CN103064066A - Deployment method for launching radar and receiving radar in dual-radio radar network - Google Patents

Abstract

The invention discloses a deployment method for launching a radar and receiving the radar in a dual-radio radar network. The method includes the following steps of (A) randomly selecting M initial positions for launching the radar and N initial positions for receiving the radar, and conforming a moving distance threshold Th d1 of launching the radar and receiving the radar; (B) fixing the M positions for launching the radar, deploying the N positions for receiving the radar through a random Veno algorithm, and updating the N positions for receiving the radar; (C) fixing the N positions for receiving the radar, deploying the M positions for launching the radar through the random Veno algorithm, and updating the M positions for launching the radar; (D) repeating the step B and the step C until a moving distance of launching the radar and receiving the radar is smaller than the Th d1. According to the deployment method for launching the radar and receiving the radar in the dual-radio radar network, the deployment problems of launching the radar and receiving the radar are divided into two sub problems, then optimization design is conducted on the sub problems respectively, at last that deployment of launching the radar and receiving the radar is achieved through solving of the two sub problems repeatedly and iteratively, and the method is effective and low in time complexity.

Description

The dispositions method of emission radar and receiving radar in a kind of bistatic radar network

Technical field

The invention belongs to the node deployment field in the wireless network, be specifically related to launch in a kind of bistatic radar network the dispositions method of radar and receiving radar.

Background technology

Radar has become ingredient important in prosecution and the system of defense.Compare with traditional sensor node, the transmitting terminal that a principal feature of radar is radar is transmitted signal on one's own initiative, and this signal is through the receiving end of target reflection arrival radar.Therefore, radar is subjected to the influence factor of environment very little.Radar can be divided three classes: (1) transmitting terminal and receiving end are positioned at the single base station radar on the same node; (2) transmitting terminal and receiving end are positioned at the bistatic radar of diverse location; (3) comprise many base stations radar of the receiving end on a transmitting terminal and a plurality of diverse location.

A large amount of researchs about radar mainly concentrate on Physical layer, such as launching beam design and signal processing etc.At present, day by day increase for the research of radar netting and the concern of design.In radar netting, the low power radar of a plurality of small sizes forms a network, substitutes traditional single large scale high powered radar.A plurality of radars are from the different side detections of a target, thereby can realize detecting more accurately.

The coverage of single base station radar is the same with traditional sensor node, be one centered by the radar of single base station, the circle of certain radius arranged.Therefore, the node deployment in the radar netting of single base station and traditional sensor are disposed similar.The coverage of bistatic radar then depends on the position of its emission radar and receiving radar, and the border of its coverage is to send radar and receiving radar is the ovals of Cassini (Cassini Oval) of fixing a point.Hence one can see that, and the node deployment in the bistatic radar network is more complicated.

Therefore, need to launch in a kind of bistatic radar network the dispositions method of radar and receiving radar to address the above problem.

Summary of the invention

Goal of the invention: the present invention is directed to the problem of the node deployment in the bistatic radar network in the prior art, the dispositions method of launching radar and receiving radar in a kind of effectively bistatic radar network is provided.

Technical scheme: for solving the problems of the technologies described above, the dispositions method of emission radar and receiving radar adopts following technical scheme in the bistatic radar network of the present invention:

The dispositions method of emission radar and receiving radar is characterized in that in a kind of bistatic radar network, may further comprise the steps:

A, in deployment region A, choose arbitrarily the initial position of M emission radar and N receiving radar, determine to launch the distance threshold Thd1 that radar and receiving radar move;

The position of B, fixing described M emission radar utilizes random dimension promise algorithm to dispose a described N receiving radar, upgrades the position of a described N receiving radar;

The position of C, a fixing described N receiving radar utilizes random dimension promise algorithm to dispose described M emission radar, upgrades the position of described M emission radar;

D, repeating step B and step C are until the distance that emission radar and receiving radar move is all less than described threshold value Thd1.

