CN106908784B - A kind of multi-source foreign peoples's radar collaborative detection method based on three-dimensional grid - Google Patents
A kind of multi-source foreign peoples's radar collaborative detection method based on three-dimensional grid Download PDFInfo
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- 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
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Abstract
The invention discloses a kind of multi-source foreign peoples's radar collaborative detection method based on three-dimensional grid, it is directed to multi-source foreign peoples radar Cooperative Area detection problem, all kinds of detection tracking radars in region are assessed based on three-dimensional grid, obtain the detection radar set that each standard cube grid meets detection range, angle and requirement for height；The affiliated grid information of target is obtained, immediate radar in the detection radar set of the grid is dispatched and carries out detection tracking.The present invention combines the respective detection feature of different radars, and the regulation method of design collaboration detection improves collaboration detection efficiency.
Description
Technical field
The present invention relates to the radar exploration techniques more particularly to a kind of multi-source foreign peoples's radar based on three-dimensional grid to cooperate with detection
Method.
Background technique
With the development of network center, the collaboration detection of different platform becomes a kind of universal trend.Dissimilar sensors
Collaboration detection is exactly a kind of typical Cooperative Mode (different platform radar and the high-precision of ESM collaboration estimation method, Luo Zhifeng, " meter
Calculation machine and digital engineering " 2013,41 (8): 1266-1267).It is different that Dissimilar sensors observe data coordinate system difference, attribute.
ESM (Electronic Support Measure, electronic support measure) has an azimuth information and frequency information, no range information,
And then existing azimuth information also has range information to radar.The two has his own strong points in detectivity: radar detection precision is high, but visits
It is small to survey range, and ESM detection accuracy is relatively low, investigative range is wide.Multi-source foreign peoples's radar collaboration detection will be in conjunction with the two
Advantage improves collaboration detectivity.However, existing research work multi-source heterogeneous radar collaboration detect regulation in terms of, not yet
Form the method for being applicable in engineering practice.
Summary of the invention
Goal of the invention: in view of the problems of the existing technology the present invention, provides a kind of multi-source foreign peoples based on three-dimensional grid
Radar collaborative detection method, this method combine the respective detection feature of different radars, and the regulation method of design collaboration detection improves
Collaboration detection efficiency.Research work of the invention has obtained state natural sciences fund (61402426) and Jiangsu Province's nature section
NSF National Science Foundation (BK20160147, BK20160148) is subsidized.
Technical solution: multi-source foreign peoples's radar collaborative detection method of the present invention based on three-dimensional grid includes following step
It is rapid:
(1) acquisition of information: the X-direction coordinate X of each radar r is obtainedr, Y-direction coordinate Yr, detectable maximum angle ωr、
Detectable maximum distance DrWith detectable maximum height Hr, obtain the X-direction coordinate range [X of region AREA to be investigatedmin, Xmax]、
Y-direction coordinate range [Ymin, Ymax] and Z-direction coordinate range [Zmin, Zmax]；
(2) three-dimensional grid division: using dx, dy and dz as gauged distance, region AREA will be scouted and be divided into N number of three-dimensional grid
Lattice, number be respectively 1,2 ..., N；Wherein, p is setx=ceiling ((Xmax-Xmin)/dx), py=ceiling ((Ymax-
Ymin)/dy), pz=ceiling ((Zmax-Zmin)/dz), then the corresponding three-dimensional grid coordinate of the three-dimensional grid that number is m are as follows:
Xm∈[Xmin+(m mod px-1)*dx,Xmin+(m mod px)*dx] (1)
Ym∈[Ymin+(ceiling((m mod pxpY)/px)-1)*dy,Ymin+ceiling((m mod pxpY)/px)*
dy] (2)
(3) the three-dimensional grid set based on angle calculates: being directed to each radar r, calculates detection angle and be less than or equal to ωr
Three-dimensional grid set Ωrω, i.e.,
(4) the three-dimensional grid set based on distance calculates: being directed to each radar r, calculates detection range and be less than or equal to Dr
Three-dimensional grid set Ωrd, i.e.,
(5) the three-dimensional grid set based on height calculates: being directed to each radar r, calculates detection height and be less than or equal to Hr
Three-dimensional grid set Ωrh, i.e.,
(6) radar solid grid set calculates: being directed to each radar r, calculates while meeting its detection angle, detection range
With the three-dimensional grid set Ω of detection heightr, i.e.,
Ωr=Ωrω∩Ωrd∩Ωrh (7)
(7) direction target XY coordinate calculates: according to the orientation of the ESM of co-located station a and ESM station b cross bearing target t
Angle α and β and pitching angle thetaaAnd θb, X, the Y-direction coordinate of target t be denoted as XtAnd Yt, ESM station a and ESM station b coordinate be respectively
[Xa, Ya, 0], [Xb, Yb, 0], then X is derived according to the following formulatAnd YtValue:
(8) target Z-direction coordinate calculates: according to the X derivedtAnd YtCalculate the Z coordinate Z of target tt, wherein
(9) target radar set calculates: according to the coordinate value X of target tt、YtAnd Zt, calculate three-dimensional grid locating for target t
Number m', and calculate the target radar set Ψ of the three-dimensional grid set comprising m't
Ψt=r | m' ∈ Ωr} (10)
(10) target radar set sorts: by target radar set ΨtIn radar first, in accordance with distance objective t distance
It is secondly ranked up from the near to the remote by radar number is ascending, ranking results are denoted as ORD；
(11) target radar is chosen: choosing the radar r' of sequence first in radar sequence ORD；
(12) target radar is dispatched: scheduling radar r' tracks target t.
