CN108287341A - A kind of Low Altitude Target Detection method and its system, electronic equipment - Google Patents
A kind of Low Altitude Target Detection method and its system, electronic equipment Download PDFInfo
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- CN108287341A CN108287341A CN201711345949.5A CN201711345949A CN108287341A CN 108287341 A CN108287341 A CN 108287341A CN 201711345949 A CN201711345949 A CN 201711345949A CN 108287341 A CN108287341 A CN 108287341A
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
Abstract
The present invention relates to air vehicle technique fields, more particularly to a kind of Low Altitude Target Detection method and its system, electronic equipment.Wherein, which is applied at least two receiving stations, and this method includes：Receive at least two groups target echo signal that object reflection external sort algorithm is propagated；According at least two groups target echo signal, at least two groups time delay information and doppler information are extracted；According to time delay information described at least two groups and the doppler information, the location status information of object is calculated.It is numerous due to external sort algorithm, each position in space can be widely present, can comprehensive reception electromagnetic signal, and the problem of covered with energy there is no detection blind area, therefore, have a wide range of application.
Description
Technical field
The present invention relates to air vehicle technique fields, more particularly to a kind of Low Altitude Target Detection method and its system, electronics
Equipment.
Background technology
With the rapid increase of unmanned plane quantity, with unmanned plane relevant all kinds of " violations " even " illegal " event also layer
Go out not poor.These problems are that some maintain secrecy and the safety of key departments brings hidden trouble.Therefore, have to unmanned aerial vehicle
Effect detection and management and control are extremely urgent.
Currently, for anti-unmanned plane to capture, destroy based on unmanned plane, realization rate includes mainly military using microwave both at home and abroad
Device shoots down, destroys unmanned plane and low latitude interception etc., such as low latitude intercepts and uses fixed launcher rack or mobile launcher, injection
It when near " shell " target run unmanned plane, discharges big net and snarls target, enable its manipulation and dynamical system failure, and open drop
It falls umbrella and ensures that unmanned plane steadily lands.
Inventor in the implementation of the present invention, it is found that traditional technology has at least the following problems：Traditional technology is limited
In the reason of the tool, application range is narrow.
Invention content
One purpose of the embodiment of the present invention is intended to provide a kind of Low Altitude Target Detection method and its system, electronic equipment,
Solving traditional technology, there are the narrow technical problems of application range.
In order to solve the above technical problems, the embodiment of the present invention provides following technical scheme：
In a first aspect, the embodiment of the present invention provides a kind of Low Altitude Target Detection method, applied at least two receptions
It stands, the method includes：Receive at least two groups target echo signal that object reflection external sort algorithm is propagated；According to it is described extremely
Few two groups of target echo signals, extract at least two groups time delay information and doppler information；According at least two groups institute
Time delay information and the doppler information are stated, the location status information of the object is calculated.
Optionally, the location status information include target range between the object and the receiving station and/or
The azimuth information of the object.
Optionally, the location status information includes the pitching angle information of the object；At least two described in the basis
The group time delay information and the doppler information, calculate the location status information of the object, including：According to
Time delay information and doppler information described in three groups calculate the pitching angle information of the object.
Optionally, each receiving station is all configured with main channel antenna and reference channel antenna, the main channel antenna
For receiving main channel signal, the main channel signal includes direct-path signal, target echo signal and multipath signal, described
For reference channel antenna for receiving reference channel signal, the reference channel signal includes direct-path signal；Described in the basis
At least two groups target echo signal extracts time delay information and doppler information described at least two groups, including：Respectively will
The corresponding main channel signal of Liang Ge receiving stations carries out offseting processing with the reference channel signal；It is offseted from two groups
Treated, and signal correspondence extracts at least two groups time delay information and doppler information.
Optionally, the method further includes：According to the location status information, warning message is generated.
