CN107144836A - Near space method for tracking target under stealthy and hypersonic double influence - Google Patents
Near space method for tracking target under stealthy and hypersonic double influence Download PDFInfo
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- CN107144836A CN107144836A CN201710256647.4A CN201710256647A CN107144836A CN 107144836 A CN107144836 A CN 107144836A CN 201710256647 A CN201710256647 A CN 201710256647A CN 107144836 A CN107144836 A CN 107144836A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
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Abstract
The present invention proposes a kind of stealthy hypersonic method for tracking target of near space tracked based on maximum recursion energy.This method comprises the following steps：First, TBD algorithms are improved in points accumulation, traditional points accumulation is substituted using recursion flight path, at this moment points accumulation will no longer be measured by the batch processing at multiple moment and constituted, but be made up of the measurement and the existing track points at 1 moment of m at 1 moment, so algorithm not only possesses real-time, and can effectively solve the problems, such as the time-delay deviation that target In Hypersonic Flow is brought；Then, TBD algorithms are further improved in energy accumulation, traditional energy accumulation is substituted using recursion energy, such algorithm can effectively overcome target stealthy brought detection problem while to object real-time tracking, also；Finally, recursion flight path and recursion energy are organically combined, by the reasonable judgement of maximum recursion energy decision mechanism, finally to realize effective tracking to stealthy high-speed target.
Description
Technical field
The present invention relates to the hypersonic target tracking domain of near space, for solving stealthy and hypersonic double influence
Under Target Tracking Problem.
Background technology
Different from traditional Aircraft Targets, near space vehicle has stealthy+hypersonic composite attribute, to existing
Early radar warning system of defense has serious challenge.On the one hand, the speed of near space vehicle is generally in more than Ma5, flight
Device can be within the extremely short time by early radar warning search coverage, at this moment, even if radar is it can be found that target, also no enough
Time makes a response；On the other hand, during target hypersonic flight, substantial amounts of plasma can be produced around aircraft
Body shock wave, these plasma shock waves are by absorbing, scatter radar electromagnetic wave, make near space vehicle in hypersonic flight
While also have certain Stealth concurrently, and then have a strong impact on searching tracking ability of the existing radar to target.Therefore, how
It is a current key issue for being badly in need of solving to solve the target following problem under stealthy+hypersonic double influence.
Tracking (Track Before Detect, TBD) technology is that current one kind for realizing Stealthy Target tracking has before detection
Effect approach.But, this method needs prolonged non-inherent accumulation during implementing, but.To near space mesh
During the entire process of mark tracking, processing, not only computationally intensive, Er Qiehui are tracked to target if all measured using TBD
Produce regular hour delay distortion.For the less situation of target velocity, this deviation can be ignored, but high in target
In the case of Supersonic Motion, target following can but be produced serious influence.For example, being 5000m/s, radar in target velocity
Scan period is 2s, and TBD process cycles are that under conditions of 5, the time lag that each tracking measurement cycle will produce 50km asks
Topic.Therefore, real-time tracking processing can be carried out to target by how building one kind, the method for tracking target of detection probability can be taken into account again
It is a key issue for needing in current stealthy hypersonic target following to solve.
For this case, the present invention proposes one on the basis of target energy accumulation and real-time performance of tracking is taken into full account
Plant and first target trajectory is predicted, then the method for tracking target for carrying out maximum recursion energy selection is measured to target, with effective
Solve the target following problem under stealthy and hypersonic double influence.
The content of the invention
It is an object of the invention to break through the limitation of traditional TBD algorithms, the mesh under stealthy+hypersonic double influence is solved
Mark tracking problem, lift the ability of existing radar tracking proximity space target, proposes a kind of to track based on maximum recursion energy
Proximity space New Target Tracking.The problem of wherein solving includes：
1) traditional TBD algorithms are tracked suitable for Stealthy Target, but under conditions of targeted cache motion, but there is tracking
Poor real, with long time delay deviation the problem of.
2) existing Detect before Track method real-time is stronger, and brought time-delay deviation is moved in the absence of targeted cache
Problem, but set up under the higher hypothesis of to-noise ratio, and the stealthy situation of target is not taken into full account.