Gauged distance combination concrete application scene of step (2) the neutral body grid under X, Y, Z coordinate requires to determine.
Coordinate value of the three-dimensional grid under X, Y, Z coordinate in step (2) is the integral multiple of dx, dy and dz, is actually being answered
Increase displacement appropriate in combination with specific requirements in.
Step (3) (4) (5) calculates the three-dimensional grid collection that each radar meets according to angle, distance and requirement for height respectively
It closes, other condition requirements can be increased in practical applications.
Step (6) goes out to meet for each three-dimensional raster symbol-base to be completed to explore under the requirement conditions such as angle, distance and height
The radar set of task.
Step (9) calculates the three-dimensional grid m' locating for it, then extrapolate the institute that can cover m' according to the position of target t
There is radar.
The utility model has the advantages that compared with prior art, the present invention its remarkable advantage is: (1) the three-dimensional grid division method proposed
It is widely used in the target acquisition application of land, sea, air, outer space domain, there is versatility；(2) proposition of detection radar set has with application
Help the efficiency of management for promoting radar resource energetically；(3) low in cost, implementation method engineering, with good engineering is dispatched
Application prospect.It is main that conventional method is breached based on multi-source foreign peoples's radar collaborative detection method of the invention based on three-dimensional grid
For the limitation of same kind sensor, the collaboration capabilities between Dissimilar sensors are enhanced, can preferably complete to radiate
Source object recognition task.
Detailed description of the invention
Fig. 1 is the flow diagram of one embodiment of the present of invention；
Fig. 2 is radar and the schematic diagram for scouting region AREA.
Specific embodiment
A kind of multi-source foreign peoples's radar collaborative detection method based on three-dimensional grid is present embodiments provided, it is different for multi-source
Class radar Cooperative Area detection problem assesses all kinds of detection tracking radars in region based on three-dimensional grid, obtains every
A standard cube grid meets the detection radar set of detection range, angle and requirement for height.Obtain the affiliated grid letter of target
Breath, dispatches immediate radar in the detection radar set of the grid and carries out detection tracking.It is of the invention based on three-dimensional grid
Multi-source foreign peoples's radar collaborative detection method breaches conventional method mainly for the limitation of same kind sensor, enhances different
Collaboration capabilities between class sensor can preferably complete radiant source target identification mission.
As shown in Figure 1, the present embodiment the following steps are included:
S1, acquisition of information: the X-direction coordinate X of each radar r is obtainedr, Y-direction coordinate Yr, detectable maximum angle ωr、
Detectable maximum distance DrWith detectable maximum height Hr, obtain the X-direction coordinate range [X of region AREA to be investigatedmin, Xmax]、
Y-direction coordinate range [Ymin, Ymax] and Z-direction coordinate range [Zmin, Zmax]。
For example, it is assumed that have 3 can be with the radar of scheduling controlling, the x coordinate (X of each radarr), y-coordinate (Yr), search angle
Spend (ωr), detection range (Dr) and detection height (Hr) etc. information it is as shown in the table:
| Radar r | X coordinate (Xr) | Y-coordinate (Yr) | Detection angle (ωr) | Detection range (Dr) | Detection height (Hr) |
| 1 | 30km | 40km | 360 degree | 37km | 30km |
| 2 | 20km | 20km | 360 degree | 37km | 30km |
| 3 | 40km | 20km | 360 degree | 37km | 30km |
Each radar is 360 degree and sweeps formula, the farthest 37km of detection range entirely.Secondly, x, y and z of region AREA to be scouted are sat
Mark range is expressed as [Xmin=0km, Xmax=60km], [Ymin=0km, Ymax=60km] and [Zmin=0km, Zmax=
0km].The length and width and height of each solid grid are fixed to dx=20km, dy=20km and dz=0.In addition, it is assumed that having two
ESM, a and the b of a co-located, coordinate are respectively [Xa=-20km, Ya=30km, 0], [Xb=30km, Yb=80km, 0].
