CN106680805A - Method for tracing target with self-adaptive variable waveform - Google Patents
Method for tracing target with self-adaptive variable waveform Download PDFInfo
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- CN106680805A CN106680805A CN201611265593.XA CN201611265593A CN106680805A CN 106680805 A CN106680805 A CN 106680805A CN 201611265593 A CN201611265593 A CN 201611265593A CN 106680805 A CN106680805 A CN 106680805A
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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
- G01S13/70—Radar-tracking systems; Analogous systems for range tracking only
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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
- G01S7/28—Details of pulse systems
- G01S7/282—Transmitters
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
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- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a method for tracing targets with a self-adaptive variable waveform, and the method aims at providing a target tracing method with high resource utilization rate and good interception performance. The method is achieved by the following technical scheme that: the hardware foundation of a self-adaptive variable waveform control system for tracing radar comprises a solid state microwave power component and a DSP digital signal processing chip, firstly a required detection range of the radar R is divided into N segments, then N types of impulse waves are synthesized by DDS direct digital frequencies and are stored in a frequency resource; field programmable gate array (FPGA) is used to synthesize N types of frequency repetition sequences, which are stored in radar timer; digital signal processing(DSP) is used to synthesize N types of impulse coherent accumulation mode, which are stored in a signal processor; each device that is loaded with programs is connected with devices such as a solid state transmitter and a terminal computer, and therefore a self-adaptive variable waveform control system for tracing target is formed.
Description
Technical field
The present invention relates to a kind of can be widely applied to the adaptive of the monotrack radar such as weather radar, instrumentation radar
The tracking of strain waveform target.
Background technology
In recent years, the transmitted waveform optimization for target following receives extensive concern, wherein how to be adaptive selected
Transmitted waveform is one of its Research Challenges.Prior art increased the choosing of waveform self adaptation in traditional radar target tracking system
Module is selected, based on Kalman filtering and towards single goal background, using the inverse work of Fisher information matrix in parameter estimation theories
For observation noise covariance, contacting between transmitted waveform and tracking filter is established, made by waveform selection and parameter optimization
Tracking error data, have studied respectively based on particle filter and volume Kalman filtering Cubature Nonlinear Tracking algorithm
Waveform adaptive problem, but the two in waveform selection and parameter optimization, range error and velocity error differ in dimension
Cause, needs are adjusted to the weight of the two, and complexity during optimizing is higher, and amount of calculation is larger.In order to improve radar system
Tracking performance, needs transmitted waveform to be selected in combination with adaptive track algorithm, traditional waveform for target following
System of selection is all carried out on the basis of non-self-adapting track algorithm.Conventional radar using fixation during target following to being sent out
Ejected wave shape, in order to obtain farther target following distance, using traditional tracking radar of vacuum tube transmitter generally using increase
Power and aperture product mode is realized, that is, increases antenna size and increase transmitter power.The increase of antenna size makes radar cost big
Width rises, this is because the weight of antenna, scale error and the requirement to base are rapid all with the increase of antenna size
Increase.For the ease of motorized transport, antenna also have to take piecemeal disassembly design, or increase corresponding electromechanics fold mechanism,
This causes radar complexity to rise, reliability is reduced, fast reserve ability declines.In order to obtain high transmission power, tradition with
Track radar usually adopts vacuum tube transmitter, such as klystron, travelling-wave tube, magnetron transmitter, and these transmitter peak powers are little
Then tens kilowatts, then go up greatly megawatt.Vacuum tube transmitter is up to tens kilovolts of running voltage allows people to hang back, and sends out during work
Go out " drone " sound also allows people to be unequal to it and disturbs, while vacuum tube transmitter also has big volume, weight weight, high cost, power consumption
Greatly, dutycycle is low, coherent pulse signalf is poor, work before need the disadvantages such as preheating, restricted lifetime.More fatal, high-peak power is caused
Radar low interception performance declines.