In second aspect, the embodiment of the present invention provides a kind of Low Altitude Target Detection device, is applied at least two and receives
It stands, described device includes：Receiving module, at least two groups target echo letter propagated for receiving object reflection external sort algorithm
Number；Extraction module, for according at least two groups target echo signal, extract at least two groups time delay information with it is more
General Le information；Computing module, for according to time delay information described in at least two groups and the doppler information, calculating
Go out the location status information of the object.
Optionally, the location status information include target range between the object and the receiving station and/or
The azimuth information of the object.
Optionally, the location status information includes the pitching angle information of the object；The computing module is specifically used
In：According to time delay information described in three groups and the doppler information, the pitching angle information of the object is calculated.
Optionally, each receiving station is all configured with main channel antenna and reference channel antenna, the main channel antenna
For receiving main channel signal, the main channel signal includes direct-path signal, target echo signal and multipath signal, described
For reference channel antenna for receiving reference channel signal, the reference channel signal includes direct-path signal；
The extraction module includes：Unit is offseted, for respectively believing the corresponding main channel of Liang Ge receiving stations
It number carries out offseting processing with the reference channel signal；Extraction unit, for offseting that treated from two groups, signal corresponds to extraction
Go out at least two groups time delay information and doppler information.
Optionally, described device further includes：Alarm module, for according to the location status information, generating alarm signal
Breath.
In the third aspect, the embodiment of the present invention provides a kind of Low Altitude Target Detection system, is applied at least two and receives
It stands, the system comprises：At least one basic unit, at least two groups mesh propagated for receiving object reflection external sort algorithm
Mark echo-signal；At least one processing unit is connect at least one basic unit, at least two according to
Group target echo signal, extracts time delay information and doppler information described at least two groups, and according at least two groups
The time delay information and the doppler information, calculate the location status information of the object.
Optionally, at least one basic unit includes at least two receiving stations, and each receiving station is all configured with
Main channel antenna and reference channel antenna, for receiving main channel signal, the main channel signal includes the main channel antenna
Direct-path signal, target echo signal and multipath signal, the reference channel antenna are described for receiving reference channel signal
Reference channel signal includes direct-path signal.
Optionally, the processing unit includes：Target component estimation module, for respectively that Liang Ge receiving stations is respectively right
The main channel signal answered carries out offseting processing with the reference channel signal, and the signal pair that offsets from two groups that treated
At least two groups time delay information and doppler information should be extracted, further according to time delay information described in at least two groups
With the doppler information, the location status information of the object is calculated；System control module, for according to position shape
State information generates alarm command；Warning module, for according to the alarm command, generating warning message.
The location status information includes the target range and/or the mesh between the object and the receiving station
Mark the azimuth information of object and/or the pitching angle information of the object.
In fourth aspect, the embodiment of the present invention provides a kind of electronic equipment, and the electronic equipment includes：At least one place
Manage device；And the memory being connect at least one processor communication；Wherein, be stored with can be described for the memory
The instruction that at least one processor executes, described instruction is executed by least one processor, so that at least one place
Reason device can be used in executing any one of them Low Altitude Target Detection method.
At the 5th aspect, the embodiment of the present invention provides a kind of non-transient computer readable storage medium, the non-transient meter
Calculation machine readable storage medium storing program for executing is stored with computer executable instructions, and the computer executable instructions are for making electronic equipment hold
Row any one of them Low Altitude Target Detection method.
In each embodiment of the present invention, at least two groups target time that external sort algorithm is propagated is reflected by receiving object
Wave signal extracts at least two groups time delay information and doppler information according at least two groups target echo signal, according to
Time delay information and doppler information described at least two groups calculate the location status information of object.Due to external sort algorithm
It is numerous, each position in space can be widely present, can comprehensive reception electromagnetic signal, and there is no detect it is blind
The problem of area is covered with energy, therefore, has a wide range of application.
Description of the drawings
One or more embodiments are illustrated by the picture in corresponding attached drawing, these are exemplary
Illustrating not constitute the restriction to embodiment, the element with same reference numbers label is expressed as similar element in attached drawing,
Unless there are special statement, composition does not limit the figure in attached drawing.
