CN106054149B - A kind of radar maneuvering target Three-dimensional Track analogy method - Google Patents
A kind of radar maneuvering target Three-dimensional Track analogy method Download PDFInfo
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- CN106054149B CN106054149B CN201610587023.6A CN201610587023A CN106054149B CN 106054149 B CN106054149 B CN 106054149B CN 201610587023 A CN201610587023 A CN 201610587023A CN 106054149 B CN106054149 B CN 106054149B
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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Abstract
The invention discloses a kind of radar target Three-dimensional Track analogy methods, according to the kinetic characteristic of target, entire track segmentation is thought of as straight line motorized segment, the circular arc motorized segment in circular arc motorized segment and vertical plane in horizontal plane, each section of endpoint is subjected to tangent line connection again, form smooth track, to each section can assign at the uniform velocity, the characteristics of motion of speed change.The advantages of the method is flexible simulation can be required to form any track according to trained and scenario, in the case where not considering that the enchancement factors such as flow perturbation influence, can be realized and facilitates simulation true to nature to object space ideal three-dimensional track.
Description
Technical field
The present invention relates to a kind of radar target Three-dimensional Track analogy methods.More particularly to multiple maneuvering target spaces three simultaneously
Tie up the analogy method of track.
Background technique
In radar training emulation and radar data processing emulation, Radar Target Track simulation is particularly significant and crucial
Part.Radar Target Track is modeled as radar controller and provides under Virtual Conditional close to true environment, needs effective and true to nature
Received mark data of simulation radar realize virtual target track situation of change, simulate comprehensive, multi-batch targets boats
Mark, and in view of the convenience of actual use, meet radar training emulation and radar data processing simulation requirements.Currently, to boat
The research of mark simulation is relatively more, generally directed to aircraft linear motion, horizontal circular movement, Motorized dive and motor-driven several allusion quotations of facing upward
The motor-driven track of type is studied, and is only modeled to these typical tracks, these models in certain environments, cannot be well
More kinds of models are expressed simultaneously, there is such as the disadvantages of Models Sets are incomplete, are extremely difficult to optimal result.Also with good grounds aircraft fortune
It moves dynamic (dynamical) method to study aircraft track, the simulation accuracy of this method is relatively high, the disadvantage is that computationally intensive, modeling is multiple
It is miscellaneous.Therefore track model is primarily present following deficiency at this stage: first is that typical maneuver modeling in some environments cannot be fine
A variety of models are expressed simultaneously in ground, can not form arbitrary track；Second is that model is most of complex, it is unsuitable for hardware realization,
And it is limited by objective condition.
The present invention in view of the above problems, propose a kind of radar target Three-dimensional Track analogy method, establish three kinds it is basic
Maneuver modeling, the model established not only had met motor-driven reality, but also was convenient for Mathematical treatment, and model is simple, and calculation amount is small, was conducive to hard
Part is realized, according to three kinds of mathematical models, can form the Three-dimensional Track of any maneuvering target, while can simulate comprehensive, more batches
The track of secondary target.
Summary of the invention
The purpose of the present invention is to provide a kind of comprehensive, multiple batches of radar target Three-dimensional Track analogy methods.
The technical solution for realizing the aim of the invention is as follows: firstly, the mathematical model of radar target movement is established, target
Movement may be considered the combination of one or more of movement such as linear motion, underriding, pull-up, turning.We are transported with straight line
Dynamic model intends target line flight, moves simulated target horizontal maneuver with horizontal permanent centripetal acceleration, with vertical permanent centripetal acceleration
Movement simulation up-and-down maneuver.Then according to the kinetic characteristic of target, the entire track segmentation of target is thought of as straight line motorized segment, water
Circular arc motorized segment in plane and the circular arc motorized segment in vertical plane, then each section of endpoint is subjected to tangent line connection, it is formed smooth
Track, to each section can assign at the uniform velocity, it is even accelerate, become accelerate the characteristics of motion.This method have the advantage that can according to training and
Scenario requires flexible simulation to form any track, in the case where not considering that the enchancement factors such as flow perturbation influence, Neng Goushi
Simulation true to nature now is facilitated to object space ideal three-dimensional track.
