving target localization method in distributed radar system

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