Fig. 1 is that the embodiment of the present invention provides a kind of structural schematic diagram of Low Altitude Target Detection system；
Fig. 2 is that another embodiment of the present invention provides a kind of structural schematic diagram of Low Altitude Target Detection system；
Fig. 3 is that the embodiment of the present invention provides a kind of structural schematic diagram of basic unit；
Fig. 4 is that another embodiment of the present invention provides a kind of structural schematic diagram of basic unit；
Fig. 5 is that the embodiment of the present invention provides a kind of coordinate schematic diagram of Low Altitude Target Detection principle；
Fig. 6 is that the embodiment of the present invention provides a kind of signal transmission schematic diagram of Low Altitude Target Detection；
Fig. 7 is that the embodiment of the present invention provides a kind of structural schematic diagram of processing unit；
Fig. 8 is that the embodiment of the present invention is provided using city as the application scenarios schematic diagram of application environment；
Fig. 9 is that another embodiment of the present invention is provided using city as the application scenarios schematic diagram of application environment；
Figure 10 is that the embodiment of the present invention is provided using remote environments as the application scenarios schematic diagram of application environment；
Figure 11 is that another embodiment of the present invention is provided using remote environments as the application scenarios schematic diagram of application environment；
Figure 12 is that the embodiment of the present invention provides a kind of structural schematic diagram of Low Altitude Target Detection device；
Figure 13 is that the embodiment of the present invention provides a kind of structural schematic diagram of extraction module；
Figure 14 is that another embodiment of the present invention provides a kind of structural schematic diagram of Low Altitude Target Detection device；
Figure 15 is that the embodiment of the present invention provides a kind of flow diagram of Low Altitude Target Detection method；
Figure 16 is that the embodiment of the present invention provides a kind of flow diagram of step 32；
Figure 17 is that another embodiment of the present invention provides a kind of flow diagram of Low Altitude Target Detection method；
Figure 18 is the structural schematic diagram that the embodiment of the present invention provides a kind of electronic equipment.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments,
The present invention will be described in further detail.It should be appreciated that described herein, specific examples are only used to explain the present invention,
It is not intended to limit the present invention.
Unmanned plane (Unmanned Aerial Vehicle, UAV) be it is a kind of by it is unmanned on power drive, machine, can
The aircraft of reuse.Unmanned plane can be dual-use, and civilian unmanned plane majority is that multi-purpose unmanned aerial vehicle loads civilian task load
The variant machine of lotus can be divided into commercial communication relaying unmanned plane, meteorological detection unmanned plane, disaster monitoring unmanned plane, pesticide by purposes
Spray unmanned plane, geological exploration unmanned plane, ground mapping unmanned plane, traffic control unmanned plane and border control unmanned plane etc..
It is widely used in air-to-ground attack in military affairs, electronic interferences, decoy deception, reconnaissance and surveillance, air-borne early warning, Target indication, firepower are commented
Estimate, communication relay, dog fight and anti-missile interception etc..
As previously mentioned, with the rapid increase of unmanned plane quantity, even " illegal " with unmanned plane relevant all kinds of " violations "
Event also emerges one after another.Traditional technology may be used optical device and carry out sensorcraft, but optical device climate influences sternly
Weight, limits it and promotes the use of.Traditional technology can also use radar detecting equipment, but under the complex environment of city, radar by
Building blocks etc. that influences are serious, and another aspect clutter is serious, so that its detection performance is had a greatly reduced quality, or even lose efficiency.
Based on this, the embodiment of the present invention provides a kind of Low Altitude Target Detection system, is applied at least two receiving stations.Such as
Shown in Fig. 1, which includes at least one basic unit 11 and at least one processing unit 12, processing
Unit 12 is connected with the communication of basic unit 11.
Basic unit 11 is used to receive at least two groups target echo signal that object reflection external sort algorithm 13 is propagated.Its
In, external sort algorithm can be communication base station or satellite.