3) under conditions of stealthy and hypersonic double influence, existing TBD algorithms and Detect before Track method are all
No longer it is applicable, is difficult to realize effective tracking to proximity space target.
The proximity space New Target Tracking of the present invention tracked based on maximum recursion energy, it is characterised in that bag
Include following technical measures：
Step 1: being improved to TBD algorithms, substituting traditional points using recursion flight path accumulates, at this moment points accumulation
Constituted no longer being measured by the batch processing at multiple moment, but by the existing track points measured with m-1 moment at 1 moment
Composition, such algorithm not only possesses real-time, can effectively reject targeted cache and move brought time-delay deviation, and enter one
Step has avoided data space to the redundant conversion of parameter space；
Step 2: being further improved to TBD algorithms, traditional energy accumulation is substituted using recursion energy, at this moment energy
Accumulate maximum measuring point energy in the track points energy at m-1 moment and current target region to constitute, so right
While object real-time tracking, it can also make measurement that there is higher detection probability, and then solve stealthy the brought tracking of target
Problem；
Step 3: while recursion flight path and recursion energy update, building maximum recursion energy decision mechanism, selection is most
Good tracking mode carries out recursion tracking processing to target；
Step 4: target following is filtered.
Prior art is contrasted, the proximity space target following of the present invention tracked based on maximum recursion energy is newly square
Method, beneficial effect is：
1) present invention is that one kind of existing TBD methods is improved, while its high detection probability is maintained, moreover it is possible to take into account elder generation
The real-time feature of tracking after detection；
2) compared with existing TBD methods, the present invention is real-time, and arithmetic speed is fast, and can effectively eliminate targeted cache
The brought time-delay deviation problem of motion；
3) compared with existing Detect before Track method, the present invention, can also be effective while to object real-time tracking
Solve the tracking problem under Low SNR；
4) present invention can effectively realize the reliable tracking of the stealthy hypersonic target of proximity space, and with higher tracking
Precision.
Brief description of the drawings
Accompanying drawing 1 is the proximity space method for tracking target flow chart of steps tracked based on maximum recursion energy；
Accompanying drawing 2 is the point mark accumulation figure of maximum recursion energy tracking；
Accompanying drawing 3 is the energy accumulation figure of maximum recursion energy tracking；
Accompanying drawing 4 is the target following illustraton of model under stealthy+hypersonic double influence.
Embodiment
For the near space target following problem under stealthy and hypersonic double influence, the present invention devises a kind of base
The near space New Target Tracking tracked in maximum recursion energy.First, TBD algorithms are changed in points accumulation
Enter, substituting traditional points using recursion flight path accumulates, at this moment points accumulation will be measured by the batch processing at multiple moment
Composition, but be made up of the measurement and the existing track points at m-1 moment at 1 moment, such algorithm not only possesses real-time,
And can effectively solve the problems, such as the time-delay deviation that target In Hypersonic Flow is brought；Then, TBD algorithms are done in energy accumulation
Further improve, traditional energy accumulation is substituted using recursion energy, such algorithm may be used also while to object real-time tracking
Effectively overcome stealthy the brought detection problem of target；Finally, recursion flight path and recursion energy are organically combined, passed by maximum
The reasonable judgement of energy decision mechanism is pushed away, finally to realize effective tracking to stealthy hypersonic target.
Below in conjunction with Figure of description, 1 couple of present invention is described in further detail.With reference to Figure of description 1, the present invention
Handling process point following steps：
1) traditional points accumulation is substituted using recursion flight path
TBD algorithms are improved, substituting traditional points using recursion flight path accumulates, and accumulation of at this moment counting will no longer be
Measured and constituted by the batch processing at multiple moment, but be made up of the measurement and the existing track points at m-1 moment at 1 moment, this
Sample algorithm not only possesses real-time, can effectively reject targeted cache and move brought time-delay deviation, and further avoid
Redundant conversion of the data space to parameter space, it is specifically as shown in Figure 2；
1. recursion flight path is built
Assuming that the state vector of k moment targets is
X (k)=[x (k), vx(k),y(k),vy(k)]T (1)
Select its location status
Y (k)=[x (k), y (k)]T (2)
Then during target following, the recursion flight path that length is m can be built
Ym(k)=Y (k-m+1) ..., Y (k-1), Y (k) } (3)
Wherein, Y (i) is the existing flight path of target, and i=k-m+1 ..., k-1, k.