S2, three-dimensional grid division: using dx, dy and dz as gauged distance, region AREA will be scouted and be divided into N number of three-dimensional grid
Lattice, number be respectively 1,2 ..., N；Wherein, p is setx=ceiling ((Xmax-Xmin)/dx), py=ceiling ((Ymax-
Ymin)/dy), pz=ceiling ((Zmax-Zmin)/dz), then the corresponding three-dimensional grid coordinate of the three-dimensional grid that number is m are as follows:
Xm∈[Xmin+(m mod px-1)*dx,Xmin+(m mod px)*dx] (1)
Ym∈[Ymin+(ceiling((m mod pxpY)/px)-1)*dy,Ymin+ceiling((m mod pxpY)/px)*
dy] (2)
For example, connecting example, it can will scout region AREA and be divided into 9 three-dimensional grids, as shown in Figure 2.
S3, the three-dimensional grid set based on angle calculate: being directed to each radar r, calculate detection angle and be less than or equal to ωr
Three-dimensional grid set Ωrω, i.e.,
For example, example is connected, the three-dimensional grid set for meeting its detection angle requirement of three radars are as follows: Ω1ω=Ω2ω=
Ω3ω={ 1-9 }；
S4, the three-dimensional grid set based on distance calculate: being directed to each radar r, calculate detection range and be less than or equal to Dr
Three-dimensional grid set Ωrd, i.e.,
For example, example is connected, the three-dimensional grid set for meeting its detection range requirement of each radar are as follows: Ω1d={ 1-6 },
Ω2d={ 4,5,7,8 }, Ω3d={ 5,6,8,9 }.
S5, the three-dimensional grid set based on height calculate: being directed to each radar r, calculate detection height and be less than or equal to Hr
Three-dimensional grid set Ωrh, i.e.,
For example, connecting example, each radar meets its three-dimensional grid set for detecting requirement for height are as follows: Ω1h=Ω2h=
Ω3h={ 1-9 }.
S6, radar solid grid set calculate: being directed to each radar r, calculate while meeting its detection angle, detection range
With the three-dimensional grid set Ω of detection heightr, i.e.,
Ωr=Ωrω∩Ωrd∩Ωrh。 (7)
For example, connecting example, while meeting the three-dimensional grid collection of each radar of detection angle, detection range and detection height
It is combined into: Ω1={ 4-9 }, Ω2={ 1,2,4,5 }, Ω3={ 2,3,5,6 }
S7, target XY direction coordinate calculate: according to the orientation of the ESM of co-located station a and ESM station b cross bearing target t
Angle α and β and pitching angle thetaaAnd θb, X, the Y-direction coordinate of target t be denoted as XtAnd Yt, ESM station a and ESM station b coordinate be respectively
[Xa, Ya, 0], [Xb, Yb, 0], then X is derived according to the following formulatAnd YtValue:
For example, connect example, according to formula (8) and the station the ESM of two co-locateds a and b=[Xa=-20km, Ya=
30km, 0], [Xb=30km, Yb=80km, 0], can derive Xt=30km and Yt=30km.
S8, target Z-direction coordinate calculate: according to the X derivedtAnd YtCalculate the Z coordinate Z of target tt, wherein
For example, connecting example, Z can be calculated according to formula (9)t=0.
S9, target radar set calculate: according to the coordinate value X of target tt、YtAnd Zt, calculate three-dimensional grid locating for target t
Number m', and calculate the target radar set Ψ of the three-dimensional grid set comprising m't
Ψt=r | m' ∈ Ωr}。 (10)
For example, example is connected, according to the coordinate value X of target tt、YtAnd Zt, calculate three-dimensional grid number m'=locating for target t
5, calculate that three-dimensional grid set includes the target radar set Ψ of m't={ r1,r2,r3}。
S10, the sequence of target radar set: by target radar set ΨtIn radar first, in accordance with distance objective t distance
It is secondly ranked up from the near to the remote by radar number is ascending, ranking results are denoted as ORD.
For example, connect example, by target radar set=in radar first, in accordance with distance objective t distance from the near to the remote its
It is secondary to be ranked up by radar number is ascending, ranking results ORD=r1< r2< r3。
S11, target radar are chosen: choosing the radar r' of sequence first in radar sequence ORD.
For example, example is connected, the radar r of selected and sorted first from ORD1。
S12, target radar scheduling: scheduling radar r' tracks target t.
For example, connecting example, radar r is dispatched1Target t is tracked.
