CN100554996C - Tracking apparatus for warning radar major-minor petal and tracking thereof - Google Patents
Tracking apparatus for warning radar major-minor petal and tracking thereof Download PDFInfo
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- CN100554996C CN100554996C CNB2007100724766A CN200710072476A CN100554996C CN 100554996 C CN100554996 C CN 100554996C CN B2007100724766 A CNB2007100724766 A CN B2007100724766A CN 200710072476 A CN200710072476 A CN 200710072476A CN 100554996 C CN100554996 C CN 100554996C
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Abstract
The present invention is to provide tracking apparatus for warning radar major-minor petal and tracking thereof.By antenna 1～5, servo platform 6, PIN attenuator 7～11, height puts 12～16, frequency mixer 17～21, in put 22～26, local oscillator group 27, digital receiver 28, wave detector 29～33, summing circuit 34, signal processor 35 is formed, and antenna 1～5 is placed on the servo platform 6, antenna connects the input of PIN attenuator 7～11 respectively, the output of PIN attenuator is connected to the input of radio-frequency amplifier 12～16, and local oscillator group 27 is subject to processing device control, produces the microwave signal that fixed frequency difference is arranged with the incoming signal frequency, be input to frequency mixer 17～21 with the radio-frequency amplifier output signal, the output of frequency mixer 17～21 is connected to the input of intermediate frequency amplifier 22～26, and the output of intermediate frequency amplifier 22～26 is connected to digital receiver 28 and wave detector 29～33, and the output of wave detector 29～33 is connected to signal processor 35 through the output of summing circuit 34 and digital receiver 28.The present invention utilizes microwave front end arriving signal and signal processor to the control of microwave front end, and EKF (EKF) algorithm is engaged with the guided missile controlled quentity controlled variable, realizes the major and minor lobe of acquisition radar simultaneously, reaches the purpose of precision strike.
Description
Technical field
What the present invention relates to is a kind of observation and control technology, specifically a kind of passive radar detection technology.
Background technology
Early-warning radar is generally the ring clearance and reaches, target seeker is followed the tracks of the surveillance radar conventional method: when radar and counter radiation target seeker apart from each other, during radar antenna and counter radiation target seeker antenna alignment, the counter radiation target seeker can intercepted signal, it is analyzed, and follow the tracks of this radar, and when the inswept antiradiation missile antenna of radar beam, the antiradiation missile lose objects; When short range, radar main lobe power is big, and the counter radiation target seeker adopts the PIN attenuator, suppresses main lobe, receives the secondary lobe signal.
As can be seen, the counter radiation target seeker is followed the tracks of in the early-warning radar process with conventional method, the capital does not have signal for some time, if do not take measures, then the counter radiation target seeker can not provide target information, and guided missile just can not in time be adjusted the angle between itself and the target, and the counter radiation target seeker can not be to positive goal place direction, cause track rejection, can cause guided missile to miss the target when serious.
Summary of the invention
The object of the present invention is to provide a kind of phase differential that utilizes early-warning radar to arrive each antenna of counter radiation target seeker, amplitude information and the control information of counter radiation target seeker is realized following the tracks of the warning radar major-minor petal device.The present invention also aims to provide a kind of counter radiation target seeker to follow the tracks of the warning radar major-minor petal method.
The object of the present invention is achieved like this:
Tracking apparatus for warning radar major-minor petal of the present invention is by antenna 1～5, servo platform 6, PIN attenuator 7～11, height puts 12～16, frequency mixer 17～21, in put 22～26, local oscillator group 27, digital receiver 28, wave detector 29～33, summing circuit 34, signal processor 35 is formed, and antenna 1～5 is placed on the servo platform 6, antenna connects the input of PIN attenuator 7～11 respectively, the PIN attenuator exports radio-frequency amplifier 12～16 to, and local oscillator group 27 is subject to processing device control, produces the microwave signal that fixed frequency difference is arranged with the incoming signal frequency, be input to frequency mixer 17～21 with the radio-frequency amplifier output signal, the output of frequency mixer 17～21 connects the input of intermediate frequency amplifier 22～26, and intermediate frequency amplifier 22～26 exports digital receiver 28 and wave detector 29～33 to, and the output of wave detector 29～33 links to signal processor 35 through the output of summing circuit 34 and digital receiver 28.Described antenna 1～5 adopts the both arms flat helical antenna.
