CN103631268A - System and method for detecting targets by aid of radar-assisted infrared sensors - Google Patents
System and method for detecting targets by aid of radar-assisted infrared sensors Download PDFInfo
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Abstract
The invention discloses a system for detecting targets by the aid of radar-assisted infrared rays. The system mainly comprises an infrared independent tracking module, an infrared/radar collaborative tracking module, a radar radiation control module and a tracking mode selecting and switching module. The system has the advantages that radiation on-off strategies are pertinently provided, so that the difficult problem of timely starting and stopping radiation during intermittent radiation can be effectively solved, the radar radiation time can be effectively shortened on the premise that the targets can be assured to be accurately attacked by combat aircrafts, and the invisibility of the aircrafts and a target detection effect can be balanced.
Description
Technical field
The present invention relates to avionics field, be specifically related to the auxiliary infrared sensor target detection system of a kind of radar, be applicable to stealthy fighter plane of new generation and use the radar/infrared sensor synergism detection of a target.
Background technology
Radar sensor carrys out the detection of a target by external emittance mode, but external radiation is made to its threat that need to face antiradiation missile, therefore, during operational aircraft target district, for hidden, close with the enemy, airborne avionics system is mainly used infrared sensor, reduces and uses radar sensor.Infrared sensor can obtain the angle information of target, but lacks target range information.For the dimension of supplementary target information, burst radiation range finding of radar sensor, is not destroying under the prerequisite of aircraft stealth, can realize the accurate tracking of the stage of closing with the enemy to target.
The auxiliary infrared sensor target detection of radar is that the target range information and the high-resolution angle information of infrared sensor that utilize radar sensor to provide, realize the technology to target accurate tracking based on the radar sensor auxiliary infrared sensor of radiation of bursting.The key of this technology is to formulate the radiation control strategy of radar sensor, accurately on the detection of a target and minimizing radiated time, is averaging out.
Aspect multi-sensor cooperation tracking and radiation control strategy, Chinese scholars has been carried out a large amount of research, the people such as Baud have proposed a kind of radiation control method based on tracking quality, tracking quality judges with target residual norm, this method has stronger robustness for maneuvering target, but follow the tracks of while dispersing, range dimension can be than the more Zao thresholding that surpasses of target residual norm, and tracking quality method is adjusted the distance dimension concern not.The people such as Cheng Yongmei are under polar coordinate system, utilize singer model to follow the tracks of respectively target range, orientation, pitching, by range prediction covariance, determine radar switching on and shutting down, this method makes full use of apart from channel information, but motor-driven in the appearance of radiation stopping period target, follow the tracks of and there will be problem.
Summary of the invention
The deficiency existing for prior art, the object of the present invention is to provide a kind of radar to assist infrared sensor target detection system, it is the message complementary sense performance that operational aircraft utilizes radar sensor and infrared sensor, do not destroying under the condition of aircraft stealth, rationally carry out the radiation control of radar equipment, according to the continuous angle information of the infrared sensor obtaining and radar sensor range information intermittently, adopt filtering algorithm to realize the high precision tracking to target.Opposed under probability of detection significantly reducing aircraft, make aircraft possess the ability to unfriendly target precision strike.
Another object of the present invention is to provide the method for utilizing this system to survey.
Goal of the invention of the present invention is achieved by the following technical solution.
Radar of the present invention is assisted Infrared Target Detection system, and its structure as shown in Figure 1, comprises infrared independently tracked module, and infrared/radar is worked in coordination with tracking module, radar emission control module, tracing mode selection and handover module,
First by infrared sensor, spatial domain is scanned, radar sensor is in non-radiating state, once discovery target, radar emission control module allows radar sensor to carry out radiation, by tracing mode, selected and handover module is switched to infrared/radar cooperative module, at radar sensor and infrared sensor, target is carried out after continuous some bat scanning simultaneously, the collaborative tracking module of infrared/radar carries out filter tracking according to the data of radar and infrared, provide high-precision target data, radar emission control module control radar stops radiation, utilize infrared angle information to maintain the tracking of target, in radar emission control module, according to flight path quality inspection and distance, the precision of angle judges, determine whether to need radar emission support.