Using the conventional tracking radar antenna aperature of vacuum tube transmitter is big, the high and low intercepting and capturing poor performance of transmission power, solid-state
The appearance of power device cause radar engineering teacher at the moment for one of it is bright.Compared with vacuum tube, solid-state devices is not required to solid-state devices
Preheating, low-voltage, big bandwidth, high duty ratio, coherent pulse signalf be good, it is highly reliable many advantages, such as.Although solid-state devices single tube its peak work
Rate is relatively low, more under hectowatt magnitude, but still can obtain high power by many solid-state tube power synthesis, and this causes radar to consolidate
State is able to fast development, and Connectors for Active Phased Array Radar is typical case's application of this thought.But the antenna that tracking radar faces
Aperture is big, transmission power is high and low is not but properly settled because of the application of solid state transmitter the problems such as intercept and capture poor performance.Can
The detection performance of conventional radar is reached using relatively small antenna size and relatively low transmission powerCan by radar equation
Know, the power of maximum radar range 4 is directly proportional to transmission power P, antenna gain (related to antenna size), T sweep time.
Because sweep time is limited by specific condition, usually immutable, for example, require that search radar completes a volume-search coverage for 4 seconds,
So radar engineerings teacher usually can only improve radar range by increase " power and aperture product ".To tracking radar
Speech, situation is slightly good, because wave beam alignment target all the time during radar tracking, under the premise of certain real-time performance of tracking and precision is guaranteed,
T sweep time can be suitably lengthened, using the good waveform coherent pulse signalf of solid state transmitter, is improved by multiple-pulse correlative accumulation
Signal to noise ratio, increases radar range.In addition, solid state transmitter adopts high duty cycle operational (increase mean power), also can one
Determine the relatively low impact of degree reduction solid state transmitter peak power.
" a kind of adaptive strain waveform tracking mesh calibration method " proposed by the present invention is theoretical once innovation based on more than
And engineer applied.
The content of the invention
The purpose of the present invention is for conventional vacuum pipe tracking radar antenna aperature is big, the high and low intercepting and capturing performance of transmission power
The weak point that difference is present, there is provided a kind of time resource utilization rate is high, the echo reception phase is short, waveform conversion is fast, and tracking target connects
It is continuous stable, radar range, and the adaptive strain wave that antenna aperature is little, transmission power is low, low interception performance is good can be increased
Shape tracks mesh calibration method.
The above-mentioned purpose of the present invention can be reached by following measures：A kind of side of adaptive strain waveform tracking target
Method, with following technical characteristic：The adaptive strain waveform control system of tracking radar is with solid state microwave power device and digital signal
Processor DSP is hardware foundation, according to Principles of Radar, first investigative range R needed for radar is divided into into N sections, is covered per segment distance
Scope is RN_min~RN_max；Become waveform position line centered on overlapping center symmetrical, in being inserted in overlapping section；Then radar is pressed
Required distance measurement scope R and transmitter dutycycle D for allowing, according to radar detection range, beam angle θ, the work of section are drawn
Make wavelength X, range resolution ratio unit △ R, target velocity V, aimed acceleration a and radar pulse repetition frequency FNParameter is calculated
Maximum T sweep time of per section of permissionN, pulse width τN；When terminal computer has determined radar waveform parameter and pulse accumulation
After number, frequency source by Direct Digital Synthesizer DDS Digital Frequency Synthesize N kind impulse waveforms, and by N kind impulse waveforms
Storage is in memory；DSP Digital Signal Processing synthesizes N kind pulse coherent accumulation patterns, and signal processor passes through digital signal
Processor DSP stores N kind pulse coherent accumulation patterns；Radar timer passes through on-site programmable gate array FPGA programming realization ripple
Shape N kind repetition sequential, is stored in the N kind repetition sequential of synthesis in radar timer by FPGA；Respectively setting for program is loaded
Link together for terminal computer is connected with solid state transmitter, thus constitute the control system of adaptive strain waveform tracking target
System, signal processor realizes waveform N kind pulse coherent accumulation patterns by digital signal processor DSP, carries out self adaptation waveform
Switching target following.
During the radar lock on, the terminal computer in radar module is responsible for cooperative scheduling, and according to target distance value is corresponding
Frequency source is controlled respectively apart from segment number N and transfers waveform, radar timer and transfer repetition sequential, signal processor to transfer corresponding phase
Ginseng accumulation pattern work, realizes tracking target continuous-stable.During tracking, when target moves to neighbor distance section crossover region
When, terminal computer carries out target direction of motion and adjudicates in advance, deducts the previous distance value of target using target current distance value and judges
Target direction of motion, according to the direction of motion waveform is changed in advance, with guarantee waveform convert promptly and accurately, target following it is continuously steady
It is fixed.