Tracking based on tracking apparatus for warning radar major-minor petal of the present invention is: tracking means is by antenna 1～5, servo platform 6, PIN attenuator 7～11, height puts 12～16, frequency mixer 17～21, in put 22～26, local oscillator group 27, digital receiver 28, wave detector 29～33, summing circuit 34 and signal processor 35 are formed, and antenna 1～5 connects PIN attenuator 7～11 respectively, and the PIN attenuator is connected to radio-frequency amplifier 12～16, local oscillator group 27 is subject to processing device control, produce the microwave signal that fixed frequency difference is arranged with the incoming signal frequency, be input to frequency mixer 17～21, produce the intermediate-freuqncy signal of dead center frequency with the radio-frequency amplifier output signal.After this intermediate-freuqncy signal is amplified through intermediate frequency amplifier 22～26, be divided into two-way, one the tunnel exports digital receiver 28 to, after 28 pairs of intermediate-freuqncy signals that receive of digital receiver are carried out the A/D sampling, sampled data is handled, obtained any two interchannel phase differential, carrier frequency, arteries and veins internal modulation parameter information; Another road intermediate-freuqncy signal is passed through summing circuit 34 again through wave detector 29～33, delivers to signal processor.Enter into the signal of signal processor, one the tunnel through amplification, shaping, obtain video pulse signal stream, the signal carrier frequency, pulsewidth, the modulation intelligence describing word that provide in conjunction with digital receiver, carry out sorting, identification, judge parameters such as radar type, scan period repetition period, so that signal processor is handled target radar, signal processor 35 utilizes the direction of interchannel phase difference calculating target radar; A/D sampling is directly carried out on another road, obtain signal amplitude and.
When small-signal, signal processor control PIN attenuator, making its damping capacity is 0; During strong signal, strengthen damping capacity, make the signal that enters into the counter radiation target seeker unsaturated, satisfy the technical requirement of target seeker.
The signal elder generation detection that target seeker microwave front end gets off, all channel signals are sued for peace, A/D sampling then, obtain signal amplitude and, utilize amplitude and information Control PIN attenuator, guarantee the normal tracking target radar of target seeker energy when radar scanning target seeker antenna, after inswept, the damping capacity of PIN attenuator is controlled to be 0, and constantly the monitoring video pulse signal flows, sorting, identification whether can the receiving target radar the secondary lobe signal, after can receiving target radar secondary lobe signal, signal processor control PIN attenuator in radar main lobe section sweep time, strengthens the PIN attenuator, so that target seeker can be caught the main lobe signal and be handled, in during radar is inswept, adjust the PIN attenuator, tracking radar secondary lobe signal.
During the tracking target radar, adopt EKF (EKF) algorithm to carry out filtering and recursion, in conjunction with the controlled quentity controlled variable of seeker, provide the guidance rule of guided missile, the control target seeker aims at the mark; During losing target radar, recursion goes out target direction, in conjunction with the controlled quentity controlled variable of target seeker, provides the Guidance Law of guided missile, guarantees that target seeker aligns target direction.