Radar is in discontinuous operation state, infrared in running order all the time in, the radiation of radar with stop being decided by radar emission control module.
System of the present invention adopts singer model to follow the tracks of respectively target range, orientation, pitching.
During radar emission, apart from channel filtering, upgrade, angular channel first merges rear filtering to be upgraded; Stop radiation, apart from passage prediction, angular channel filtering is upgraded.
The method that the auxiliary infrared sensor target detection system of radar is surveyed, comprises the steps:
1) at radar and infrared, target is carried out, after continuous some bat scanning, stopping radar emission simultaneously, enter the auxiliary infrared acquisition stage of radar, by radar emission control module, carry out radiation judgement;
2) radar stops after radiation, utilizes filtering information to carry out range prediction, maintains the tracking of target according to infrared angle information;
3), in radar emission control module, according to the correlation parameter of flight path quality inspection and distance, angle, judge determine whether to need radar emission support;
4) in tracing mode is selected and switched, according to radar emission, identified the switching of two kinds of tracing modes.
System is utilized distance, radial velocity, position angle, the pitch angle data of radar sensor, in conjunction with position angle, the angle of pitch of infrared sensor, through Kalman filtering, realizes the tracking to target.Specific as follows:
During radar emission: system receives after infrared and radar sensor data, distance and the radial velocity of radar sensor of take is measurement, carries out apart from channel filtering, obtains the covariance of range-to-go, speed and acceleration and each parameter; The position angle of radar sensor and infrared sensor, the angle of pitch are merged, fusion results is as measurement, carry out orientation, two channel filterings of pitching, the covariance of the position angle of filtered acquisition target, the angle of pitch, azimuth rate, Elevation angle changing rate and each parameter.
While stopping radiation: system is only received position angle, the angle of pitch of infrared sensor, filtering is carried out in the measurement using it as two passages; The passage of adjusting the distance is predicted, obtains range-to-go, speed, acceleration predicted value and prediction variance.
From foregoing description, during radar emission, apart from channel filtering, upgrade, angular channel first merges rear filtering to be upgraded; Stop radiation, apart from passage prediction, angular channel filtering is upgraded.
The condition of carrying out radar emission is:
1) infrared sensor detects fresh target, needs radar emission, and radar/infrared is collaborative follows the tracks of, and carries out fresh target track initiation, until filtering convergence is followed the tracks of to reach and attacked required precision;
2) carry out targetpath quality inspection, according to the angle rate of change apart from passage residual vector norm and angular channel, carry out motor-driven detection, target occurs motor-driven, carries out radar emission;
3) when predicting apart from passage, range prediction covariance and predicted time compare with each self-corresponding threshold value respectively, have one over threshold value, just to carry out radar emission;
4) according to aimed acceleration, judge, be greater than threshold value, need radar emission.
Stopping radiation condition is:
1) apart from passage covariance, be less than certain threshold value, radar stops radiation;
2) the continuous radiation time surpasses certain threshold value, forces to stop the some bats of radiation.
System of the present invention is that a kind of radar emission is controlled New Policy, when infrared sensor detects fresh target, need to carry out radar emission, under range information is auxiliary, completes fresh target track initiation; Targetpath quality is tested, and the judgement residual distance error vector norm of target and the angle rate of change of target, surpass thresholding, and target occurs motor-driven, carries out radar emission; When target range is predicted, range prediction covariance or predicted time surpass thresholding, carry out radar emission, prevent from that target from following to lose; Acceleration is that target maneuver the most directly embodies, and judgement aimed acceleration carries out radar emission decision-making; When be less than certain thresholding apart from covariance, stop radiation; The radar sensor continuous radiation time surpasses certain thresholding, stops the some bats of radiation.
