CN108828511B - Full airspace multi-beam cooperative target searching method - Google Patents

Full airspace multi-beam cooperative target searching method Download PDF

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CN108828511B
CN108828511B CN201810637305.1A CN201810637305A CN108828511B CN 108828511 B CN108828511 B CN 108828511B CN 201810637305 A CN201810637305 A CN 201810637305A CN 108828511 B CN108828511 B CN 108828511B
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王娜
谢伟
曾富华
熊沛
杨健
余湋
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Southwest Electronic Technology Institute No 10 Institute of Cetc
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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
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    • G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
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Abstract

The invention discloses a full-airspace multi-beam collaborative target searching method, and aims to provide a method capable of effectively covering a full-airspace and quickly searching the full-airspace. The invention is realized by the following technical scheme: in the searching stage, the target searching module controls a receiving beam generated by an antenna to cooperatively complete initial target searching, enters a low elevation monitoring stage, controls multi-beam resources of a measurement and control communication system, performs partition cooperative searching on a low elevation area, and sends information parameters of a found target to a new target judging module; and the new target judgment module is used for matching and comparing the target information parameters sent by the target search module with the existing target information in the dynamic target library module, if the matching fails, sending the target information sent by the target search module into the beam tracking module, controlling the measurement and control communication system to track the new target, and updating the target information parameters of the target in the dynamic target library module in real time according to the target information obtained by tracking the target.

Description

Full airspace multi-beam cooperative target searching method
Technical Field
The invention relates to a full airspace multi-beam collaborative search method which is mainly used in the field of aerospace measurement and control communication and can be applied in the field of situation awareness.
Background
Aiming at the increasingly developed requirement of simultaneous measurement and control of multiple satellites, the invention provides an array antenna target search technology for simultaneous measurement and control of full airspace multiple beams. The digital multi-beam antenna receiving means that the measurement and control communication system selects and activates the array elements and controls the complex weight values thereof to carry out beam forming according to beam pointing information, signal receiving in a preset direction is completed, and a channel is closed in an area which does not participate in beam forming. The multiple wave beam signals form and generate synthetic signals pointing to different directions under the control of different active array elements and the complex weight values. If a planar array antenna is adopted, the effective aperture of the beam of the planar array antenna is reduced along with the reduction of the scanning angle, so that the performance of a beam forming signal at a low elevation angle is reduced, which is represented by the fact that the beam is widened and the gain is reduced, and the full airspace coverage cannot be realized. Meanwhile, the measurement and control communication system based on the non-digital multi-beam antenna needs a plurality of base stations to realize the effective coverage of the full airspace, and the multi-station equipment and the infrastructure construction cost are higher, so that the measurement and control communication system needs to be attended by a plurality of people and is not suitable for realizing automation. In order to meet the management requirement of a full-airspace navigation constellation, a full-airspace measurement and control system needs to use a conformal antenna covering a full airspace, and simultaneously generate a plurality of wave beams to realize effective search and judgment of a satellite in a full-airspace range by detecting downlink signals.
In order to meet the requirement of the comprehensive measurement and control service of the large-scale on-orbit spacecraft, a space-ground integrated measurement and control system is the development trend of a future comprehensive measurement and control network of the aerospace system. In the aspect of a ground measurement and control network, the single-station ground measurement and control system based on the conformal array antenna and the digital multi-beam forming technology has the measurement and control and operation and management capabilities of a simultaneous full-airspace multi-target spacecraft, and is a mainstream development direction established by the ground measurement and control network in the future. The full airspace multi-target measurement and control antenna can realize the rapid switching and stable tracking of the antenna beam direction, and the single-station multi-target measurement and control service is realized by combining the control instruction transmitted by the measurement and control center.