Processing unit 12 is used for according at least two groups target echo signal, extract at least two groups time delay information with
Doppler information, and according at least two groups time delay information and doppler information, calculate the location status letter of object
Breath.
It is numerous due to external sort algorithm, it can be widely present each position in space, it being capable of comprehensive reception electromagnetism
Signal, and the problem of detection blind area is covered with energy is not present, therefore, have a wide range of application.
Further, the communication base station signal of urban environment is relatively more, which can utilize
Communication base station can be conducive to Low Altitude Target Detection, monitoring, ground target monitoring and supervision as external sort algorithm.
Further, open ground can utilize and defend when lacking communication base station or other use signal in the wild
Star is used for the low-altitude detection and monitoring of localized region as external sort algorithm.
Further, since above-mentioned Low Altitude Target Detection system is not necessarily to own transmission signal, passive radar does not have big work(
The transmitter apparatus of rate only needs a receiving device.For Active Radar, cost substantially drops
It is low, and the characteristic with good portability and low cost.
Further, above-mentioned Low Altitude Target Detection system itself non-radiating electromagnetic signal, without additional allocation frequency
Spectrum, therefore, which save precious frequency spectrum resources, while can't cause electromagnetic pollution to environment.
In some embodiments, above-mentioned Low Altitude Target Detection system 100 not only can be by single basic unit 11 and processing
Unit 12 forms detection network, as shown in Fig. 2, it can also form detection network by multiple basic units 11 and processing unit 12
Network is not limited to detection network framework shown in the present embodiment herein.
In some embodiments, can also include multiple receiving stations for each basic unit 11, as shown in figure 3,
Basic unit 11 includes Liang Ge receiving stations, and each receiving station is all configured with main channel antenna and reference channel antenna, main channel day
Line is for receiving main channel signal, and main channel signal includes direct-path signal, target echo signal and multipath signal, with reference to logical
For road antenna for receiving reference channel signal, reference channel signal includes direct-path signal.Direct-path signal is that external sort algorithm is straight
Line travels to the signal of basic unit 11, and multipath signal is that other objects reflect external sort algorithm propagation and reach basic unit
11 signal.Therefore, processing unit 12 extracts two groups of time delay information and Doppler according to two groups of target echo signals
Information, and according to two groups of time delay information and doppler information, calculate the location status information of object.Wherein, the position
Set the azimuth information that status information includes the target range and/or object between object and receiving station.
Therefore, accurately ranging and the orientation of object can be extrapolated.
In further embodiments, as shown in figure 4, basic unit 11 includes three receiving stations, each receiving station all configures
There are two antennas.Therefore, processing unit 12 can calculate object according to three groups of time delay information and doppler information
Pitching angle information.
For example：Referring to Fig. 5, the position of three receiving stations in the position O, A and B.Based on Fig. 5, can push over out following
Formula：
Wherein, (xi,yi,zi), i=0,1,2 is the coordinate of receiving station, due to R1,R2,R3When can be by estimating to postpone
Between obtain, target location (x, y, z) can be solved by above formula, acquisition can be calculated by the position (x, y, z) of object
The azimuth of object and pitch angle.
In some embodiments, for each receiving station, processing unit 12 is extracting at least one set of object
Time delay information and doppler information during, first, processing unit 12 can be respectively right by Liang Ge receiving stations respectively
The main channel signal answered carries out offseting processing with reference channel signal, next, processing unit 12 is again from the signal that offsets that treated
Extract at least two groups time delay information and doppler information.
For example：Referring to Fig. 6, the first direct-path signal is enabled to be expressed as：
y1(t)=B1·s(t)
Second direct-path signal is expressed as：
y2(t)=B2·s(t)
Then：Target echo signal is represented by：
Y (t)=As (t- τ0)
Wherein, B1,B2, A respectively represents the width of the first direct-path signal, the second direct-path signal and target echo signal
Degree, τ0Indicate that target echo signal arrives separately at the time difference of corresponding reception antenna with two direct waves.