Compared with prior art, its advantage and beneficial effect are in the present invention:
1) in target following process for target maneuver problem, taken into full account the feature of target maneuver, both blindly do not carried out radiation, maneuvering target is not ignored yet, but specific aim proposed radiation switching strategy has solved the difficult problem when when radiation stops in intermittent radiation effectively;
2) guaranteeing that operational aircraft carries out target, under the prerequisite of Precise strike, effectively having reduced the radiated time of radar equipment, in aircraft stealth and target detection effect, obtained balance.
Accompanying drawing explanation
Fig. 1 is radar/infrared sensor detection system theory diagram of the present invention;
Fig. 2 is radar sensor start/stop radiation effect figure of the present invention;
Fig. 3 is the distance tracking effect figure of target of the present invention;
Fig. 4 is the orientation tracking effect figure of target of the present invention;
Fig. 5 is the following in elevation design sketch of target of the present invention.
Embodiment
Below with reference to drawings and Examples, the present invention is further illustrated.
Embodiment
Radar of the present invention is assisted Infrared Target Detection system, and its structure as shown in Figure 1.System mainly comprises infrared independently tracked module, and infrared/radar is worked in coordination with tracking module, radar emission control module, tracing mode selection and handover module.
Aircraft, from true origin, is made linear uniform motion, and speed is (150,100,30) m/s, and target is made horizontal uniform circular motion, and central coordinate of circle is (30,40,0.6) km, and moving radius is 5km, and angular velocity is 0.08rad/s.Sampling interval is 50ms, 4000 bats of sampling, and radar sensor is radar, and infrared sensor is infrared, and radar was synchronizeed with the infrared sampling time, and the radar that system is received, infrared data performance index are as shown in table 1:
| ? | Distance (m) | Radial velocity (m/s) | Position angle (mrad) | The angle of pitch (mrad) |
| |
1% |
15 | 10 | 10 |
| Infrared | / | / | 1.16 | 0.93 |
Table 1 sensor performance index
The radar emission control strategy adopting.Radar emission has:
1) distance by radar channel filtering convergence, range accuracy does not reach 0.2%R;
2) radar-range prediction covariance is greater than distance by radar noise;
3) azimuth rate is greater than 8mrad/s;
4) Elevation angle changing rate is greater than 8mrad/s;
5) acceleration is greater than 2g;
6) distance by radar residual norm is greater than 2;
7) radar stops radiated time over 200 bats.
Radar stops radiation condition:
1) tracking accuracy reaches 0.2%R, and radar stops radiation;
2) the radar emission time surpasses 30 bats;
3) do not occur needing radar emission condition, radar is in stopping the radiation stage.
In target following overall process 4000 is clapped, it is 11.5% that the radar on time accounts for overall process time ratio, design sketch is as shown in Figure 2: show in to target detection process, in continuous ten scan periods, radar only needs radiation one bat, radiated time greatly reduces, greatly reduce the probability that the machine radar is found by enemy, improved the stealth of operational aircraft.
Fig. 3-5th, the distance of target of the present invention, orientation, following in elevation design sketch, in the figure of Fig. 3 left side, solid line represents target actual distance, crunode represents the target range that radar detection is arrived, dotted line is native system tracking effect. in the figure of the right, imaginary point line represents the distance of radar detection and the error of real goal distance, solid line represents the distance of native system tracking target and the error of real goal distance, imaginary point is more sparse is because radar is not the radiation of all starting shooting while scanning at every turn, meeting radar start radiation under radiation condition, error contrast from figure can be found out, although native system radar separation radiation, but target range tracking error is less, obtain good tracking effect.
In the figure of Fig. 4 left side, solid line represents target true bearing angle, crunode represents the azimuth of target that radar detection is arrived, dotted line is native system tracking effect. in the figure of the right, imaginary point line represents position angle and the azimuthal error of real goal of radar detection, solid line represents position angle and the azimuthal error of real goal of native system tracking target, and imaginary point is more sparse is because radar is only meeting the radiation of starting shooting under radiation condition.Although the radiation of native system radar separation, due to infrared always to target detection, the sustainable bearing data that provides, thus the error contrast from figure can find out, native system is obtained higher tracking accuracy in azimuthal tracking.