With the rapid increase of the number of orbiting satellites, the flexible operation of the world-wide integrated network is more and more required in the future. In order to reduce the operation and management cost of manpower and material resources of the measurement and control center and each measurement and control station, the multi-target measurement and control communication system needs to have the autonomous random access function of the visible spacecraft, and a foundation comprehensive measurement and control communication network taking the measurement and control center as a central node is established on the basis. The random access measurement and control communication system firstly solves the technical problems of reasonably calling multi-beam resources and simultaneously searching multiple targets in the full airspace range. How to utilize multi-beam collaborative search to realize high real-time effective coverage in a full airspace range is an important research direction for aerospace vehicle random access, and no relevant research exists at home and abroad at present.
Disclosure of Invention
The invention aims to provide a full-airspace multi-beam cooperative target searching method which can effectively cover a full-airspace and quickly search the full-airspace according to the flexible operation requirement of a future space-ground integrated network and can quickly capture a newly-entered target in a visual range under the condition of saving beam resources.
The above object of the present invention can be achieved by the following measures, and the method for searching the full airspace multi-beam cooperative target is characterized by comprising the following steps: the measurement and control communication system adopts a full airspace multi-beam collaborative search system which is used for completing full airspace non-fuzzy search and monitoring by adopting a target search module, a beam tracking module, a new target judgment module and a dynamic target library module in a collaborative mode, and divides the full airspace multi-beam collaborative target search into two stages of full airspace initialization target search and low pitch angle monitoring; in the full airspace initialization search stage, a target search module controls a multi-beam antenna of the measurement and control communication system to generate a plurality of receiving beams, the generated multi-beam is utilized to cooperatively complete initialization target search covering the full airspace, then the low elevation angle monitoring stage is entered, the target search module controls multi-beam resources of the measurement and control communication system, the low elevation angle area is subjected to partition cooperative search and cyclic scanning in the omnibearing range, and information parameters of a found target are sent to a new target judgment module; the new target judgment module is used for matching and comparing the target information parameters sent by the target search module with the existing target information in the dynamic target library module, and if the matching fails, sending the target information sent by the target search module into the beam tracking module; and the beam tracking module controls the measurement and control communication system to track the newly-entered target according to the received target information, and updates target information parameters of the target in the dynamic target library module in real time according to target information obtained by tracking the target.
Compared with the prior art, the invention has the following beneficial effects:
and effectively covering the full airspace. The invention utilizes the advantages of multiple targets, flexible and controllable wave beams, recombination as required and the like of the multi-target measurement and control communication system, realizes effective scanning in a full airspace range through two stages of airspace initialization scanning and low pitch angle monitoring based on full airspace multi-beam collaborative search of a phased array. Under the condition of considering the beam width and the beam residence time information required by the target search module to complete target detection, the target search module controls the plurality of beams to cooperatively scan in different pitching directions and in all directions in multiple times, and a certain overlapped scanning area is set in the two continuous azimuth scanning processes according to the target track and the motion parameters, so that the problem of target missing scanning caused by the fact that the target moves to the scanned area within the single azimuth scanning time is avoided.
Can complete the fast search in the whole airspace. In the searching process, the low pitch angle monitoring stage combines the particularity of the space measurement and control scene, and the searching is only carried out in the low pitch angle and the all-directional direction: the target search module calculates to obtain the maximum pitch angle change of the target by utilizing the lowest monitoring pitch angle provided by the measurement and control communication system, the beam residence time required by the target search module to complete target detection, the target track height, the maximum flight speed and the beam width information, the target search module controls the multi-beam search pitch angle annular area, meanwhile, the measurement and control communication system establishes a dynamic target library module according to the search result, the beam tracking module designates the beam to track a new target in the dynamic target library module, effective coverage of the full airspace range is realized, the dynamic target library module is updated in real time by the tracking result, and the rapid search of any target in the full airspace range is ensured.
The response speed to the newly entered target is high. In the low elevation angle monitoring stage, the target searching module calculates the optimal division of the azimuth area and the number of the cooperative scanning beams according to the lowest monitoring pitch angle provided by the measurement and control communication system and the beam residence time required by the target searching module to complete target detection by combining the target track height, the maximum flight speed and the beam width information, controls the multi-beam through the target searching module, circularly scans the low pitch angle and the omni-directional area, utilizes the minimum beam resources, realizes the quick detection of all possible newly-entered targets at the fastest response speed, realizes the quick response of the newly-entered targets, greatly saves the beam resources and improves the response speed of the system to the newly-entered targets.