2. recursion flight path updates
To recursion flight path Ym(k) on the basis of building, using the existing flight path at m-1 moment to the target at k+1 moment
Position is predicted,
Wherein
And then, the region that target is likely to occur is
Zξ(k+1 | k)=[xξ(k+1|k),yξ(k+1|k)]T (6)
Wherein
At this moment, it is determined that target area ZξUnder conditions of (k+1 | k), according to step 2) described in method, in selection region
The maximum measuring point of energy carries out real-time update processing, and then recursion flight path may be updated as
Ym(k+1)=Y (k-m+2) ..., Y (k-1), Y (k), Z (k+1) } (8)
Wherein, Y (j) has flight path, and j=k-m+2 ..., k-1, k for the target at m-1 moment.Z (k+1) be according to
Step 2) selected by target measure, and be updated to after tracking terminates track points Y (k+1).
2) traditional energy accumulation is substituted using recursion energy
TBD algorithms are further improved, traditional energy accumulation are substituted using recursion energy, at this moment energy accumulation is by m-
Maximum measuring point energy composition in the track points energy at 1 moment and current target region, so target in real time with
It while track, can also make measurement that there is higher detection probability, and then solve stealthy the brought tracking problem of target, its is specific
As shown in Figure 3；
1. recursion energy is built
On the basis of recursion flight path structure, matched recursion energy is further built
Wherein
A (i)=PtG2ελ2/(4π)3r(i)4 (10)
For the energy size of single track points, and i=k-m+1 ..., k-1, k, PtFor radar transmission power, λ represents thunder
Up to the wavelength of transmitting electromagnetic wave, G is antenna gain, and ε is target RCS, and r (i) is distance of the moment i target with respect to radar.
2. recursion energy updates
There can be higher detection probability to measure target, select energy determined by step 1 in target area
Maximum measuring point carries out recursion renewal processing.
A (k+1)=A (k)+b (k+1)-a (k-m+1) (11)
Wherein
B (k+1)=max { b1(k+1),b2(k+1),...,bN(k+1)} (12)
Energy is updated for the maximum selected by the k+1 moment, and track points energy a (k+1) is updated to after tracking terminates, its
It is Z (k+1) that corresponding target, which is measured, and Z (k+1) is exactly that the maximum recursion energy for target following selected is measured.bj(k+
1) for jth in tracing area (j=1,2 ... N) individual measuring point energy size, N is the measurement number in tracing area.
3) maximum recursion energy judgement
While recursion flight path and recursion energy update, build maximum recursion energy decision mechanism, selection it is optimal with
Track mode carries out recursion tracking processing to target, and it is specifically as shown in Figure 4.
Effectively to obtain the target following model under stealthy+hypersonic double influence, then maximum recursion energy adjudicates machine
System can use following hypothesis testing to be further described：
H0：As recursion energy A (k+1)>λ, then judge that current tracking confidence level is higher, according to step 2) described in method,
The maximum point of energy is selected to carry out real-time tracking processing to target；
H1：As recursion energy A (k+1)≤λ, then judge that current tracking confidence level is relatively low, target need to be navigated using TBD methods
Mark is originated again.
Wherein, thresholdingThe noise power at value and m moment and relevant, obey the card that the free degree is 2m
Square distribution decision, α is its significance.
4) target following is filtered
Assuming that H0Under conditions of establishment, by step 1) the recursion flight path and step 2) the recursion energy substitute into it is existing
Filter tracking algorithm can effectively realize the target following under stealthy+hypersonic double influence.