Detailed description of the invention
Fig. 1 target Three-dimensional Track stepwise schematic views.
The motor-driven mathematical model of Fig. 2 target line.
The motor-driven mathematical model of Fig. 3 target level circular arc.
The motor-driven mathematical model of Fig. 4 target vertical circular arc.
Fig. 5 this targetpath modeling process chart.
Specific embodiment
Present invention is mainly used for radar target Three-dimensional Tracks in radar training emulation and radar data processing simulation process
Generation entire track segmentation is thought of as by straight line motorized segment, horizontal circular arc motorized segment and vertical according to the kinetic characteristic of target
Circumference motorized segment, then each section of endpoint is carried out tangent line connection, forms smooth track, to each section can assign at the uniform velocity, it is even accelerate,
Become the characteristics of motion accelerated.As shown in Figure 1, the track of entire target maneuver be divided into a → b sections, b → c sections, c → d sections, d → e sections,
E → f sections.Wherein a → b sections, e → f sections are linear motion, and motion model is as shown in Figure 2；B → c sections are horizontal circular arc motorized segment,
Motion model is as shown in Figure 3；C → d sections, d → e sections are vertical circular arc motorized segment, and motion model is as shown in Figure 4.
1, straight line maneuver modeling:
When the flight track of target is straight line, as illustrated in fig. 2, it is assumed that the initial time that target enters observation area is
t0, corresponding space coordinate is (x0,y0,z0).Then from t0Moment, the increment of such coordinates of targets can be indicated to any time t
Are as follows:
Wherein:
The then coordinate (x, y, z) of t moment target are as follows:
2, horizontal circular arc maneuver modeling:
Horizontal circumference type track refers to that target does permanent centripetal acceleration circular motion in horizontal plane.In rectangular coordinate system
Interior, xoy plane is horizontal plane, and target moves schematic diagram as shown in figure 3, target does uniform circular motion with speed v, acceleration a,For the orientation at a certain moment；The initial time that target enters observation area is t0, corresponding space coordinate is (x0,y0,z0), from
t0Moment, in the Δ t time, the variation of target tangent distance was Δ S to any time tt, normal distance variation is Δ Sn, just like ShiShimonoseki
System:
To obtain the situation of change of (x, y, z) coordinate:
The then coordinate (x, y, z) of t moment target are as follows:
3, vertical circumference maneuver modeling:
Vertical circumference type track refers to that target does permanent centripetal acceleration circular motion in the plane with horizontal plane.
In rectangular coordinate system, target does uniform circular motion with speed v, acceleration a, and θ is the pitch angle at a certain moment；Target enters
The initial time of observation area is t0, corresponding space coordinate is (x0,y0,z0), from t0Moment to any time t, Δ t time
Interior, the variation of target tangent distance is Δ St, normal distance variation is Δ Sn, there is following relationship:
Target is by t0The move distance of moment point to moment t are S, then S is projected as Δ z in z-axis, in xoy plane
Be projected as Δ L, as shown in Figure 4.With horizontal circumference track similarly available following relationship:
By the expression formula of Δ x and Δ y:
Then:
The then coordinate (x, y, z) of t moment target are as follows:
4, the radar fix of moving target:
In radar application, measurement coordinates of targets often uses polar coordinate system, and the position of space either objective can use oblique distance R, side
Parallactic anglePitching angle theta indicates.It is the increment of coordinate in per time increment Δ t in aforementioned formula, but in actual motion
In, it should use real-time coordinates value.Assuming that position of the target in rectangular coordinate system is (x, y, z), then have:
H indicates the height of target in formula, and D indicates that target to the distance of origin, has:
5, workflow:
This analogy method is mainly realized that work flow diagram is as shown in Figure 5 by a piece of PowerPC-MPC8640D.It is first
First, track to be simulated is divided into multiple sections by three of the above model；Secondly it is sat from the batch number and radar of external input target
Target start position information under mark system, the i.e. orientation of target, the elevation angle, distance, the speed of a ship or plane, course, and set each track section
Acceleration of motion, motor pattern, target time kept in reserve；Then different boats are assigned to according to the motion mode information of each motorized segment
Mark generation module；Then the target component under the radar fix system of input is converted rectangular coordinate system ginseng by each track generation module
Number, and according to the track data of the formula of above-mentioned model calculating each motorized segment of target；Finally originated according to the operation of each motorized segment
Time links together the track data that each module produces, and forms a complete track route and exports.