Drawings
Fig. 1 is a schematic diagram of a full airspace multi-beam cooperative target search system of the present invention.
Fig. 2 is a schematic diagram of the relationship between the measurement and control communication system, the earth and the spacecraft.
Fig. 3 is a schematic diagram of multiple scans covering the full airspace in accordance with the present invention.
Fig. 4 is a schematic diagram of a single multi-beam cooperative scan of the present invention.
FIG. 5 is a schematic view of the annular region surveillance scan of the present invention.
The invention is further described with reference to the following figures and examples.
Detailed Description
See fig. 1. According to the invention, the measurement and control communication system adopts a full-airspace multi-beam collaborative search system which is characterized in that a target search module, a beam tracking module, a new target judgment module and a dynamic target library module collaboratively assist in completing full-airspace non-fuzzy search and monitoring, and the full-airspace multi-beam collaborative target search is divided into two stages of full-airspace initialization target search and low-pitch angle monitoring; in the full airspace initialization search stage, a target search module controls a multi-beam antenna of the measurement and control communication system to generate a plurality of receiving beams, the generated multi-beam is utilized to cooperatively complete initialization target search covering the full airspace, then the low elevation angle monitoring stage is entered, the target search module controls multi-beam resources of the measurement and control communication system, the low elevation angle area is subjected to partition cooperative search and cyclic scanning in the omnibearing range, and information parameters of a found target are sent to a new target judgment module; the new target judgment module is used for matching and comparing the target information parameters sent by the target search module with the existing target information in the dynamic target library module, and if the matching fails, sending the target information sent by the target search module into the beam tracking module; and the beam tracking module controls the measurement and control communication system to track the newly-entered target according to the received target information, and updates target information parameters of the target in the dynamic target library module in real time according to target information obtained by tracking the target.
The target information parameters comprise azimuth angle and pitch angle of a found target and target information such as power and bandwidth of a corresponding received signal.
In the full airspace initialization search stage, the target search module calculates the number of beams required by full airspace scanning under the condition of no leakage, the pitch angle coverage range corresponding to single azimuth omnidirectional scanning and the overlapping scanning area of two continuous azimuth omnidirectional scanning in the pitch direction according to the track height, the maximum flight speed and the beam width of a target in the monitoring area of the measurement and control communication system and the beam residence time required by the target search module to complete target detection, and controls the multi-beam to scan cooperatively according to the calculated parameters so as to realize the initialization search from the high pitch angle to the low pitch angle full airspace coverage.
In the low pitch angle monitoring stage, the target searching module divides the number according to the lowest monitoring pitch angle provided by the measurement and control communication system, the beam residence time and the azimuth direction required by the target searching module to complete target detection, and calculates the number of the minimum beams participating in searching under the condition of non-scanning by combining the target track height, the maximum flight speed and the beam width information, controls the multi-beam according to the calculated parameters, and carries out partition cooperative searching and scanning on the low pitch angle annular monitoring area in the all-directional direction to realize the monitoring of the low pitch angle in the all-directional airspace range by 360 degrees, and meanwhile, the measurement and control communication system completes the non-fuzzy searching and monitoring of the full airspace by the aid of the new target judgment module, the beam tracking module and the dynamic target library module.