Further, utilize random dimension promise algorithm to dispose a described N receiving radar among the step B, the concrete steps of upgrading the position of a described N receiving radar are:

(1) the distance threshold Thd2 that receiving radar moves based on the weight of each point of interest in positional information calculation P the point of interest of emission radar, is determined in the position of fixing described M emission radar;

(2) position according to a described N receiving radar creates Wei Nuotu, N central point c that divides among the computing dimension promise figure ₁, c ₂... c _N

(3) determine the random mobile higher limit Δ d of receiving radar _n(n=1,2 ..., N), with each central point in the step (2) move one random apart from g _n(n=1,2 ..., N), wherein, g _nLess than or equal to Δ d _n, obtain N new central point nc ₁, nc ₂... nc _N, with N receiving radar move to they the central point nc that divides of corresponding dimension promise ₁, nc ₂... nc _N

(4) repeating step (2) and step (3) until the distance that receiving radar moves less than described threshold value Thd2.

By in iterative process each time, introducing an enchancement factor, greatly reduced the probability that is absorbed in local optimum, thereby increased the probability that obtains global optimum.

Further, the random mobile higher limit Δ d of receiving radar described in the step (3) _nDetermine by following formula:

${\mathrm{\Δd}}_n\stackrel{\mathrm{\Δ}}{=}\underset{p_i\∈I_n}{\min }\{\frac{F_p}{{\mathrm{\ω}}_i}-O_i\},n=1,...,N$

Wherein, p _iBe point of interest, o _iBe point of interest p _iDistance between its corresponding receiving radar, i=1,2 ..., P, w _iBe the weight of point of interest, I _nFor F is divided in the dimension promise of receiving radar _PBe F _P=max{F (I _n), n=1,2 ..., N,

Wherein r is the receiving radar that needs deployment, the subset of I express interest point set P.

Further, utilize random dimension promise algorithm to dispose described M emission radar among the step C, the concrete steps of upgrading the position of described M emission radar are:

(5) the distance threshold Thd3 of emission radar movable based on the weight of each point of interest in P point of interest of this positional information calculation, is determined in the position of a fixing described N receiving radar;

(6) position according to described M emission radar creates Wei Nuotu, M central point c that divides among the computing dimension promise figure ₁, c ₂... c _M

(7) the random mobile higher limit td of definite emission radar _m, with each central point in the step (6) move one random apart from k _m, wherein, k _mLess than or equal to td _m, m=1,2 ..., M obtains M new central point nc ₁, nc ₂... nc _M, with the central point nc of described M emission radar movable to the corresponding dimension promise division of they institutes ₁, nc ₂... nc _M

(8) repeating step (6) and step (7) until the emission radar movable distance less than described threshold value Thd3.

By in iterative process each time, introducing an enchancement factor, greatly reduced the probability that is absorbed in local optimum, thereby increased the probability that obtains global optimum.

Further, the random mobile higher limit td of the radar of emission described in the step (7) _mDetermine by following formula:

${\mathrm{td}}_m\stackrel{\mathrm{\Δ}}{=}\underset{p_i\∈I_m}{\min }\{\frac{F_p}{{\mathrm{\ω}}_i}-O_i\},m=1,...,M$

Wherein, p _iBe the position of point of interest, o _iBe point of interest p _iDistance between its corresponding emission radar, i=1,2 ..., P, w _iBe the weight of point of interest, I _mFor F is divided in the dimension promise of emission radar _PBe F _P=max{F (I _m), m=1,2 ..., M,

Wherein t is the emission radar that needs deployment, the subset of I express interest point set P.

Beneficial effect: the dispositions method of emission radar and receiving radar in the bistatic radar network of the present invention, be decomposed into two sub-problems by the deployment issue that will launch radar and receiving radar, then respectively every sub-problems is optimized design, repeat to separate iteratively two sub-problems to obtain launching the deployment of radar and receiving radar finally by crossing, the method is effective, time complexity is low.

Description of drawings

Fig. 1 is the process flow diagram of launching the dispositions method of radar and receiving radar in the bistatic radar network of the present invention;

Fig. 2 is the coverage schematic diagram of a bistatic radar;

Fig. 3 is in the situation that given emission radar site is disposed the schematic diagram of receiving radar.

Embodiment

Below in conjunction with the drawings and specific embodiments, further illustrate the present invention, should understand these embodiment only is used for explanation the present invention and is not used in and limits the scope of the invention, after having read the present invention, those skilled in the art all fall within the application's claims limited range to the modification of the various equivalent form of values of the present invention.

