CN113204014A - Three-dimensional radar simulation method and system based on multi-unmanned aerial vehicle distributed radar - Google Patents
Three-dimensional radar simulation method and system based on multi-unmanned aerial vehicle distributed radar Download PDFInfo
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- CN113204014A CN113204014A CN202110352061.4A CN202110352061A CN113204014A CN 113204014 A CN113204014 A CN 113204014A CN 202110352061 A CN202110352061 A CN 202110352061A CN 113204014 A CN113204014 A CN 113204014A
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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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
- G01S13/726—Multiple target tracking
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
Abstract
The invention discloses a three-dimensional radar simulation method and a three-dimensional radar simulation system based on a multi-unmanned aerial vehicle distributed radar, wherein the system comprises ground equipment A and ground equipment B, unmanned aerial vehicles A and ground equipment B, communication links A1, A2, B1, B2 and communication links AB, and the method comprises the steps of predefining the spatial position and track of a real target of the radar and the spatial positions of the radar A and the radar B; the ground equipment A and the ground equipment B respectively acquire the positions of a radar A and a radar B, the ground equipment A acquires the spatial position of the radar B, and the ground equipment B sends the spatial position to the ground equipment A; the ground equipment A calculates and obtains the motion tracks of the unmanned aerial vehicles A and B and the electromagnetic wave emission delay time sequence; the ground equipment A calculates and then sends the information to the unmanned aerial vehicle A, and the ground equipment B sends the information of the unmanned aerial vehicle B to the ground equipment B; the ground equipment B sends the information to the unmanned aerial vehicle B; and the unmanned aerial vehicles A and B transmit radar target analog signals according to the information. The invention adopts a method of a plurality of unmanned aerial vehicles and simulating distributed radar targets, and develops brand new application for the three-dimensional radar simulator.
Description
Technical Field
The invention relates to the technical field of radar and radar countermeasure, in particular to a three-dimensional radar simulation method and system based on a multi-unmanned aerial vehicle distributed radar.
Background
The radar target simulator receives and processes the sending signal of the tested radar through computer software and hardware, and finally radiates a predefined electromagnetic signal to the tested radar to achieve the purpose of simulating a real radar detection target. The radar target simulator is widely applied to various stages of radar research, development and debugging, design and identification, production inspection, off-site calibration, maintenance and guarantee and the like. For example, weather radar requires a radar target simulator to generate a complex weather environment to detect the detection performance of the weather radar in complex weather. The marine navigation radar also needs a radar target simulator to generate complex sea clutter and multiple targets for detecting the anti-collision detection performance of the marine navigation radar. The radar target simulator can improve the debugging efficiency of the radar, shorten the development period and greatly reduce the development cost and risk by simulating a real radar detection target, so that the radar target simulator has an important proportion in the investment budget of development, production, operation and maintenance guarantee of the radar.
The traditional radar simulator realizes the simulation of a target by assuming the radar simulator is arranged on the ground, the top end of a building or a tower crane. The problems of lack of three-dimensional space maneuverability, unreal background clutter, difficulty in realizing multi-simulator cooperation and networking and the like exist. [ patent application No.: 201910176667, a three-dimensional radar simulator, which is a brand new radar simulator, utilizes an unmanned aerial vehicle to carry advanced electronic loads, forms a distributed radar simulator which freely moves in a three-dimensional space with a ground control system, and fundamentally solves the problems that the traditional radar simulator lacks maneuverability, is greatly influenced by ground clutter, and is difficult to realize the coordination of multiple simulators, networking and the like for a long time. The three-dimensional radar simulator can simulate the echo signal of a radar detection target, can simulate the interference to the radar, can also simulate the radar signal, and is widely applied to the fields of simulation of radar targets, interference and radars, training of radars and electronic warfare troops and the like. The three-dimensional radar simulator has the main technical advantage that the characteristics of a real motion platform are simulated by utilizing the motion trail of the unmanned aerial vehicle and adopting the radial equal-proportion amplification principle.
With the development of radio frequency stealth technology and electronic interference technology, the requirement on radar is higher and higher, and a single radar is difficult to continuously detect or track a target. The distributed radar is a novel radar, all information of the radar is transmitted to the processing center by means of communication through a plurality of radars arranged in different regions, and the overall performance of the radar can be greatly improved.
Since three-dimensional radar simulation requires deployment of the unmanned aerial vehicle near the radar, typically in the range of several kilometers. Each radar of the networking needs to be deployed nearby by one aircraft, so that the same target is simulated by the multiple simulators. The aforesaid patent technique adopts single unmanned aerial vehicle, simulation simplex radar, can not directly be applicable to the target simulation of distributed radar.