See fig. 2. The system phased array provides a beam width alpha of 3 degrees and a beam residence time t for a low-orbit satellite with an orbit height of 200-2000 kilometers and an operation period of not less than 90 minutes0The details are described taking 50ms as an example. Since the orbital vehicle is the fastest at low orbital vehicle angular speeds of operation, the time required to travel one revolution around the earth is between 90 and 120 minutes. Therefore, the target must have an angular velocity of 0.067/s (4/min) or less with respect to the earth's center of gravity. Since the average radius of the earth is about 6371 km, this is much larger thanThe lowest orbit height, therefore, the difference between the running angular speed of the target and the running angular speed of the target relative to the earth center is larger compared with the measurement and control communication system. In unit time, considering the extreme condition that the object of the measurement and control communication system is positioned on the same geometric plane by the earth center, the change angle phi of the object relative to the earth center angle from the point C to the point B, and the pitch angles beta and beta of the object relative to the earth center and the measurement and control communication system at the point C
Figure BDA0001701141900000031
Establishing a distance calculation equation set of the target moving from the point C to the point B by using the distance B between the measurement and control communication system and the point C, the distance a between the measurement and control communication system and the point B, the distance C between the point B and the point C and the distance d between the point C and the point C B, D:
b2＝(h+r)2+r2-2(h+r)rcos(90°-β)
a2＝(h+r)2+r2-2(h+r)rcos(90°-β-φ)
c2＝2(h+r)2-2(h+r)2cosφ
d2＝2(h+r)2-2(h+r)2cos(90°-β-φ)
where h denotes the orbit height and r denotes the earth radius.
See fig. 3. In the full airspace initialization search stage, the target search module carries out full airspace initialization search by adopting a mode of carrying out 360-degree azimuth omnidirectional scanning from a high pitch angle to a low pitch angle in sequence, when the m +1 th omnidirectional scanning is carried out, the scanning and the mth omnidirectional scanning are appointed, and an overlapped area which is equal to the maximum pitch angle variation of the target is arranged in the pitching direction, so that the condition that the target is not scanned due to movement in the adjacent two scanning time intervals is avoided.
See fig. 4. In the single omnibearing scanning search process, the target search module takes a single wave position effective area as a starting point of multi-beam collaborative search, arranges K beams along a linear array in the pitching direction, carries out 360-degree azimuth scanning on a wave position 1, a wave position 2 and a wave position 3 … wave position N of the single line scanning effective area, and builds up 360-degree azimuth and pitching directionsThe geometric relation between the vertical rectangular coordinate system and the wave beam arrangement matrix of the wave position direction is calculated to obtain the direction in which the distance between the central points of adjacent wave beams in the pitching direction is equal to the distance between adjacent wave positions, and the distance between the central points of adjacent wave beams and the distance between adjacent wave positions are both
Figure BDA0001701141900000041
And at the same time, the wave position number N of 360-degree azimuth direction is calculated,
Figure BDA0001701141900000042
wherein, α is 3 degrees, which is the beam width of the given measurement and control communication system.
Figure BDA0001701141900000043
Representing the ceiling operator. Further, can be according to t0The beam dwell time is 50 milliseconds, and the time t required by single 360-degree omni-directional scanning is calculated1＝N×t08.5 (unit: second).
If the number K of the beams participating in the cooperative target search is fixed, the coverage of the cooperative scanning beam in the pitching direction is
Figure BDA0001701141900000044
However, when the measurement and control communication system scans at different pitching angles, t of 360-degree all-directional scanning is completed1Within 8.5 seconds, the corresponding maximum pitch angle of the target is changed differently, and then when scanning is performed at different pitch angles, the size of the overlapping area is different. The following describes the calculation of the overlap region of the full spatial domain initialization scan and the selection of the number of beams in detail, taking the 1 st scan as an example.
In the 1 st omni-directional scanning, the target searching module respectively takes values of 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 and 12 for the number K of the listed beams according to the number of the beams in the overlapping region of the 1 st scanning initialized scanning of the full airspace, and the corresponding cooperative scanning beam pitch angle coverage range is large, and the target pitch angles respectively take values of 2.1213 degrees, 4.2426 degrees, 6.3640 degrees and 8.4853 degrees10.6066 degrees, 12.7279 degrees, 14.8492 degrees, 16.9706 degrees, 19.0919 degrees, 21.2132 degrees, 23.3345 degrees and 25.4558 degrees, and calculating the maximum variation range of the target pitch angle, namely obtaining the size b of the overlapping area of the second scanning and the first scanningvary：
Figure BDA0001701141900000045
Overlapping regions of the 2 nd omni-directional scan and the 1 st omni-directional scan are obtained to be 18.2016 degrees, 18.3329 degrees, 18.4200 degrees, 18.4608 degrees, 18.4535 degrees, 18.3965 degrees, 18.2883 degrees, 18.1278 degrees, 17.9142 degrees, 17.6469 degrees, 17.3260 degrees and 16.9518 degrees respectively.