See also shown in Figure 1ly, Fig. 1 is the process flow diagram of the dispositions method of emission radar and receiving radar in the bistatic radar network of the present invention.The purpose of this dispositions method is in implementation, according to the position pi of point of interest, at first obtains launching the final position of radar and receiving radar by implementing on computers the method.Then dispose emission radar and receiving radar according to the final position information that calculates gained.In the method, the position that be positioned at given area A of the initial position of emission radar and receiving radar for choosing arbitrarily.The method is by the optimum position (t that disposes M emission radar ₁, t ₂... t _M) and the position (r of N receiving radar ₁, r ₂..., r _N), make point of interest and emission radar-receiving radar between the maximal value of distance minimize, the expression-form of mathematics is majorized function f (t _m, r _n)

$f(t_m,r_n)=\underset{T,R}{\min }\left\{\underset{p_i\∈P}{\max }\right\{\underset{t_m\∈T,r_n\∈R}{\min }d(t_m,p_i)d(p_i,r_n)\left\}\right\}---\left(1\right)$

Wherein, t in the formula (1) _m(m=1 ..., M) for launching the position of radar, r _n(n=1 ..., N) be the position of receiving radar, p _i(i=1 ..., P) be the position of point of interest.

The detailed step of the method is as follows:

A, in deployment region A, choose arbitrarily the initial position of M emission radar and N receiving radar, determine to launch the distance threshold Thd1 that radar and receiving radar move.

B, (1) calculate the weight of each point of interest in P the point of interest according to the positional information of M emission radar: for arbitrary point of interest, its weight is this point of interest and from the distance between the nearest emission radar of this point of interest.Make the weight of P point of interest be expressed as respectively w ₁, w ₂..., w _P

(2) position according to N receiving radar creates Wei Nuotu, and each point of interest belongs in the dimension promise division of its nearest receiving radar, receiving radar r _n(n=1 ..., Wei Nuo N) is divided into

$I_n=\left\{i\right|d(p_i,r_n)\≤d(p_i,r_j),\∀i\∈\{1,...,P\},j\∈\{1,...,N\}\}$

According to the point of interest location that comprises in each dimension promise division and the weight of point of interest, calculate the central point of this division.The central point that makes the promise of N dimension divide is expressed as respectively c ₁, c ₂... c _N

(3) calculate random mobile higher limit Δ d _n(n=1,2 ..., N), with each central point move one random less than Δ d _nApart from g _n, obtain N new central point nc ₁, nc ₂... nc _NWith N receiving radar move to they the central point nc that divides of corresponding dimension promise ₁, nc ₂... nc _N

(4) repeat step (2) (3) among the B until the distance that receiving radar moves less than a given threshold value Thd2.

C. (5) calculate the weight of each point of interest in P the point of interest according to the positional information of N receiving radar: for arbitrary point of interest, its weight is this point of interest and distance from the nearest receiving radar of this point of interest.

(6) position according to M emission radar creates Wei Nuotu, and each point of interest belongs in the dimension promise division of its nearest emission radar; According to the point of interest location and the weight thereof that comprise in each dimension promise division, calculate the central point of this division, the central point that makes the promise of M dimension divide is c ₁, c ₂... c _M

(7) calculate random mobile higher limit td _m(m=1,2 ..., M), with each central point move one random less than td _mApart from k _m, obtain M new central point nc ₁, nc ₂... nc _MWith the central point nc of M emission radar movable to the corresponding dimension promise division of they institutes ₁, nc ₂... nc _M

(8) repeat step (6) (7) among the C until the distance of emission radar movable less than a given threshold value Thd3.

D. repeating step B and step C until the distance that emission radar and receiving radar move less than threshold value Thd1.

The random distance that each central point moves in (3) small step of steps A and step B has a upper limit Δ d _nAnd td _m, this higher limit is still not increase through after the random movement of central point for the target function value in the assurance formula (1).Δ d _nWith td _mComputing method similar, next provide and calculate Δ d in the situation of fixed transmission radar _n(n=1 ... N) process.