The present invention has the advantages that compared to prior art.
1) utilization of resources sweep time is high, can increase radar range.At present ripe solid state microwave power pipe and
DSP process chips are that hardware is ripe, and radar pulse waveform, radar repetition sequential, correlative accumulation pattern be easy to by DSP,
The programming devices such as FPGA, DDS realize, solid state microwave power pipe again can high duty cycle operational, therefore self adaptation waveform target with
Track method has good hardware foundation.Adaptive strain waveform tracking goal approach adopts range segment separating Waveform Design, makes full use of
Radar tracking time resource and solid state transmitter high-average power ability.During radar lock on, system is always by permission
Highest repetition and maximum average power work.The present invention is brought the advantage that using the design of above-mentioned segmented waveform：One be to maintain send out
The work of machine high-average power is penetrated, is conducive to making full use of solid state transmitter high duty ratio feature, increase radar range；Two are
Time echo reception phase is most short, is conducive to multiple-pulse correlative accumulation, at utmost using resource sweep time, increases radar detection
Distance.
2) antenna aperature is little, transmission power is low, low interception performance good.The present invention is in conventional tracking radar upgrading or complete
During new design, it is possible to achieve replace the vacuum tube transmitter of tens kilowatts of magnitudes with the solid state transmitter of tens watts of magnitude power,
Ensure that radar power does not decline simultaneously, or even also lifted, while antenna size can also suitably be reduced.The method both make use of
The advantage of solid state transmitter, in turn ensure that radar range, simultaneously because radar transmission power is reduced, radar is obtained again
Low interception performance.
3) time echo reception phase is short, and waveform conversion is fast.The present invention, when target is searched for, first turns tracking day using radar
Line alignment target, rear radar timer, frequency source, signal processor coordinated, waveform gradually changes, and draw near full distance
Range searches for target.Citing, radar timer is first worked (μ s of pulse period 417) with the low repetitions of 2.4kHz, and transmitter is with pulsewidth
145 μ s launch, dutycycle 35%, mean power 14W, and signal processor carries out 32 arteries and veins to 22km~40km distance segments correspondence echo
Detection process are tired out in alluviation, and if target is found tracking mode is proceeded to, and continue to proceed to 14km~26km distances if target is not found
Section search, by that analogy until capturing target, and proceeds to tracking mode.Repetition excursion is in full distance range search procedure
2.4kHz~48kHz, pulse width variations scope is 145 μ s~7 μ s, and totally 10 kinds of waveforms, complete a full distance range search time
To be only 0.4s or so.After tracking mode is proceeded to, the wave character such as radar repetition, pulsewidth no longer gradually changes, but by mesh
Subject distance is controlled, and the remote then repetition of distance is low, pulse width；The nearly then repetition of distance is high, pulse is narrow, is accumulated using long bursts coherent as far as possible
It is tired, to obtain high signal to noise ratio.
4) continuous-stable tracking target.The present invention changes according to target range, is adaptively adjusted waveform, sequential and coherent
Accumulation pattern, efficiently, reliably can track with sane implementation goal.Solid state transmitter select can high duty cycle operational GaN etc.
Power tube is used as core devices.Again " method of adaptive strain waveform target following " is adopted on this basis, led to during tracking
Change radar pulse waveform after in real time, make solid state transmitter remain high duty cycle operational (high-average power), signal processing
Device adopts long bursts correlative accumulation, it is possible to obtain high signal to noise ratio.Neighbor distance section takes seamless connection Waveform Design, it is ensured that
Two kinds of waveforms can track target.When target section overlapping in distance, radar terminal carries out the pre- judgement of target motion, to guarantee
Target be close to apart from overlapping center when can accurately proceed to next tracking waveform rapidly.High echo signal to noise ratio and apart from overlapped coverage
Design ensure that radar being capable of continuous-stable tracking target.
Following table is using contrast before and after present invention transformation to a traditional tracking radar.As can be seen that radar peak after transformation
It is worth 500 times of power drop, antenna aperture reduces 1.6 times, and radar maximum detectable range increased on the contrary 1.2 times, radar
The indexs such as data transfer rate, tracking accuracy, real-time still meet requirement.