In the figure of Fig. 5 left side, solid line represents the true angle of pitch of target, crunode represents the target angle of pitch that radar detection is arrived, dotted line is native system tracking effect. in the figure of the right, imaginary point line represents the error of the angle of pitch and the real goal angle of pitch of radar detection, solid line represents the error of the angle of pitch and the real goal angle of pitch of native system tracking target, and imaginary point is more sparse is because radar is only meeting the radiation of starting shooting under radiation condition.Although the radiation of native system radar separation, provides pitch angle data due to infrared always to target detection, so contrasting, the error from figure can find out, native system is obtained higher tracking accuracy in the tracking of the angle of pitch.
Claims (10)
1. the auxiliary infrared sensor target detection system of radar, comprises infrared independently tracked module, and infrared/radar is worked in coordination with tracking module, radar emission control module, tracing mode selection and handover module, it is characterized in that:
Infrared sensor scans spatial domain, radar sensor is in non-radiating state, once discovery target, radar emission control module allows radar sensor to carry out radiation, by tracing mode, selected and handover module is switched to infrared/radar cooperative module, at radar sensor and infrared sensor, target is carried out after continuous some bat scanning simultaneously, the collaborative tracking module of infrared/radar carries out filter tracking according to the data of radar and infrared, and provide high-precision target data, then radar emission control module control radar stops radiation, utilize infrared angle information to maintain the tracking of target, in described radar emission control module, according to the precision of flight path quality inspection and distance and angle, judge, determine whether to need radar emission support.
2. the auxiliary infrared sensor target detection system of a kind of radar according to claim 1, is characterized in that, radar is in discontinuous operation state, infrared in running order all the time in, the radiation of radar with stop being decided by radar emission control module.
3. the auxiliary infrared sensor target detection system of a kind of radar according to claim 1, is characterized in that, the condition of carrying out radar emission is: infrared sensor detects fresh target, needs radar emission; Or, carry out targetpath quality inspection, according to the angle rate of change apart from passage residual vector norm and angular channel, carry out motor-driven detection, target occurs motor-driven, carries out radar emission; Or when predicting apart from passage, range prediction covariance and predicted time compare with each self-corresponding threshold value respectively, there is one over threshold value, just to carry out radar emission; Or, according to aimed acceleration, judge, be greater than threshold value, need radar emission.
4. the auxiliary infrared sensor target detection system of a kind of radar according to claim 1, is characterized in that, utilizes singer model to follow the tracks of target.
5. the auxiliary infrared sensor target detection system of a kind of radar according to claim 1, is characterized in that, during radar emission, apart from channel filtering, upgrades, and angular channel first merges rear filtering to be upgraded; Stop radiation, apart from passage prediction, angular channel filtering is upgraded.
6. the method for utilizing the auxiliary infrared sensor target detection system of radar described in claim 1-5 to survey, is characterized in that, comprises the steps:
1) at radar and infrared, target is carried out, after continuous some bat scanning, stopping radar emission simultaneously, enter the auxiliary infrared acquisition stage of radar, by radar emission control module, carry out radiation judgement;
2) radar stops after radiation, utilizes filtering information to carry out range prediction, maintains the tracking of target according to infrared angle information;
3), in radar emission control module, according to the correlation parameter of flight path quality inspection and distance, angle, judge determine whether to need radar emission support;
4) in tracing mode is selected and switched, according to radar emission, identified the switching of two kinds of tracing modes.
7. detection method according to claim 6, it is characterized in that, when radar emission, system is received after infrared and radar sensor data, distance and the radial velocity of radar sensor of take is measurement, carry out apart from channel filtering, obtain the covariance of range-to-go, speed and acceleration and each parameter; The position angle of radar sensor and infrared sensor, the angle of pitch are merged, fusion results is as measurement, carry out orientation, two channel filterings of pitching, after filtering, obtain the covariance of position angle, the angle of pitch, azimuth rate, Elevation angle changing rate and each parameter of target.