The signal that main channel receives is enabled to be：
X (t)=y (t)+y2(t)
The signal of main channel is then carried out relevant treatment with the signal that reference channel receives to can be obtained：
Since the direct wave in main channel is suppressed, as τ=τ0When, correlation output obtains peak value, first item
It is worth very little, the influence for result is smaller.Therefore, the estimation of time delay is can be obtained by correlation peak search.
In some embodiments, as shown in fig. 7, processing unit 12 includes：Target component estimation module 121, system control
Module 122 and warning module 123.
Target component estimation module 121 is for logical with reference by the corresponding main channel signal of Liang Ge receiving stations respectively
Road signal carries out offseting processing, and the signal correspondence that offsets from two groups that treated extract at least two groups time delay information with
Doppler information calculates the location status letter of object further according at least two groups time delay information and doppler information
Breath.
System control module 122 is used to, according to location status information, generate alarm command.Such as：When object and reception
Point target range be less than predetermined threshold value when, system control module 122 generate alarm command, when more than when, system control module
122 do not generate alarm command, maintain current working status.Again for example：When the azimuth information of object is located in preset range
When, system control module 122 generates alarm command.When being not located at preset range, system control module 122 does not generate alarm
Instruction maintains current working status.
Warning module 123 is used to, according to alarm command, warning message is generated, so that manager takes corresponding measure.Its
In, which includes phonic warning information, illumination warning information etc..
In order to elaborate the embodiment of the present invention, the embodiment of the present invention provides following application scenarios, for further illustrating
The embodiment of the present invention, however, it is understood that：Residing application scenarios illustrate the guarantor being not intended to restrict the invention herein
Protect range.
Referring to Fig. 8, in city, external sort algorithm is communication base station.Low Altitude Target Detection system 100 is by single basic
Unit 11 forms detection network with processing unit 12.As shown in figure 9, Low Altitude Target Detection system 100 is by multiple basic units 11
Detection network is formed with processing unit 12.
Referring to Fig. 10, in remote environments, external sort algorithm is satellite.Low Altitude Target Detection system 100 is by single basic
Unit 11 forms detection network with processing unit 12.As shown in figure 11, Low Altitude Target Detection system 100 is by multiple basic units
11 form detection network with processing unit 12.
As the another aspect of the embodiment of the present invention, the embodiment of the present invention provides a kind of Low Altitude Target Detection device, application
In at least two receiving stations.As shown in figure 12, Low Altitude Target Detection device 200 includes：Receiving module 21, extraction module 22 and
Computing module 23.
Receiving module 21 is used to receive at least two groups target echo signal that object reflection external sort algorithm is propagated.
Extraction module 22 is used for according at least two groups target echo signal, extract at least two groups time delay information with
Doppler information.
Computing module 23 is used to, according to time delay information and doppler information described at least two groups, calculate object
Location status information.
It is numerous due to external sort algorithm, it can be widely present each position in space, it being capable of comprehensive reception electromagnetism
Signal, and the problem of detection blind area is covered with energy is not present, therefore, have a wide range of application.
In some embodiments, location status information includes the target range and/or target between object and receiving station
The azimuth information of object.
Location status information includes the target range between object and receiving point.Computing module 23 is specifically used for：According to
Three groups of time delay information and doppler information calculate the pitching angle information of object.
In some embodiments, each receiving station is all configured with main channel antenna and reference channel antenna, main channel antenna
For receiving main channel signal, main channel signal includes direct-path signal, target echo signal and multipath signal, reference channel
For antenna for receiving reference channel signal, reference channel signal includes direct-path signal.
As shown in figure 13, extraction module 22 includes：Offset unit 221 and extraction unit 222.
Offset unit 221 for respectively by the corresponding main channel signal of Liang Ge receiving stations and reference channel signal into
Row offsets processing.
For offseting that treated from two groups, signal correspondence extracts at least two groups time delay information to extraction unit 222
With doppler information.
In some embodiments, as shown in figure 14, Low Altitude Target Detection device 200 further includes：Alarm module 24.Alarm
Module 24 is used to, according to location status information, generate warning message.