The present invention with current ripe solid state microwave power pipe and DSP process chips as hardware foundation, " the self adaptation of proposition
Become waveform tracking mesh calibration method ", with universality and practicality, can be widely applied to weather radar, instrumentation radar, guidance thunder
Up in the monotrack radar transformation and upgrade such as, fire control radar or brand-new design, tracking radar reliability, dimension are significantly improved
Repairing property, low intercepting and capturing, are greatly reduced radar power consumption and research of radar cost.
Description of the drawings
Fig. 1 is the Waveform Design schematic diagram of the present invention.
Fig. 2 is that the distance of the present invention draws section design diagram.
Fig. 3 is Resource Calculation schematic diagram sweep time of the present invention.
Fig. 4 is the radar control relation schematic diagram of the present invention.
Fig. 5 is that the target range span of the present invention becomes waveform diagram.
Specific embodiment
Refering to Fig. 1-3.According to the present invention, the adaptive strain waveform control system of tracking radar with solid state microwave power device and
DSP digital signal processing chips are hardware foundation, according to Principles of Radar, first investigative range R needed for radar are divided into into N sections, often
Segment distance coverage is RN_min~RN_max；Become waveform position line centered on overlapping center symmetrical, in being inserted in overlapping section；
Then distance measurement scope R as needed for radar and transmitter dutycycle D of permission, according to radar detection range, the ripple of section are drawn
Beam width θ, operation wavelength λ, range resolution ratio unit △ R, target velocity V, aimed acceleration a and radar pulse repetition frequency FN
Parameter calculates maximum T sweep time of per section of permissionN, pulse width τN；When terminal computer has determined radar waveform parameter
And after pulse accumulation number, frequency source by Direct Digital Synthesizer DDS Digital Frequency Synthesize N kind impulse waveforms, and by N
Plant impulse waveform to store in memory；DSP Digital Signal Processing synthesizes N kind pulse coherent accumulation patterns, and signal processor leads to
Cross digital signal processor DSP storage N kind pulse coherent accumulation patterns；Radar timer passes through on-site programmable gate array FPGA
Programming realization waveform N kind repetition sequential, is stored in the N kind repetition sequential of synthesis in radar timer by FPGA；Load
Each equipment of program is connected terminal computer and links together with solid state transmitter, thus constitutes adaptive strain waveform tracking target
Control system, signal processor realizes waveform N kind pulse coherent accumulation patterns by digital signal processor DSP, carry out from
Adapt to waveform switch target following.
When target is tracked, according to target distance value is corresponding self-adaptive controlled apart from segment number N for the terminal computer in radar module
Frequency source processed transfers waveform τN, radar timer transfer repetition sequential FN, signal processor transfer corresponding correlative accumulation pattern work
Make, be capable of achieving radar low power continuous-stable tracking target.Radar timer is first with 417 μ s pulse periods, the low repetitions of 2.4kHz
Work, then carries out 32 pulse accumulation detection process, if sending out by signal processor to 22km~40km distance segments correspondence echo
Existing target then proceeds to tracking mode, continues to proceed to the search of 14km~26km distance segments if target is not found, by that analogy until
Capture target, and proceed to tracking mode.
In target range and radar waveform corresponding relation, pulse width τNWith pulse recurrence frequency FNR is covered with required separation distanceNHave
One-to-one relationship.
During radar lock on, terminal computer is responsible for cooperative scheduling, and according to target distance value is corresponding apart from segment number difference
Repetition sequential F that the control impulse waveform transferred of frequency source, radar timer are transferredN, the correlative accumulation transferred of signal processor
Pattern works, and realizes tracking target continuous-stable.During tracking, when target moves to neighbor distance section crossover region, eventually
End computer carries out target direction of motion and adjudicates in advance, deducts the previous distance value of target using target current distance value and judges that target is transported
Dynamic direction, according to the direction of motion waveform is changed in real time, with guarantee waveform convert promptly and accurately, target following continuous-stable.
Radar using Trajectory Prediction filtering with data at equal intervals interpolation, extract target acquisition data, adaptive strain waveform with
The time that track target completes a target acquisition is related to target range R, and T sweep timeNUnequal interval, wait the cycle to export etc.