Disclosure of Invention
The invention aims to provide a three-dimensional radar simulation method and a three-dimensional radar simulation system based on a distributed radar of multiple unmanned aerial vehicles, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the system comprises two sub-networks, namely an A network and a B network;
the A net comprises a ground device A, an unmanned aerial vehicle A, a communication link A1 between the ground device A and the radar A, and a communication link A2 between the ground device A and the unmanned aerial vehicle A;
the B network comprises a ground device B, an unmanned aerial vehicle B, a communication link B1 between the ground device B and the radar B, and a communication link B2 between the ground device B and the unmanned aerial vehicle B;
a communication link AB connecting the a-network and the B-network.
Preferably, the communication link A1, the communication link A2, the communication link B1, the communication link B2 and the communication link AB are in wired communication.
Preferably, the wired communication is gigabit ethernet or fiber optic.
Preferably, the communication link A1, the communication link A2, the communication link B1, the communication link B2 and the communication link AB are wireless communication.
Preferably, the wireless communication is mobile communication or wireless local area network.
Preferably, the system can be applied to target simulation of multiple radars.
The three-dimensional radar simulation method based on the multi-unmanned aerial vehicle distributed radar comprises the following steps:
s1, predefining the spatial position and track of a radar real target, the spatial position of a radar A and the spatial position of a radar B;
s2, the ground equipment A acquires the position of the radar A through the communication link A1, and acquires the spatial position of the radar B through the communication link AB;
s3, the ground equipment B acquires the position of the radar B through the communication link B1 and sends the position of the radar B to the ground equipment A through the communication link AB;
s4, the ground equipment A obtains the motion trail and the electromagnetic wave emission delay time sequence of the unmanned aerial vehicle A, the motion trail and the electromagnetic wave emission delay time sequence of the unmanned aerial vehicle B through calculation according to the space position and the flight path of the radar real target, the space position of the radar A and the space position of the radar B;
s5, the ground equipment A sends the calculated motion trail of the unmanned aerial vehicle A and the electromagnetic wave emission delay time sequence to the unmanned aerial vehicle A through a communication link A2, and sends the motion trail of the unmanned aerial vehicle B and the electromagnetic wave emission delay time sequence to the ground equipment B through a communication link AB;
s6, the ground equipment B sends the acquired motion trail of the unmanned aerial vehicle B and the electromagnetic wave emission delay time sequence to the unmanned aerial vehicle B through a communication link B2;
s7, the unmanned aerial vehicle A moves according to the obtained motion trail and simultaneously transmits radar target analog signals according to the obtained electromagnetic wave transmission delay time;
s8, the unmanned aerial vehicle B moves according to the acquired motion trail and simultaneously transmits radar target analog signals according to the acquired electromagnetic wave transmission delay time
Compared with the prior art, the invention has the beneficial effects that:
the invention adopts a method of a plurality of unmanned aerial vehicles and simulating the distributed radar target, develops brand-new application for the three-dimensional radar simulator, and provides an advanced and effective three-dimensional radar target simulator for the distributed radar.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Referring to fig. 1, the present invention provides a technical solution: a three-dimensional radar simulation method and a system based on a multi-unmanned aerial vehicle distributed radar are disclosed, and the system comprises the following steps:
the communication links A1, A2, B1, B2 and AB can all adopt wired communication or wireless communication;
in the embodiment, the communication links A1, A2, B1, B2 and AB all adopt wireless local area network technology and are realized by adopting wireless local area network transceiving terminals;
predefining a spatial position (x0, y0, z0) and a track (x (K), y (K), z (K), wherein K is an integer and takes a value of 1, 2, …, K), a spatial position (xA, yA, zA) of a radar A and a spatial position (xB, yB, zB) of a radar B of the radar;
the ground equipment A acquires the position of a radar A through a communication link A1, and acquires the spatial position of a radar B through a communication link AB;
the ground equipment B acquires the position of the radar B through a communication link B1 and sends the position of the radar B to the ground equipment A through a communication link AB;
the ground equipment A acquires the motion trail (xA (K), yA (K), zA (K)) of the unmanned aerial vehicle A and the electromagnetic wave emission delay time sequence (tA (1), tA (2), …, tA (m)) to emit radar target simulation signals by calculation according to the space position (x0, y0, z0) and the flight path (x (K), y (K), z (K)) of the radar real target, wherein K is an integer, the values of 1, 2, …, K), the space position (xA, yA, zA) of the radar A and the space position (xB, yB, zB) of the radar B; and the trajectory of motion of drone B (tB (1), tB (2), …, tB (m);
the ground equipment A sends the calculated motion trail of the unmanned aerial vehicle A and the electromagnetic wave emission delay time sequence to the unmanned aerial vehicle A through a communication link A2, and sends the motion trail of the unmanned aerial vehicle B and the electromagnetic wave emission delay time sequence to the ground equipment B through a communication link AB;
and the ground equipment B sends the acquired motion trail of the unmanned aerial vehicle B and the electromagnetic wave emission delay time sequence to the unmanned aerial vehicle B through a communication link B2.