Tracking apparatus for warning radar major-minor petal of the present invention by antenna, servo platform, PIN attenuator, height put, frequency mixer, intermediate frequency amplifier, local oscillator group, digital receiver, wave detector and signal processor form; The microwave signal of being sent by microwave radiation source receives through 5 antennas, antenna arrangements is on servo platform, servo platform is controlled by signal processor, antenna connects the PIN attenuator respectively, the PIN attenuator is connected to radio-frequency amplifier, the local oscillator group is controlled by signal processor, and the output signal that the local oscillator group produces the microwave signal that fixed frequency difference arranged with the incoming signal frequency and radio-frequency amplifier is input to frequency mixer, and the output of frequency mixer connects the input of intermediate frequency amplifier.Signal one tunnel after the amplification enters digital receiver, and digital receiver is handled sampled data after the intermediate-freuqncy signal that receives is carried out the A/D sampling, obtains any two interchannel phase differential and arteries and veins internal information; Process is got with afterwards after another road signal demodulator, enter into signal processor, in the signal processor, the one tunnel with this signal amplify, shaping, flow as video pulse signal, combine with the intermediate frequency information that digital receiver is sent here, it is carried out sorting, and identification provides the parameters such as pulse repetition, scan period of surveillance radar, the A/D sampling is directly carried out on another road, obtains its amplitude information control PIN attenuator.Signal processor is during lock-on signal, signal phase of sending here according to digital receiver and amplitude information calculate the angle between target and the counter radiation target seeker, use the EKF algorithm angle information is carried out filtering and prediction, adjust guided missile, make its radar that aims at the mark according to the filter value of EKF; During losing target acquistion, use the angle of EKF algorithm recursion target and counter radiation target seeker, in conjunction with the controlled quentity controlled variable of target seeker, make antiradiation missile align target radar, do not depart from the track of attack, when lock-on signal again, can accomplish quick tracking.
Traditional tracking was followed the tracks of target in the inswept target seeker of the radar cycle, inswept after, track rejection, target seeker or catch other targets again then, perhaps guided missile keeps original direction to attack, and departs from the tracking target of wanting, and can not realize the effective strike to set objective.When native system adopts the remote tracing surveillance radar, utilize the controlled quentity controlled variable of original metrical information and target seeker, use the direction of attack channeling conduct of EKF, make guided missile positive goal place direction to guided missile, when target radar rescans the target seeker antenna, can catch the target radar signal immediately.Target seeker when work, adjust the PIN attenuator, so that when guided missile flies the close-target radar, the major and minor lobe of acquisition radar is simultaneously realized the purpose of precision strike.
Description of drawings
Fig. 1 is a block diagram of the present invention;
Fig. 2 adopts EKF tracking radar principal subsidiary lobe block diagram.
Embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1, tracking means of the present invention is by antenna 1～5, servo platform 6, PIN attenuator 7～11, height puts 12～16, frequency mixer 17～21, in put 22～26, local oscillator group 27, digital receiver 28, wave detector 29～33, summing circuit 34 and signal processor 35 are formed, antenna 1～5 connects PIN attenuator 7～11 respectively, the PIN attenuator exports radio-frequency amplifier 12～16 to, and local oscillator group 27 is subject to processing device control, produces the microwave signal that fixed frequency difference is arranged with the incoming signal frequency, pass through frequency mixer 17～21 with the radio-frequency amplifier output signal, produce the intermediate-freuqncy signal of dead center frequency.After this intermediate-freuqncy signal is amplified through intermediate frequency amplifier 22～26, be divided into two-way, one the tunnel exports digital receiver 28 to, after 28 pairs of intermediate-freuqncy signals that receive of digital receiver are carried out the A/D sampling, sampled data is handled, obtained any two interchannel phase differential, carrier frequency, arteries and veins internal modulation parameter information; Another road intermediate-freuqncy signal is passed through summing circuit 34 again through wave detector 29～33, delivers to signal processor.Enter into the signal of signal processor, one the tunnel through amplification, shaping, obtain video pulse signal stream, the signal carrier frequency, pulsewidth, the modulation intelligence describing word that provide in conjunction with digital receiver, carry out sorting, identification, judge parameters such as radar type, scan period repetition period, so that signal processor is handled target radar, signal processor 35 utilizes the direction of interchannel phase difference calculating target radar; A/D sampling is directly carried out on another road, obtain signal amplitude and.
When small-signal, signal processor control PIN attenuator, making its damping capacity is 0; During strong signal, strengthen damping capacity, make the signal that enters into the counter radiation target seeker unsaturated, satisfy the technical requirement of target seeker.