Since device embodiment and above-mentioned each embodiment are to be based on same design, in the not mutual conflicting premise of content
Under, the content of device embodiment can quote above-mentioned each embodiment, and this will not be repeated here.
As the another aspect of the embodiment of the present invention, the embodiment of the present invention provides a kind of Low Altitude Target Detection method, answers
For at least one receiving point.As shown in figure 15, Low Altitude Target Detection method 300 includes：
Step 31 receives at least two groups target echo signal that object reflection external sort algorithm is propagated；
Step 32, according at least two groups target echo signal, extract at least two groups time delay information and believe with Doppler
Breath；
Step 33, according at least two groups time delay information and doppler information, calculate the location status letter of object
Breath.
It is numerous due to external sort algorithm, it can be widely present each position in space, it being capable of comprehensive reception electromagnetism
Signal, and the problem of detection blind area is covered with energy is not present, therefore, have a wide range of application.
In some embodiments, location status information includes the target range and/or target between object and receiving station
The azimuth information of object.
In some embodiments, location status information includes the pitching angle information of object；Step 33 includes：According to three
Group time delay information and doppler information, calculate the pitching angle information of object.
In some embodiments, each receiving station is all configured with main channel antenna and reference channel antenna, main channel antenna
For receiving main channel signal, main channel signal includes direct-path signal, target echo signal and multipath signal, reference channel
For antenna for receiving reference channel signal, reference channel signal includes direct-path signal.As shown in figure 16, step 32 includes：
Step 321 carries out the corresponding main channel signal of Liang Ge receiving stations and reference channel signal to offset place respectively
Reason；
Step 322, offseting that treated from two groups, signal correspondence extracts at least two groups time delay information and Doppler
Information.
In some embodiments, as shown in figure 17, which further includes：
Step 34, according to location status information, generate warning message.
Since device embodiment and embodiment of the method are to be based on same design, under the premise of content does not conflict mutually, side
The content of method embodiment can quote device embodiment, and this will not be repeated here.
As the another aspect of the embodiment of the present invention, the embodiment of the present invention provides a kind of electronic equipment, such as Figure 18 institutes
Show, which includes：At least one processor 41；And it is deposited with what at least one processor 41 communicated to connect
Reservoir 42；Wherein, memory 42 is stored with the instruction that can be executed by least one processor 41, and described instruction is described
At least one processor 41 executes so that at least one processor 41 can be used in executing above-mentioned each embodiment it is any
Low Altitude Target Detection method described in.
Memory as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software program,
Non-volatile computer executable program and module, such as the 200 corresponding journey of Low Altitude Target Detection device in above-described embodiment
Sequence instruction/module (for example, the modules described in Figure 12 to Figure 14 and unit) or following embodiment Low Altitude Target Detections
Step corresponding to method.Processor by running non-volatile software program, instruction and module stored in memory,
To execute various function application and the data processing of Low Altitude Target Detection device 200, that is, realize following embodiment low latitudes mesh
Mark the modules of detection device 200 step corresponding with the function of unit or following embodiment Low Altitude Target Detection methods
Function.
Memory may include high-speed random access memory, can also include nonvolatile memory, for example, at least one
A disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments, memory is optional
Include the memory remotely located relative to processor, these remote memories can pass through network connection to processor.It is above-mentioned
The example of network includes but not limited to internet, intranet, LAN, mobile radio communication and combinations thereof.
Described program instruction/module is stored in the memory, is executed when by one or more of processors
When, the Low Altitude Target Detection method in above-mentioned any means embodiment is executed, for example, executing Figure 15 of following embodiment descriptions
To each step shown in Figure 17；Also attached drawing 12 can be realized to the function of modules and unit described in Figure 14.