8. detection method according to claim 6, is characterized in that, when stopping radiation, system is only received position angle, the angle of pitch of infrared sensor, and filtering is carried out in the measurement using it as two passages; The passage of adjusting the distance is predicted, obtains range-to-go, speed, acceleration predicted value and prediction variance.
9. detection method according to claim 6, is characterized in that, the condition of carrying out radar emission is:
1) infrared sensor detects fresh target, needs radar emission, and radar/infrared is collaborative follows the tracks of, and carries out fresh target track initiation, until filtering convergence is followed the tracks of to reach and attacked required precision;
2) carry out targetpath quality inspection, according to the angle rate of change apart from passage residual vector norm and angular channel, carry out motor-driven detection, target occurs motor-driven, carries out radar emission;
3) when predicting apart from passage, range prediction covariance and predicted time compare with each self-corresponding threshold value respectively, have one over threshold value, just to carry out radar emission;
4) according to aimed acceleration, judge, be greater than threshold value, need radar emission.
10. detection method according to claim 6, is characterized in that, stops radiation condition to be:
1) apart from passage covariance, be less than certain threshold value, radar stops radiation;
2) the continuous radiation time surpasses certain threshold value, forces to stop the some bats of radiation.
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| CN109343035A (en) * | 2018-11-23 | 2019-02-15 | 江西洪都航空工业集团有限责任公司 | A kind of infrared radar multi-mode seeker target selecting method |
| CN109635373A (en) * | 2018-11-23 | 2019-04-16 | 中国航空工业集团公司沈阳飞机设计研究所 | War skill index sensitivity analysis method based on fighting efficiency |
| CN109696670A (en) * | 2017-10-22 | 2019-04-30 | 南京理工大学 | A kind of detection and processing unit of robot sniper |
| CN110109189A (en) * | 2019-05-17 | 2019-08-09 | 中国人民解放军92942部队 | Naval target infrared control method and device |
| CN111308460A (en) * | 2020-03-09 | 2020-06-19 | 华域汽车系统股份有限公司 | Multi-sensor track termination method based on measurement source type and target confidence |
| CN112585499A (en) * | 2018-08-01 | 2021-03-30 | 卡尔蔡司股份公司 | Sensor fusion using interactive correspondence analysis of sensor data |
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| CN106485747A (en) * | 2015-08-31 | 2017-03-08 | 中国航天科工集团第四研究院指挥自动化技术研发与应用中心 | A kind of target location determines method and apparatus |
| CN109696670A (en) * | 2017-10-22 | 2019-04-30 | 南京理工大学 | A kind of detection and processing unit of robot sniper |
| CN109696670B (en) * | 2017-10-22 | 2023-08-22 | 南京理工大学 | Detection and processing device for sniper of robot |
| CN112585499A (en) * | 2018-08-01 | 2021-03-30 | 卡尔蔡司股份公司 | Sensor fusion using interactive correspondence analysis of sensor data |
| CN109343035A (en) * | 2018-11-23 | 2019-02-15 | 江西洪都航空工业集团有限责任公司 | A kind of infrared radar multi-mode seeker target selecting method |
| CN109635373A (en) * | 2018-11-23 | 2019-04-16 | 中国航空工业集团公司沈阳飞机设计研究所 | War skill index sensitivity analysis method based on fighting efficiency |
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| CN110109189A (en) * | 2019-05-17 | 2019-08-09 | 中国人民解放军92942部队 | Naval target infrared control method and device |
| CN111308460A (en) * | 2020-03-09 | 2020-06-19 | 华域汽车系统股份有限公司 | Multi-sensor track termination method based on measurement source type and target confidence |
| CN111308460B (en) * | 2020-03-09 | 2023-03-31 | 华域汽车系统股份有限公司 | Multi-sensor track termination method based on measurement source type and target confidence |
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