The detection of signal elder generation, all channel signals are sued for peace, A/D sampling then, obtain signal amplitude and, utilize amplitude and information Control PIN attenuator, guarantee the normal tracking target radar of target seeker energy when radar scanning target seeker antenna, after inswept, the damping capacity of PIN attenuator is controlled to be 0, constantly monitoring video pulse signal stream, sorting identification whether can the receiving target radar the secondary lobe signal, after can receiving target radar secondary lobe signal, signal processor is discerned the secondary lobe signal, controls the PIN attenuator then, in radar main lobe section sweep time, strengthen the PIN attenuator so that target seeker can catch the main lobe signal and handle, during radar is inswept in, adjust the PIN attenuator, tracking radar secondary lobe signal.
During the tracking target radar, adopt the EKF algorithm to carry out filtering and recursion, the control target seeker aims at the mark, and loses during the target radar again, and recursion goes out target direction, in conjunction with the controlled quentity controlled variable of target seeker, guarantees that target seeker aligns target direction.
In conjunction with Fig. 2, it is to adopt EKF tracking radar principal subsidiary lobe block diagram.
When catching echo signal, the phase place that the Passive Radar Seeker signal processor provides according to digital receiver, amplitude information calculate the angle Z (X) between target seeker and the target, implement precise guidance.EKF also works simultaneously, obtains the k estimated value of target and target seeker relative motion quantity of state constantly by filtering, promptly
In conjunction with the controlled quentity controlled variable U of seeker, provide the Guidance Law U of guided missile
q, U
r, the control missile target.
When k+1 constantly target seeker lose catch after, though target seeker has lost observation information, obtain the valuation of k+i moment observed quantity by EKF, promptly
In conjunction with the controlled quentity controlled variable U of target seeker, provide the Guidance Law U of guided missile again
q, U
rThereby, continue guiding antiradiation missile target of attack, reach the performance requirement of remote tracing surveillance radar.
Claims (6)
1, a kind of tracking apparatus for warning radar major-minor petal, it is by antenna 1～5, servo platform 6, PIN attenuator 7～11, height puts 12～16, frequency mixer 17～21, in put 22～26, local oscillator group 27, digital receiver 28, wave detector 29～33, summing circuit 34, signal processor 35 is formed, and it is characterized in that: antenna 1～5 is placed on the servo platform 6, and antenna connects PIN attenuator 7～11 respectively, the PIN attenuator is connected to radio-frequency amplifier 12～16, local oscillator group 27 is subject to processing device control, produces the microwave signal that fixed frequency difference is arranged with the incoming signal frequency, with incoming signal input mixer 17～21, the output of frequency mixer 17～21 connects the input of intermediate frequency amplifier 22～26, intermediate frequency amplifier 22～26 exports digital receiver 28 and wave detector 29～33 to, and wave detector 29～33 is connected to signal processor 35 through the output of summing circuit 34 and digital receiver 28, adopts expanded Kalman filtration algorithm to carry out filtering and recursion.
2, tracking apparatus for warning radar major-minor petal according to claim 1 is characterized in that: described antenna 1～5 adopts the both arms flat helical antenna.
3, a kind of tracking based on tracking apparatus for warning radar major-minor petal, it is characterized in that: tracking means is by antenna 1～5, servo platform 6, PIN attenuator 7～11, height puts 12～16, frequency mixer 17～21, in put 22～26, local oscillator group 27, digital receiver 28, wave detector 29～33, summing circuit 34 and signal processor 35 are formed, antenna 1～5 connects PIN attenuator 7～11 respectively, the PIN attenuator is connected to radio-frequency amplifier 12～16, and local oscillator group 27 is subject to processing device control, produces the microwave signal that fixed frequency difference is arranged with the incoming signal frequency, be input to frequency mixer 17～21 with incoming signal, produce the intermediate-freuqncy signal of dead center frequency; After this intermediate-freuqncy signal is amplified through intermediate frequency amplifier 22～26, be divided into two-way, one the tunnel exports digital receiver 28 to, after 28 pairs of intermediate-freuqncy signals that receive of digital receiver are carried out the A/D sampling, sampled data is handled, obtained any two interchannel phase differential, carrier frequency, arteries and veins internal modulation parameter information; Another road intermediate-freuqncy signal is passed through summing circuit 34 again through wave detector 29～33, delivers to signal processor; Enter into the signal of signal processor, one the tunnel through amplification, shaping, obtain video pulse signal stream, the signal carrier frequency, pulsewidth, the modulation intelligence describing word that provide in conjunction with digital receiver, carry out sorting, identification, judge parameters such as radar type, scan period repetition period, so that signal processor is handled target radar, signal processor 35 adopts expanded Kalman filtration algorithm to carry out filtering and recursion, utilizes the direction of interchannel phase difference calculating target radar; A/D sampling is directly carried out on another road, obtain signal amplitude and.