As the another aspect of the embodiment of the present invention, a kind of non-transient computer of offer of the embodiment of the present invention is readable to deposit
Storage media, the non-transient computer readable storage medium are stored with computer executable instructions, and the computer is executable to be referred to
It enables for making electronic equipment execute any one of them Low Altitude Target Detection method.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；
Under the thinking of the present invention, it can also be combined between the technical characteristic in above example or different embodiments, step can
To be realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, it
Do not provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the common skill of this field
Art personnel should understand that：It still can be with technical scheme described in the above embodiments is modified, or to wherein
Some technical characteristics carry out equivalent replacement；And these modifications or replacements, it does not separate the essence of the corresponding technical solution this Shen
Please each embodiment technical solution range.
Claims (10)
1. a kind of Low Altitude Target Detection method is applied at least two receiving stations, which is characterized in that including：
Receive at least two groups target echo signal that object reflection external sort algorithm is propagated；
According at least two groups target echo signal, at least two groups time delay information and doppler information are extracted；
According to time delay information described in at least two groups and the doppler information, the position shape of the object is calculated
State information.
2. according to the method described in claim 1, it is characterized in that, the location status information include the object with it is described
The azimuth information of target range and/or the object between receiving station.
3. according to the method described in claim 1, it is characterized in that, the location status information includes the pitching of the object
Angle information；
It is described according to time delay information described in at least two groups and the doppler information, calculate the position of the object
Status information is set, including：
According to time delay information and doppler information described in three groups, the pitching angle information of the object is calculated.
4. according to the method described in claim 1, it is characterized in that, each receiving station is all configured with main channel antenna and ginseng
Channel antenna is examined, for the main channel antenna for receiving main channel signal, the main channel signal includes direct-path signal, target
Echo-signal and multipath signal, for receiving reference channel signal, the reference channel signal includes the reference channel antenna
Direct-path signal；
It is described according at least two groups target echo signal, extract time delay information described at least two groups and Doppler and believe
Breath, including：
It carries out the corresponding main channel signal of Liang Ge receiving stations and the reference channel signal to offset processing respectively；
Offseting treated from two groups, signal correspondence extracts at least two groups time delay information and doppler information.
5. method according to any one of claims 1 to 4, which is characterized in that the method further includes：
According to the location status information, warning message is generated.
6. a kind of Low Altitude Target Detection system, which is characterized in that including：
At least one basic unit, at least two groups target echo signal propagated for receiving object reflection external sort algorithm；
At least one processing unit is connect at least one basic unit, for being returned according at least two groups target
Wave signal extracts time delay information and doppler information described at least two groups, and according to the time described in at least two groups
Postpone information and the doppler information, calculates the location status information of the object.
7. system according to claim 6, which is characterized in that at least one basic unit includes at least two receptions
It stands, each receiving station is all configured with main channel antenna and reference channel antenna, and the main channel antenna is main logical for receiving
Road signal, the main channel signal include direct-path signal, target echo signal and multipath signal, and the reference channel antenna is used
In receiving reference channel signal, the reference channel signal includes direct-path signal.
8. system according to claim 7, which is characterized in that the processing unit includes：
Target component estimation module, for respectively that the corresponding main channel signal of Liang Ge receiving stations and the reference is logical
Road signal carries out offseting processing, and the signal correspondence that offsets from two groups that treated extract at least two groups time delay information with it is more
General Le information calculates the object further according to time delay information described in at least two groups and the doppler information
Location status information；
System control module, for according to location status information, generating alarm command；
Warning module, for according to the alarm command, generating warning message.
9. system according to claim 6, which is characterized in that the location status information include the object with it is described
The azimuth information of target range and/or the object between receiving station and/or the pitching angle information of the object.
10. a kind of electronic equipment, which is characterized in that including：
At least one processor；And
The memory being connect at least one processor communication；Wherein, be stored with can be by described at least one for the memory
The instruction that a processor executes, described instruction is executed by least one processor, so that at least one processor energy
It is enough in execution such as Low Altitude Target Detection method described in any one of claim 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711345949.5A CN108287341A (en) | 2017-12-15 | 2017-12-15 | A kind of Low Altitude Target Detection method and its system, electronic equipment |
Applications Claiming Priority (1)
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