In T sweep timeN。
According to Principles of Radar, target range R and radar pulse echo delay Td, light velocity C relation be：
If it is R not obscure range findingN_max, while transmitter dutycycle (pulsewidth is divided by pulse period) be D=35%, order cover away from
From RN
From above formula, work as RNIt is determined that after can calculate τN, while can also calculate pulse recurrence frequency
Refering to Fig. 2.With distance measurement scope needed for certain radar as 40km, the maximum duty cycle that solid state transmitter is allowed is
As a example by 35%.I.e. investigative range needed for radar is=0.5km~40km, then 0.5km~40km can be divided into into 10 sections by distance, point
Do not calculate：1st distance segment waveform pulsewidth=7 μ s, repetition=48k covers 0.5km~2km；…；9th distance segment waveform pulsewidth
=93 μ s, repetition=3.7k covers 14km~26km；10th distance segment waveform pulsewidth=145 μ s, repetition=2.4k is covered
22km~40km.The necessary overlapped coverage of neighbor distance section, such as the 9th distance segment, it is necessary to continuous to guarantee more than the 10th distance segment
Tracking target.
Refering to Fig. 3.Figure understands, in investigative range R of N sections is divided into, in order to ensure antenna continues alignment target, it is stable with
Track target, sweep time TNShould be simultaneously less than target across half angle-resolved unit time T ', target across half distance point
Distinguish unit time T ", target cross over half speed resolution cell time T " ', i.e. TN≤ min T ', T ", T " ', and carry out effectively
Pulse accumulation, so as to calculate the maximum sweep time of per section of permission respectively, wherein, when target crosses over half angle-resolved unit
Between T '：
Target crosses over half Range resolution unit time
Target crosses over half speed resolution cell time
In formula, λ is operation wavelength, RNFor coverage distance, θ is beam angle, and V is target velocity, FNFor pulse recurrence frequency, △
R is the distance of resolution elements, and a is aimed acceleration, and n is maximum correlative accumulation umber of pulse.N distance segments TNAnd FNIt is determined that after,
Signal processor can be calculated in the maximum correlative accumulation umber of pulse that the distance segment is allowed by following formula.N=TN·FN(formula 7)
For example, if=40km, beam angle θ=2 °, operation wavelength λ=0.032m, radar repetition=2.4K, range resolution ratio unit △
R=20m, target velocity V=680m/s, aimed acceleration a=40 are calculated, then sweep time, i.e. the maximum correlative accumulation of permission
Umber of pulse n=36；If R=500m, radar repetition FN=48K, remaining parameter constant, then sweep time, then, it is allowed to maximum phase
Ginseng accumulation umber of pulse n=528.
Refering to Fig. 4.Per the calculating of distance segment impulse waveform, radar repetition sequential and correlative accumulation pattern compiled by software
What journey was realized in the equipment such as frequency source, radar timer, signal processor.Specially frequency source is closed by DDS numerical frequencies
Deposit in memory into N kind impulse waveforms；Radar timer passes through FPGA programming realization waveform N kind repetition sequential；Signal processing
Machine realizes N kind pulse coherent accumulation patterns by DSP.
During search lighting target, the terminal computer in radar module is responsible for unified command and Collaborative Control, first turns tracking
Antenna alignment target, radar timer, frequency source and signal processor coordinated gradually change, and pulse wave radar is changed in real time
Shape, the full distance range that draws near search target；Radar timer is first worked with 417 μ s pulse periods, the low repetitions of 2.4kHz, so
Afterwards 32 pulse accumulation detection process are carried out to 22km~40km distance segments correspondence echo by signal processor, if target is found
Tracking mode is proceeded to, continues to proceed to the search of 14km~26km distance segments if target is not found, by that analogy until capturing target,
And proceed to tracking mode.
During radar lock on, according to target distance value is corresponding controls respectively apart from segment number for the terminal computer in radar module
Frequency source transfers waveform, radar timer and transfers repetition sequential, signal processing and transfers corresponding correlative accumulation arteries and veins mode of operation, with
During track, if target range changes, by changing pulse width, pulse recurrence frequency, correlative accumulation umber of pulse can
Realize that continuous-stable is tracked, when target moves to neighbor distance section crossover region, it is pre- that terminal computer carries out target direction of motion
Judgement, according to target direction of motion waveform is changed in real time, is deducted the previous distance value of target using target current distance value and is judged mesh
Mark the direction of motion, with guarantee waveform convert promptly and accurately, target following continuous-stable.