4, the tracking based on tracking apparatus for warning radar major-minor petal according to claim 3 is characterized in that: when small-signal, and signal processor control PIN attenuator, making its damping capacity is 0; During strong signal, strengthening damping capacity, is that to enter into the signal of counter radiation seeker unsaturated, satisfies the technical requirement of seeker.
5, according to claim 3 or 4 described trackings based on tracking apparatus for warning radar major-minor petal, it is characterized in that: the detection of signal elder generation, all channel signals are sued for peace, A/D sampling then, obtain signal amplitude and, utilize amplitude and information Control PIN attenuator, guarantee the normal tracking target radar of target seeker energy when radar scanning target seeker antenna, after inswept, the damping capacity of PIN attenuator is controlled to be 0, continuous monitoring video pulse signal stream, sorting identification whether can the receiving target radar the secondary lobe signal, after can receiving target radar secondary lobe signal, signal processor is discerned the secondary lobe signal, control the PIN attenuator then, in radar main lobe section sweep time, strengthen the PIN attenuator, so that target seeker can be caught the main lobe signal and be handled, in during radar is inswept, adjust the PIN attenuator, tracking radar secondary lobe signal.
6, according to claim 3 or 4 described trackings based on tracking apparatus for warning radar major-minor petal, it is characterized in that: during the tracking target radar, adopt the EKF algorithm to carry out filtering and recursion, the controlled quentity controlled variable of control target seeker, provide the system conductance of guided missile, the control seeker aims at the mark; During losing target radar, recursion goes out target direction, in conjunction with the controlled quentity controlled variable of target seeker, provides the system conductance of guided missile, guarantees that target seeker aligns target direction.
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| CNB2007100724766A CN100554996C (en) | 2007-07-06 | 2007-07-06 | Tracking apparatus for warning radar major-minor petal and tracking thereof |
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| CNB2007100724766A CN100554996C (en) | 2007-07-06 | 2007-07-06 | Tracking apparatus for warning radar major-minor petal and tracking thereof |
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| CN100554996C true CN100554996C (en) | 2009-10-28 |
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| CN104391292A (en) * | 2014-11-18 | 2015-03-04 | 无锡悟莘科技有限公司 | Radar system using main antenna as helical antenna |
| CN106383332B (en) * | 2016-07-26 | 2019-03-29 | 中国船舶重工集团公司第七二四研究所 | Scanning mode self-adapting regulation method under a kind of radar passive work mode |
| CN113391138B (en) * | 2020-03-13 | 2022-08-30 | 中国人民解放军63756部队 | Antenna side lobe identification and automatic main lobe conversion method based on tracking track fitting |
| CN111812603B (en) * | 2020-07-17 | 2021-04-09 | 中国人民解放军海军航空大学 | Anti-ship missile radar seeker dynamic performance verification system |
| CN113075682A (en) * | 2021-03-30 | 2021-07-06 | 国科同光(北京)光电科技有限公司 | Target tracking device based on PSD sensor |
| CN115833969A (en) * | 2021-09-17 | 2023-03-21 | 上海华为技术有限公司 | Channel phase deviation prediction method and related equipment |
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| 被动探测中的信号检测技术研究. 宋虎等.雷达与对抗，第无卷第4期. 2005 |
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