Above disclosed is only a preferred embodiment of the present invention, and the right model of the present invention cannot be limited with this
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (6)
1. a kind of multi-source foreign peoples's radar collaborative detection method based on three-dimensional grid, it is characterised in that this method includes following step
It is rapid:
(1) acquisition of information: the X-direction coordinate X of each radar r is obtainedr, Y-direction coordinate Yr, detectable maximum angle ωr, can visit
Survey maximum distance DrWith detectable maximum height Hr, obtain the X-direction coordinate range [X of region AREA to be investigatedmin, Xmax], the side Y
To coordinate range [Ymin, Ymax] and Z-direction coordinate range [Zmin, Zmax]；
(2) three-dimensional grid division: using dx, dy and dz as gauged distance, region AREA will be scouted and be divided into N number of three-dimensional grid, compiled
Number be respectively 1,2 ..., N；Wherein, p is setx=ceiling ((Xmax-Xmin)/dx), py=ceiling ((Ymax-Ymin)/
Dy), pz=ceiling ((Zmax-Zmin)/dz), then the corresponding three-dimensional grid coordinate of the three-dimensional grid that number is m are as follows:
Xm∈[Xmin+(m mod px-1)*dx,Xmin+(m mod px)*dx] (1)
Ym∈[Ymin+(ceiling((m mod pxpY)/px)-1)*dy,Ymin+ceiling((m mod pxpY)/px)*dy]
(2)
(3) the three-dimensional grid set based on angle calculates: being directed to each radar r, calculates detection angle and be less than or equal to ωrIt is vertical
Body grid set Ωrω, i.e.,
(4) the three-dimensional grid set based on distance calculates: being directed to each radar r, calculates detection range and be less than or equal to DrSolid
Grid set Ωrd, i.e.,
(5) the three-dimensional grid set based on height calculates: being directed to each radar r, calculates detection height and be less than or equal to HrSolid
Grid set Ωrh, i.e.,
(6) radar solid grid set calculates: being directed to each radar r, calculates while meeting its detection angle, detection range and spy
Survey the three-dimensional grid set Ω of heightr, i.e.,
Ωr=Ωrω∩Ωrd∩Ωrh (7)
(7) direction target XY coordinate calculates: according to the azimuth angle alpha of the ESM of co-located station a and ESM station b cross bearing target t
With β and pitching angle thetaaAnd θb, X, the Y-direction coordinate of target t be denoted as XtAnd Yt, the station ESM station a and ESM b coordinate is respectively [Xa,
Ya, 0], [Xb, Yb, 0], then X is derived according to the following formulatAnd YtValue:
(8) target Z-direction coordinate calculates: according to the X derivedtAnd YtCalculate the Z coordinate Z of target tt, wherein
(9) target radar set calculates: according to the coordinate value X of target tt、YtAnd Zt, calculate three-dimensional grid number locating for target t
M', and calculate the target radar set Ψ of the three-dimensional grid set comprising m't
Ψt=r | m' ∈ Ωr} (10)
(10) target radar set sorts: by target radar set ΨtIn radar first, in accordance with the distance of distance objective t by close
It is secondly ranked up to remote by radar number is ascending, ranking results are denoted as ORD；
(11) target radar is chosen: choosing the radar r' of sequence first in radar sequence ORD；
(12) target radar is dispatched: scheduling radar r' tracks target t.
2. a kind of multi-source foreign peoples's radar collaborative detection method based on three-dimensional grid according to claim 1, feature exist
In: gauged distance combination concrete application scene of step (2) the neutral body grid under X, Y, Z coordinate requires to determine.
3. a kind of multi-source foreign peoples's radar collaborative detection method based on three-dimensional grid according to claim 1, feature exist
In: coordinate value of the three-dimensional grid under X, Y, Z coordinate in step (2) is the integral multiple of dx, dy and dz, in practical applications may be used
Increase displacement appropriate in conjunction with specific requirements.
4. a kind of multi-source foreign peoples's radar collaborative detection method based on three-dimensional grid according to claim 1, feature exist
In: step (3) (4) (5) calculates the three-dimensional grid set that each radar meets according to angle, distance and requirement for height respectively,
Other condition requirements can be increased in practical application.
5. a kind of multi-source foreign peoples's radar collaborative detection method based on three-dimensional grid according to claim 1, feature exist
In: step (6) goes out to meet for each three-dimensional raster symbol-base completes exploration task under the requirement conditions such as angle, distance and height
Radar set.
6. a kind of multi-source foreign peoples's radar collaborative detection method based on three-dimensional grid according to claim 1, feature exist
In: step (9) calculates the three-dimensional grid m' locating for it, then extrapolate all thunders that can cover m' according to the position of target t
It reaches.
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