Refering to Fig. 5.Target moves to waveform N and waveform N+1 apart from when covering overlapping section, and radar terminal computer is with m
Even number difference is a judgement step-length, and the previous distance value of target is deducted to target direction of motion anticipation using target current distance value
Certainly, and take continuous circulation to ask poor calculating, if distance difference symbol is positive number is more than m/2, be judged to target away from；If distance
Difference symbol is that positive number is less than m/2, then be judged to target and be close to；If distance difference symbol is positive number is equal to m/2, mesh is judged to
Mark static (hovering flight, annular be diversion, tangentially flight etc.).
When radar terminal computer-made decision target is moved to radar direction, and during the close waveform N of target range and N+1 is overlapping
During the heart, radar transfers waveform N work；To avoid frequent switching waveform, when at least maintaining 5 to judge step-length after each waveform switch
Between just respond new court verdict；When radar terminal computer-made decision target away from radar direction to moving, and target range connects
When nearly waveform N is with N+1 overlapping centers, radar transfers waveform N+1 work.Equally, to avoid frequent switching waveform, each waveform from cutting
5 judgement step-length times are at least maintained after changing, new court verdict is just responded；When radar terminal computer-made decision target is static
When, then maintenance current form N or N+1 is constant, and holding current form is tracked to target.
Target acquisition time is completed equal to sweep time using " adaptive strain waveform tracking mesh calibration method " radar,
Related to target range, GPR Detection Data unequal interval can be added using Trajectory Prediction filtering and data extracted at equal intervals method
To solve, period is capable of achieving according to output, do not have difference with conventional radar output data.
Claims (10)
1. one kind is adaptive strains waveform tracking mesh calibration method, with following technical characteristic：The adaptive strain waveform control of tracking radar
System processed with solid state microwave power device and digital signal processor DSP as hardware foundation, according to Principles of Radar, first by radar
Investigative range R is needed to be divided into N sections, be per segment distance coverage~；Become waveform position line centered on overlapping center symmetrical, insert
Enter in overlapping section；Then distance measurement scope R as needed for radar and transmitter dutycycle D of permission, according to radar section is drawn
Detection range, beam angle θ, operation wavelength λ, range resolution ratio unit △ R, target velocity V, aimed acceleration a and radar
Pulse recurrence frequency parameter calculates maximum sweep time, the pulse width of per section of permission；When terminal computer has determined thunder
Up to after waveform parameter and pulse accumulation number, frequency source passes through Direct Digital Synthesizer DDS Digital Frequency Synthesize N kind pulses
Waveform, and N kinds impulse waveform is stored in memory；DSP Digital Signal Processing synthesizes N kind pulse coherent accumulation patterns, letter
Number datatron stores N kind pulse coherent accumulation patterns by digital signal processor DSP；Radar timer passes through field-programmable
Gate array FPGA programming realization waveform N kind repetition sequential, radar timer is stored in by FPGA by the N kind repetition sequential of synthesis
In；The each equipment for having loaded program is connected terminal computer and links together with solid state transmitter, thus constitutes adaptive strain wave
Shape tracks the control system of target, and signal processor realizes waveform N kind pulse correlative accumulation moulds by digital signal processor DSP
Formula, carries out self adaptation waveform switch target following.
It is 2. adaptive as claimed in claim 1 to strain waveform tracking goal approach, it is characterised in that：When target is tracked, radar
Terminal computer in cabin according to target distance value it is corresponding apart from segment number N Self Adaptive Control frequency sources transfer waveform, radar timing
Device transfers repetition sequential, signal processor and transfers corresponding correlative accumulation pattern work, realizes that radar low power continuous-stable is tracked
Target.
It is 3. adaptive as claimed in claim 1 to strain waveform tracking goal approach, it is characterised in that：During radar lock on, thunder
Up to the terminal computer in cabin, according to target distance value is corresponding controls frequency source respectively apart from segment number and transfer waveform, radar timer
Transfer repetition sequential, signal processing and transfer corresponding correlative accumulation pulse working mode, during tracking, if target range occurs
Change, then be capable of achieving continuous-stable tracking by changing pulse width, pulse recurrence frequency, correlative accumulation umber of pulse, works as target
When moving to neighbor distance section crossover region, terminal computer carries out target direction of motion and adjudicates in advance, according to target direction of motion reality
When change waveform, the previous distance value of target is deducted using target current distance value and judges target direction of motion.