Make the subset of I express interest point set P, the optimal value of F (I) expression 1-center problem, namely the expression formula of F (I) is

$F\left(I\right)=\underset{r}{\min }\left\{\underset{p_{i}I\∈}{\max }\right\{{\mathrm{\ω}}_{i}d(p_i,r)\left\}\right\}---\left(2\right)$

Wherein r is the receiving radar that needs deployment.Make r ^o(I) optimum solution of expression (2).All points of interest among the set I exist a subset B (I) who comprises at most three points of interest to satisfy following character: 1) F (B (I))=F (I); 2) r ^o(B (I))=r ^o(I).

I is divided in promise for N dimension ₁, I ₂..., I _N, F _PBe F _P=max{F (I _n), n=1,2 ..., N.In the promise of N dimension is divided, exist one to divide I _MaxSo that F _P=F (I _Max) set up.Claim I _MaxSubset B (I _Max) point of interest that comprises is key point.Make o _iExpress interest point p _iDistance between its corresponding receiving radar, i=1,2 ..., P.In order to guarantee the target function value f (t in the formula (1) behind random Mobility Center point _m, r _n) still remain unchanged or reduce central point c _nUltimate range Δ d movably _nCan be expressed as follows:

${\mathrm{\Δd}}_n\stackrel{\mathrm{\Δ}}{=}\underset{p_i\∈I_n}{\min }\{\frac{F_p}{{\mathrm{\ω}}_i}-O_i\},n=1,...,N---\left(3\right)$

Wherein, p _iBe point of interest, o _iBe point of interest p _iDistance between its corresponding receiving radar, i=1,2 ..., P, w _iBe the weight of point of interest, I _nFor F is divided in the dimension promise of receiving radar _PBe F _P=max{F (I _n), n=1,2 ..., N,

Wherein r is the receiving radar that needs deployment, the subset of I express interest point set P.

Wherein, the random mobile higher limit td of emission radar _mDetermine by following formula:

${\mathrm{td}}_m\stackrel{\mathrm{\Δ}}{=}\underset{p_i\∈I_m}{\min }\{\frac{F_p}{{\mathrm{\ω}}_i}-O_i\},m=1,...,M$

Wherein, p _iBe the position of point of interest, at this moment, o _iBe point of interest p _iDistance between its corresponding emission radar, i=1,2 ..., P, w _iBe the weight of point of interest, I _mFor F is divided in the dimension promise of emission radar _PBe F _P=max{F (I _m), m=1,2 ..., M,

Wherein t is the emission radar that needs deployment, the subset of I express interest point set P.

See also shown in Figure 2ly, Fig. 2 is two bistatic radar t ₁-r ₁And t ₁-r ₂Coverage boundary curve figure, this curve is ovals of Cassini.For the black curve on the left side, the every bit on it is to t ₁And r ₁Distance product be constant D; For the red curve on the right, the every bit on it is to t ₁And r ₂Distance product be constant D.

See also shown in Figure 3, when Figure 3 shows that the fixed transmission radar by dimension promise algorithm dispose receiving radar for example.For the purpose of simple declaration, in example shown in Figure 3, do not introduce enchancement factor.Fig. 3 contains the promise of 4 dimensions and divides, and corresponding receiving radar is r respectively ₁, r ₂, r ₃, r ₄p ₁, p ₂, p ₃, p ₄Belong to the promise of a dimension and divide, this divides corresponding receiving radar is r ₁Calculate the central point of this division, be expressed as c ₁, then with the position of receiving radar by r ₁Move to c ₁, in next iteration with c ₁Position r as receiving radar ₁If adopt random dimension promise algorithm (namely comprising steps A, B, C and D) to dispose receiving radar, then with central point c ₁Random mobile distance, delta d ₁Obtain a new center position nc ₁, then with the position of receiving radar by r ₁Move to nc ₁

The dispositions method of emission radar and receiving radar is decomposed into two sub-problems by the deployment issue that will launch radar and receiving radar in the bistatic radar network of the present invention, then every sub-problems is optimized design, repeats to separate iteratively two sub-problems to obtain launching the deployment of radar and receiving radar finally by crossing.By in iterative process each time, introducing an enchancement factor, greatly reduced the probability that is absorbed in local optimum, thereby increased the probability that obtains global optimum.The method is effective, time complexity is low.