The minimum track height h of the target is 200 kilometers, and the target is in a pitching angle relative to the measurement and control communication system at the point C
Figure BDA0001701141900000046
The change of the target from the point C to the point B relative to the earth central angle is phi ═ vt1Time t required by one 360-degree omni-directional scanning of target at height of 200 kilometers1The size b of the overlap region is calculated at 8.5 seconds and the maximum travel angular velocity v with respect to the earth's center is 0.067 °/svaryDetermining the number of wave numbers
Figure BDA0001701141900000047
Wherein, alpha is the beam width,
Figure BDA0001701141900000051
Figure BDA0001701141900000052
Figure BDA0001701141900000053
Figure BDA0001701141900000054
in the second azimuth scanning, the target searching module also fixes the number K of wave numbers to 9, controls a plurality of wave beams to cooperatively perform azimuth scanning through the target searching module, sets 17.6469 degrees of overlap with the effective area of the first scanning, and calculates the size b of the overlap area of the next scanningvaryThe whole scanning process is carried out until the search area covers the whole pitch angle area.
See fig. 5. The second stage of the full airspace multi-beam collaborative search is a low pitch angle monitoring stage, in the searching process of the low pitch angle monitoring stage, the target searching module uses the lowest pitch angle to be monitored as 5 degrees, Ks beams are sequentially arranged along the pitch direction according to the mode shown in figure 4, the azimuth direction is uniformly divided into a region 1 and a region 2 … along the scanning direction, and the region S is taken as an example, 4 searching regions are used for calculating the time required by single scanning
Figure BDA0001701141900000055
(unit: second)
Wherein the beam width α is 3 degrees and the beam dwell time t050 milliseconds.
The target searching module calculates the change value of the target maximum pitch angle in single scanning time by using the target parameters, the minimum monitoring pitch angle and the scanning time
Figure BDA0001701141900000056
(unit: degree)
Wherein the content of the first and second substances,
Figure BDA0001701141900000057
Figure BDA0001701141900000058
Figure BDA0001701141900000059
Figure BDA00017011419000000510
Figure BDA00017011419000000511
for minimum monitoring of pitch angle, phi ═ vt2For a target maximum pitch angle change, t22.15 seconds, and v 0.067 °/s is the target maximum operating angular velocity. Using the results, it can be determined that a single region need only be identified
Figure BDA00017011419000000512
One beam, thus requiring only SK in totalsLow elevation unambiguous monitoring is achieved for 4 beams.
The target searching module controls 4 wave beams to cooperate in the pitching direction of 5 degrees and 4 different azimuth directions for continuous repeated searching, when a target is found, the new target judging module compares the azimuth information of the target with the dynamic target library module, if the target in the azimuth does not exist, the azimuth and pitch angle information of the target is sent to the wave beam tracking control module, meanwhile, the wave beam tracking control module assigns the wave beams to track the target, and updates target parameters of the dynamic target library module by using the azimuth information of the tracked wave beams, so that the full-airspace unambiguous searching and monitoring are realized.