It is 4. adaptive as claimed in claim 1 to strain waveform tracking mesh calibration method, it is characterised in that：It is overlapping in neighbor distance section
In covering, waveform N-1 coverage distances scope adopts waveform N-1, waveform N coverage distances scope to adopt waveform N, waveform N+1 to cover
Distance range adopts waveform N+1, the first section and latter end of waveform N coverage distance scopes, be covered each by the overlapping section of waveform N-1 latter ends and
Waveform N+1 first sections overlap section.
It is 5. adaptive as claimed in claim 1 to strain waveform tracking goal approach, it is characterised in that：During tracking, work as target
When moving to neighbor distance section crossover region, terminal computer carries out target direction of motion and adjudicates in advance, using target current distance value
Deduct the previous distance value of target and judge target direction of motion, waveform is changed in real time according to the direction of motion, with guarantee waveform convert and
When accurately, target following continuous-stable.
It is 6. adaptive as claimed in claim 1 to strain waveform tracking goal approach, it is characterised in that：When radar terminal computer is sentenced
Set the goal and moved to radar direction, and when the close waveform N of target range and N+1 overlapping centers, radar transfers waveform N work；And
At least maintain 5 after waveform switch every time and judge that the step-length time just responds new court verdict；When radar terminal computer-made decision
Target to moving away from radar direction, and the close waveform N of target range with N+1 overlapping centers when, radar transfers waveform N+1 works
Make；When radar terminal computer-made decision target is static, then maintain current form N or N+1 constant, holding current form pair
Target is tracked.
It is 7. adaptive as claimed in claim 1 to strain waveform tracking goal approach, it is characterised in that：Radar timer is first with 417 μ
S pulse periods, the low repetition work of 2.4kHz, then carry out 32 by signal processor to 22km~40km distance segments correspondence echo
Pulse accumulation detection process, if target is found tracking mode is proceeded to, continue to proceed to if target is not found 14km~26km away from
From section search, by that analogy until capturing target, and tracking mode is proceeded to.
It is 8. adaptive as claimed in claim 1 to strain waveform tracking goal approach, it is characterised in that：Radar timer is first with 417 μ
S pulse periods, the low repetition work of 2.4kHz, then carry out 32 by signal processor to 22km~40km distance segments correspondence echo
Pulse accumulation detection process, if target is found tracking mode is proceeded to, continue to proceed to if target is not found 14km~26km away from
From section search, by that analogy until capturing target, and tracking mode is proceeded to.
It is 9. adaptive as claimed in claim 1 to strain waveform tracking goal approach, it is characterised in that：The adaptive strain wave of tracking radar
Shape control system, including：The transmitter of connection radar antenna, the receiver for receiving radio-frequency echo wave, provide excitation pulse signal
Signal processor, terminal computer and intervalometer that frequency source is connected with receiver, when radar works, are arranged in radar module
Terminal computer by divide apart from segment number Collaborative Control frequency source produce respective pulses waveform, intervalometer produce correspondence sequential
Repetition and the corresponding correlative accumulation pattern of signal processing；When target range transforms to waveform N respective distances sections, radar is directly pressed
Correspondence waveform work；When target moves to adjacent waveform distance covers overlapping section, radar terminal computer carries out target motion
Direction is adjudicated in advance, and using target current distance value the previous distance value of target is deducted, and difference sign represents target direction of motion.
It is 10. adaptive as claimed in claim 1 to strain waveform tracking goal approach, it is characterised in that：Target move to waveform N with
When waveform N+1 distances cover overlapping section, radar terminal computer judges step-length with m even number difference as one, current using target
Distance value deducts the previous distance value of target to the pre- judgement of target direction of motion, and takes continuous circulation to ask poor calculating, if range difference
Value symbol be positive number be more than m/2, then be judged to target away from；If distance difference symbol is positive number is less than m/2, target is judged to
It is close to；If distance difference symbol is positive number is equal to m/2, target is judged to static.
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| CN201611265593.XA CN106680805B (en) | 2016-12-30 | 2016-12-30 | Adaptive strain waveform tracking mesh calibration method |
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