Unmanned planes A and B respectively move according to given movement tracks (xA (k), yA (k), zA (k)) and (xB (k), yB (k) and zB (k)), and simultaneously, the radio frequency system carried on the unmanned planes transmits electromagnetic wave models according to electromagnetic wave transmission delay time sequences (tA (1), tA (2), …, tA (M)) and (tB (1), tB (2), …, tB (M)), so that the simulation of the distributed radar target is completed.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The three-dimensional radar simulation system based on the distributed radar of the multiple unmanned aerial vehicles is characterized by comprising two sub-networks, namely an A network and a B network;
the A net comprises a ground device A, an unmanned aerial vehicle A, a communication link A1 between the ground device A and the radar A, and a communication link A2 between the ground device A and the unmanned aerial vehicle A;
the B network comprises a ground device B, an unmanned aerial vehicle B, a communication link B1 between the ground device B and the radar B, and a communication link B2 between the ground device B and the unmanned aerial vehicle B;
a communication link AB connecting the a-network and the B-network.
2. The multi-UAV distributed radar-based three-dimensional radar simulation method and system of claim 1, wherein: the communication link A1, communication link A2, communication link B1, communication link B2, and communication link AB are in wired communication.
3. The multi-UAV distributed radar-based three-dimensional radar simulation method and system of claim 2, wherein: the wired communication is gigabit ethernet or fiber optic.
4. The multi-UAV distributed radar-based three-dimensional radar simulation method and system of claim 1, wherein: the communication link A1, communication link A2, communication link B1, communication link B2, and communication link AB are wireless communications.
5. The multi-UAV distributed radar-based three-dimensional radar simulation method and system of claim 4, wherein: the wireless communication is mobile communication or wireless local area network.
6. The multi-UAV distributed radar-based three-dimensional radar simulation method and system of claim 4, wherein: the system can be applied to target simulation of multiple radars.
7. The three-dimensional radar simulation method based on the multi-unmanned aerial vehicle distributed radar is characterized by comprising the following steps of:
s1, predefining the spatial position and track of a radar real target, the spatial position of a radar A and the spatial position of a radar B;
s2, the ground equipment A acquires the position of the radar A through the communication link A1, and acquires the spatial position of the radar B through the communication link AB;
s3, the ground equipment B acquires the position of the radar B through the communication link B1 and sends the position of the radar B to the ground equipment A through the communication link AB;
s4, the ground equipment A obtains the motion trail and the electromagnetic wave emission delay time sequence of the unmanned aerial vehicle A, the motion trail and the electromagnetic wave emission delay time sequence of the unmanned aerial vehicle B through calculation according to the space position and the flight path of the radar real target, the space position of the radar A and the space position of the radar B;
s5, the ground equipment A sends the calculated motion trail of the unmanned aerial vehicle A and the electromagnetic wave emission delay time sequence to the unmanned aerial vehicle A through a communication link A2, and sends the motion trail of the unmanned aerial vehicle B and the electromagnetic wave emission delay time sequence to the ground equipment B through a communication link AB;
s6, the ground equipment B sends the acquired motion trail of the unmanned aerial vehicle B and the electromagnetic wave emission delay time sequence to the unmanned aerial vehicle B through a communication link B2;
s7, the unmanned aerial vehicle A moves according to the obtained motion trail and simultaneously transmits radar target analog signals according to the obtained electromagnetic wave transmission delay time;
and S8, the unmanned aerial vehicle B moves according to the acquired motion trail and transmits the radar target analog signal according to the acquired electromagnetic wave transmission delay time.
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| US20050237236A1 (en) * | 2004-04-26 | 2005-10-27 | Budic Robert D | Method and apparatus for performing bistatic radar functions |
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