The foregoing detailed description of the embodiments of the present invention has been presented for purposes of illustration and description, and is intended to be exemplary only; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (10)

1. A full airspace multi-beam cooperative target searching method is characterized by comprising the following steps: the measurement and control communication system adopts a full airspace multi-beam collaborative search system which is used for completing full airspace non-fuzzy search and monitoring by adopting a target search module, a beam tracking module, a new target judgment module and a dynamic target library module in a collaborative mode, and divides the full airspace multi-beam collaborative target search into two stages of full airspace initialization target search and low pitch angle monitoring; in the full airspace initialization search stage, a target search module controls a multi-beam antenna of the measurement and control communication system to generate a plurality of receiving beams, the generated multi-beam is utilized to cooperatively complete initialization target search covering the full airspace, then the low elevation angle monitoring stage is entered, the target search module controls multi-beam resources of the measurement and control communication system, the low elevation angle area is subjected to partition cooperative search and cyclic scanning in the omnibearing range, and information parameters of a found target are sent to a new target judgment module; the new target judgment module is used for matching and comparing the target information parameters sent by the target search module with the existing target information in the dynamic target library module, and if the matching fails, sending the target information sent by the target search module into the beam tracking module; and the beam tracking module controls the measurement and control communication system to track the newly-entered target according to the received target information, and updates target information parameters of the target in the dynamic target library module in real time according to target information obtained by tracking the target.
2. The full airspace multi-beam cooperative target search method according to claim 1, characterized in that: the target information parameters comprise azimuth angles and pitch angles of found targets and target information corresponding to power and bandwidth of received signals.
3. The full airspace multi-beam cooperative target search method according to claim 1, characterized in that: in the full airspace initialization search stage, the target search module calculates the number of beams required by full airspace scanning under the condition of no leakage, the pitch angle coverage range corresponding to single azimuth omnidirectional scanning and the overlapping scanning area of two continuous azimuth omnidirectional scanning in the pitch direction according to the track height, the maximum flight speed and the beam width of a target in the monitoring area of the measurement and control communication system and the beam residence time required by the target search module to complete target detection, and controls the multi-beam to scan cooperatively according to the calculated parameters so as to realize the initialization search from the high pitch angle to the low pitch angle full airspace coverage.
4. The full airspace multi-beam cooperative target search method according to claim 1, characterized in that: in the low pitch angle monitoring stage, the target searching module divides the number according to the lowest monitoring pitch angle provided by the low pitch angle monitoring stage and the beam residence time and azimuth direction required by the target searching module to complete target detection, the target searching module calculates the number of minimum beams participating in searching under the condition of non-scanning by combining the target track height, the maximum flight speed and the beam width information, controls the multi-beam according to the calculated parameters, performs partition cooperative searching and scanning on the low pitch angle annular monitoring area in the all-directional direction to realize the monitoring of the low pitch angle 360-degree all-directional airspace range, and meanwhile, the measurement and control communication system completes the non-fuzzy searching and monitoring covering the all-airspace by the assistance of the new target judging module, the beam tracking module and the dynamic target library module.
5. The full airspace multi-beam cooperative target search method according to claim 1, characterized in that: in unit time, considering the extreme condition that the target of the measurement and control communication system is positioned on the same geometric plane by the earth center, the target moves from a point C to a point B by a change angle phi relative to the earth center angle, and the target at the point C is relative to the earth center and the pitch angle beta and the lowest monitoring pitch angle of the measurement and control communication system
Figure FDA0003360430650000011
Establishing a distance calculation equation set of the target moving from the point C to the point B by using the distance B between the measurement and control communication system and the point C, the distance a between the measurement and control communication system and the point B, the distance C between the point B and the point C and the distance d between the point C and the point C B, D:
b2＝(h+r)2+r2-2(h+r)rcos(90°-β)
a2＝(h+r)2+r2-2(h+r)rcos(90°-β-φ)
c2＝2(h+r)2-2(h+r)2cosφ
d2＝2(h+r)2-2(h+r)2cos(90°-β-φ)
where h denotes the orbit height and r denotes the earth radius.
6. The full airspace multi-beam cooperative target search method according to claim 1, characterized in that: in the full airspace initialization search stage, the target search module carries out full airspace initialization search by adopting a mode of carrying out 360-degree azimuth omnidirectional scanning from a high pitch angle to a low pitch angle in sequence, when the m +1 th omnidirectional scanning is carried out, the scanning and the mth omnidirectional scanning are appointed, and an overlapped area which is equal to the maximum pitch angle variation of the target is arranged in the pitching direction, so that the condition that the target is not scanned due to movement in the adjacent two scanning time intervals is avoided.