Claims (3)
1. a kind of radar target Three-dimensional Track analogy method, it is characterised in that:
Step 1: track to be simulated being divided into multiple and different motorized segments, radar target movement is established according to different motorized segments
Mathematical model；The mathematical model can be straight line maneuver modeling, horizontal circular arc maneuver modeling, in vertical circumference maneuver modeling
One or more combination, wherein horizontal circular arc maneuver modeling is target when doing permanent centripetal acceleration circular motion in horizontal plane
Model, calculation method are as follows: in rectangular coordinate system, xoy plane is horizontal plane, and target done at the uniform velocity with speed v, acceleration a
Circular motion,For the orientation at a certain moment；The initial time that target enters observation area is t0, corresponding space coordinate is
(x0,y0,z0), from t0Moment, in the Δ t time, the variation of target tangent distance was Δ S to any time tt, normal distance, which changes, is
ΔSn, there is following relationship:The situation of change of coordinates of targets are as follows:
The then coordinate (x, y, z) of t moment target are as follows:
Step 2: the target start position information under the batch number and radar fix system of external input target, the i.e. side of target
Position, the elevation angle, distance, the speed of a ship or plane, course, and set the time kept in reserve of the acceleration of motion of each motorized segment, motor pattern, target；
Step 3: Different Flight generation module is assigned to according to the motion mode information of each motorized segment；
Step 4: the target component under the radar fix system of input is converted rectangular coordinate system parameter by each track generation module, and
The track data of each motorized segment of target is calculated according to model formation；
Step 5: the track data that each module produces being linked together according to the operation initial time of each motorized segment, forms one
Complete track route simultaneously exports.
2. a kind of radar target Three-dimensional Track analogy method according to claim 1, it is characterised in that: the straight line is motor-driven
The model that model is the flight track of target when being straight line, calculation method are as follows: when the flight track of target is straight line, it is assumed that
The initial time that target enters observation area is t0, corresponding space coordinate is (x0,y0,z0), from t0Moment to any time t,
The increment of coordinates of targets can indicate are as follows:
Wherein
The then coordinate (x, y, z) of t moment target are as follows:
3. a kind of radar target Three-dimensional Track analogy method according to claim 1 or 2, it is characterised in that: described vertical
Circumference maneuver modeling is the model that target does permanent centripetal acceleration circular motion in the plane with horizontal plane, calculating side
Method are as follows: in rectangular coordinate system, target does uniform circular motion with speed v, acceleration a, and θ is the pitch angle at a certain moment；Mesh
The initial time that mark enters observation area is t0, corresponding space coordinate is (x0,y0,z0), from t0Moment is to any time t, Δ t
In time, the variation of target tangent distance is Δ St, normal distance variation is Δ Sn, there is following relationship:Target by
t0The move distance of moment point to moment t are S, then S is projected as Δ z in z-axis, is projected as Δ L in xoy plane, obtains
To following relationship:By the expression formula of Δ x and Δ yThen:
The then coordinate (x, y, z) of t moment target are as follows:
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| CN108107416B (en) * | 2017-12-26 | 2021-01-29 | 电子科技大学 | Secondary radar low-altitude detection clutter suppression method |
| CN108519587B (en) * | 2018-04-25 | 2021-11-12 | 东南大学 | Real-time aerial target motion mode identification and parameter estimation method |
| CN109856622B (en) * | 2019-01-03 | 2021-04-20 | 中国人民解放军空军研究院战略预警研究所 | Single-radar linear track target state estimation method under constraint condition |
| CN112016182B (en) * | 2019-05-30 | 2023-03-24 | 四川大学 | Target tracking three-dimensional digital simulation system for air-based platform |
| CN110763240B (en) * | 2019-11-22 | 2021-07-30 | 北京理工大学 | Small celestial body approaching high-precision optical navigation method fusing track maneuvering data |
| CN114383596B (en) * | 2022-01-10 | 2024-05-24 | 武汉华中天勤防务技术有限公司 | Photoelectric domain target track simulation device and method |
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