Claims (6)
1. the proximity space method for tracking target under stealthy and hypersonic double influence, it is characterised in that comprise the following steps：
Step one：In data space, the recursion flight path being made up of 1 measuring point and m-1 track points is built, and utilize recursion boat
The renewal of mark, substitutes the points accumulation in tradition TBD algorithms；
Step 2：In energy space, the recursion energy being made up of 1 maximum measuring point energy and m-1 track points energy is built,
And using the renewal of recursion energy, substitute the energy accumulation in tradition TBD algorithms；
Step 3：While recursion flight path and recursion energy update, maximum recursion energy decision mechanism is built, is selected most preferably
Tracking mode carries out recursion tracking processing to target；
Step 4：Target following is filtered.
2. according to claim 1, the proximity space method for tracking target under stealthy and hypersonic double influence, it is special
Levy and be, the method that recursion flight path is built in step one is：
Assuming that the state vector of k moment targets is
X (k)=[x (k), vx(k),y(k),vy(k)]T
Select its location status
Y (k)=[x (k), y (k)]T
Then during target following, the recursion flight path that length is m can be built
Ym(k)=Y (k-m+1) ..., Y (k-1), Y (k) }
Wherein, Y (i) is the existing flight path of target, and i=k-m+1 ..., k-1, k.
3. according to claim 1, the proximity space method for tracking target under stealthy and hypersonic double influence, it is special
Levy and be, the method that recursion flight path updates in step one is：
To recursion flight path Ym(k) on the basis of building, the existing flight path using m-1 moment enters to the target location at k+1 moment
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At this moment, it is determined that target area Zξ(k+1 | k) under conditions of, according to the method described in step 2, selection region self-energy is most
Big measuring point carries out real-time update processing, and then recursion flight path may be updated as
Ym(k+1)=Y (k-m+2) ..., Y (k-1), Y (k), Z (k+1) }
Wherein, Y (j) is the existing flight path of target at m-1 moment, and j=k-m+2 ..., k-1, k, Z (k+1) are according to step
Target selected by two is measured, and is updated to after tracking terminates track points Y (k+1).
4. according to claim 1, the proximity space method for tracking target under stealthy and hypersonic double influence, it is special
Levy and be, the method that recursion energy is built in step 2 is：
On the basis of recursion flight path structure, matched recursion energy is further built
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A (i)=PtG2ελ2/(4π)3r(i)4
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The wavelength of electromagnetic wave, G is antenna gain, and ε is target RCS, and r (i) is distance of the moment i target with respect to radar.
5. according to claim 1, the proximity space method for tracking target under stealthy and hypersonic double influence, it is special
Levy and be, the method that recursion energy updates in step 2 is：
There can be higher detection probability to measure target, select energy maximum in target area determined by step one
Measuring point carry out recursion renewal processing,
A (k+1)=A (k)+b (k+1)-a (k-m+1)
Wherein
B (k+1)=max { b1(k+1),b2(k+1),...,bN(k+1)}
Energy is updated for the maximum selected by the k+1 moment, and track points energy a (k+1) is updated to after tracking terminates, it is right
It is Z (k+1) that the target answered, which is measured, and Z (k+1) is exactly that the maximum recursion energy for target following selected is measured, bj(k+1) it is
Jth in tracing area (j=1,2 ... N) individual measuring point energy size, N is the measurement number in tracing area.
6. according to claim 1, the proximity space method for tracking target under stealthy and hypersonic double influence, it is special
Levy and be, the method for maximum recursion energy judgement is in step 3：
While recursion flight path and recursion energy update, the method for maximum recursion energy judgement can use following hypothesis testing to do
Further description：
H0：As recursion energy A (k+1)>λ, then judge that current tracking confidence level is higher, according to the method described in step 2, select energy
Measure maximum point and real-time tracking processing is carried out to target；
H1：As recursion energy A (k+1)≤λ, then judge that current tracking confidence level is relatively low, targetpath need to be entered using TBD methods
Row is originated again；
Wherein, thresholdingThe noise power at value and m moment and relevant, obey card side point of the free degree for 2m
Cloth is adjudicated, and α is its significance.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107942330A (en) * | 2017-11-20 | 2018-04-20 | 北京航天长征飞行器研究所 | A kind of radar scattering characteristic extracting method and system based on plasma near-field test |
| CN109901154A (en) * | 2019-03-29 | 2019-06-18 | 中国人民解放军海军航空大学 | Self-adapting regulation method based on recursion RTHT-TBD |
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