7. The full airspace multi-beam cooperative target search method according to claim 1, characterized in that: in the process of single omnibearing scanning search, a target search module takes a single wave position effective area as a starting point of multi-wave beam collaborative search, K wave beams are arrayed along a linear array in a pitching direction, 360-degree azimuth scanning is carried out on a wave position 1, a wave position 2 and a wave position 3 … wave position N of the single line scanning effective area, an azimuth direction in which the distance between the central points of adjacent wave beams in the pitching direction and the adjacent wave positions are equal is obtained by calculating according to a geometric relation between a rectangular coordinate system established in the 360-degree azimuth direction and the pitching direction and a wave beam array matrix in the wave position direction, and the distance between the central points of adjacent wave beams and the distance between the adjacent wave positions are both
Figure FDA0003360430650000021
And at the same time, the wave position number N of 360-degree azimuth direction is calculated,
Figure FDA0003360430650000022
wherein, the alpha is 3 degrees, which is the beam width of the given measurement and control communication system,
Figure FDA0003360430650000023
representing the ceiling operator.
8. The full airspace multi-beam cooperative target search method according to claim 1, characterized in that: the target searching module is according to t0The beam dwell time and the calculated wave bit number N are calculated as 50 milliseconds, and the time t required by single 360-degree omni-directional scanning is calculated1＝N×t08.5 (unit: second).
9. The full airspace multi-beam cooperative target search method according to claim 5, characterized in that: in the 1 st omni-directional scanning, the target searching module initializes the number of beams in the scanning overlapping area according to the full airspace of the 1 st scanning, when the number K of the listed beams respectively takes values of 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 and 12, the coverage range of the corresponding cooperative scanning beam pitch angle is large, the target pitch angle respectively takes values of 2.1213 degrees, 4.2426 degrees, 6.3640 degrees, 8.4853 degrees, 10.6066 degrees, 12.7279 degrees, 14.8492 degrees, 16.9706 degrees, 19.0919 degrees, 21.2132 degrees, 23.3345 degrees and 25.4558 degrees, and the maximum change range of the target pitch angle is calculated, namely the size b of the overlapping area of the second scanning and the first scanning is obtainedvary：
Figure FDA0003360430650000031
Overlapping regions of the 2 nd omni-directional scan and the 1 st omni-directional scan are obtained to be 18.2016 degrees, 18.3329 degrees, 18.4200 degrees, 18.4608 degrees, 18.4535 degrees, 18.3965 degrees, 18.2883 degrees, 18.1278 degrees, 17.9142 degrees, 17.6469 degrees, 17.3260 degrees and 16.9518 degrees respectively.
10. The full airspace multi-beam cooperative target search method according to claim 5, characterized in that: the minimum track height h of the target is 200 kilometers, and the target is in a pitching angle relative to the measurement and control communication system at the point C
Figure FDA0003360430650000032
The change of the target from the point C to the point B relative to the earth central angle is phi ═ vt1Time t required by one 360-degree omni-directional scanning of target at height of 200 kilometers1The size b of the overlap region is calculated at 8.5 seconds and the maximum travel angular velocity v with respect to the earth's center is 0.067 °/svaryDetermining the number of wave numbers
Figure FDA0003360430650000033
Wherein, alpha is the beam width,
Figure FDA0003360430650000034
Figure FDA0003360430650000035
Figure FDA0003360430650000036
Figure FDA0003360430650000037
in the second azimuth scanning, the target searching module also fixes the number K of wave numbers to 9, controls a plurality of wave beams to cooperatively perform azimuth scanning through the target searching module, sets 17.6469 degrees of overlap with the effective area of the first scanning, and calculates the size b of the overlap area of the next scanningvaryThe whole scanning process is carried out until the search area covers the whole pitch angle area.
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