Claims (5)

1. the dispositions method of emission radar and receiving radar in the bistatic radar network is characterized in that, may further comprise the steps:

A, in deployment region A, choose arbitrarily the initial position of M emission radar and N receiving radar, determine to launch the distance threshold Thd1 that radar and receiving radar move;

The position of B, fixing described M emission radar utilizes random dimension promise algorithm to dispose a described N receiving radar, upgrades the position of a described N receiving radar;

The position of C, a fixing described N receiving radar utilizes random dimension promise algorithm to dispose described M emission radar, upgrades the position of described M emission radar;

D, repeating step B and step C are until the distance that emission radar and receiving radar move is all less than described threshold value Thd1.

2. the dispositions method of emission radar and receiving radar in the bistatic radar network as claimed in claim 1 is characterized in that, utilizes random dimension promise algorithm to dispose a described N receiving radar among the step B, and the concrete steps of upgrading the position of a described N receiving radar are:

(1) the distance threshold Thd2 that receiving radar moves based on the weight of each point of interest in positional information calculation P the point of interest of emission radar, is determined in the position of fixing described M emission radar;

(2) position according to a described N receiving radar creates Wei Nuotu, N central point c that divides among the computing dimension promise figure ₁, c ₂... c _N

(3) determine the random mobile higher limit Δ d of receiving radar _n(n=1,2 ..., N), with each central point in the step (2) move one random apart from g _n(n=1,2 ..., N), wherein, g _nLess than or equal to Δ d _n, obtain N new central point nc ₁, nc ₂... nc _N, with N receiving radar move to they the central point nc that divides of corresponding dimension promise ₁, nc ₂... nc _N

(4) repeating step (2) and step (3) until the distance that receiving radar moves less than described threshold value Thd2.

3. the dispositions method of emission radar and receiving radar in the bistatic radar network as claimed in claim 2 is characterized in that the random mobile higher limit Δ d of receiving radar described in the step (3) _nDetermine by following formula:

${\mathrm{\Δd}}_n\stackrel{\mathrm{\Δ}}{=}\underset{p_i\∈I_n}{\min }\{\frac{F_p}{{\mathrm{\ω}}_i}-O_i\},n=1,...,N$

Wherein, p _iBe the position of point of interest, o _iBe point of interest p _iDistance between its corresponding receiving radar, i=1,2 ..., P, w _iBe the weight of point of interest, I _nFor F is divided in the dimension promise of receiving radar _PBe F _P=max{F (I _n), n=1,2 ..., N,

Wherein r is the receiving radar that needs deployment, the subset of I express interest point set P.

4. the dispositions method of emission radar and receiving radar in the bistatic radar network as claimed in claim 1 is characterized in that, utilizes random dimension promise algorithm to dispose described M emission radar among the step C, and the concrete steps of upgrading the position of described M emission radar are:

(5) the distance threshold Thd3 of emission radar movable based on the weight of each point of interest in P point of interest of this positional information calculation, is determined in the position of a fixing described N receiving radar;

(6) position according to described M emission radar creates Wei Nuotu, M central point c that divides among the computing dimension promise figure ₁, c ₂... c _M

(7) the random mobile higher limit td of definite emission radar _m, with each central point in the step (6) move one random apart from k _m, wherein, k _mLess than or equal to td _m, m=1,2 ..., M obtains M new central point nc ₁, nc ₂... nc _M, with the central point nc of described M emission radar movable to the corresponding dimension promise division of they institutes ₁, nc ₂... nc _M

(8) repeating step (6) and step (7) until the emission radar movable distance less than described threshold value Thd3.

5. the dispositions method of emission radar and receiving radar in the bistatic radar network as claimed in claim 4 is characterized in that, the random mobile higher limit td of the radar of emission described in the step (7) _mDetermine by following formula:

${\mathrm{td}}_m\stackrel{\mathrm{\Δ}}{=}\underset{p_i\∈I_m}{\min }\{\frac{F_p}{{\mathrm{\ω}}_i}-O_i\},m=1,...,M$

Wherein, p _iBe the position of point of interest, o _iBe point of interest p _iDistance between its corresponding emission radar, i=1,2 ..., P, w _iBe the weight of point of interest, I _mFor F is divided in the dimension promise of emission radar _PBe F _P=max{F (I _m), m=1,2 ..., M,

Wherein t is the emission radar that needs deployment, the subset of I express interest point set P.

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