CN109283499B - Radar equation-based three-dimensional visualization method for detection range under active interference - Google Patents
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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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Abstract
The invention relates to a radar equation-based three-dimensional visualization method for a detection range under active interference, which is characterized in that a calculation method for suppressing the detection range of a radar under active interference is deduced based on a radar detection range theory of the radar equation, and the calculation and three-dimensional visualization of the detection range of the radar are completed by setting all real parameters of the radar and supporting the parameter setting of a single jammer and multiple jammers.
Description
Technical Field
The invention belongs to the field of radar detection range three-dimensional visualization, and particularly relates to a radar equation-based detection range three-dimensional visualization method under active interference.
Background
The radar action range visualization is an important content in electromagnetic situation visualization, is an indispensable important component in a virtual battlefield, can provide a fighter with a power range for visually and vividly displaying a battlefield radar, and plays a vital role in rapidly and intuitively understanding the battlefield situation and assisting in command decision.
In the visualization form of the radar detection range, the traditional method for visualizing by two-dimensional radar range graphs and icons is difficult to meet the current requirements on vivid, visual and intuitive situation display. At present, in the aspect of three-dimensional visualization of a radar detection range, a method for modeling radar electromagnetic waves by using a parabolic equation and an APM (advanced defense technology and technology university) and then performing three-dimensional modeling visualization by taking into account electromagnetic wave attenuation models under various factors such as atmosphere and terrain is proposed by Yangtze super, Chenpengda and the like (national defense science and technology university), but a method for calculating radar electromagnetic wave attenuation by using an advanced propagation model has many related factors and huge calculation amount, and is difficult to realize in practice. The three-dimensional visualization of radar action range under the influence of topography has been studied based on radar equation to Qiu boat, old thunder (electronics science and technology university) and has been carried out three-dimensional correction to the boundary point of radar model, but the three-dimensional visualization effect of radar detection range under electronic interference is not lifelike. The research on the aspect of radar detection distance three-dimensional visualization under active interference is mainly only theoretical analysis, and the existing three-dimensional visualization effect is not vivid and lifelike and cannot well perform visualization expression on the radar detection range under the active interference.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a radar equation-based three-dimensional visualization method for a detection range under active interference.
Technical scheme
A radar equation-based three-dimensional visualization method for a detection range under active interference is characterized by comprising the following steps:
step 1: inputting radar parameters and jammer parameters
The radar parameters comprise: the method comprises the following steps of (1) transmitting power of a radar transmitter, gain of a radar transmitting antenna, gain of a radar receiving antenna, target equivalent reflection area, antenna wavelength, receiver bandwidth, system loss factor, receiver noise coefficient and radar minimum detection signal-to-noise ratio;
the parameters of the jammer comprise: the number of jammers, the transmission power of the jammers, the transmission gain of the jammers, the polarization loss, the transmission bandwidth of the jammers, the loss factor of the jammers and the distance from the jammers to the radar;
step 2: presetting array space for drawing sampling times and storing radar detection range vertex
Azimuth angle
That is, the number of sampling times on the xoz plane is circle _ num;
the pitch angle theta, namely the sampling times on the xoy plane, is theta _ num;
the sampling interval of the azimuth angle is circle _ step ═ 2 pi/circle _ num;
the sampling interval of the pitch angle is theta _ step ═ pi/theta _ num;
the index of the sampling point on the current processing azimuth is i, wherein i is more than or equal to 0 and is less than circle _ num, and the azimuth angle at the ith sampling point is as follows: circle [ i ] ═ pi + i circle step;
the index of the pitch angle processed currently is j, j is more than or equal to 0 and is less than theta _ num, and the angle of the pitch angle from the jth sampling point is as follows: theta [ j ] ═ pi/2 + j theta step;
and finally, converting rendering and drawing into space coordinate system coordinates, and defining a vertex structure body format:
struct Vertex{float x；float y；float z；}
defining a two-dimensional array Radar [ circle _ num ] [ theta _ num ] to store each vertex coordinate by using a vertex structure body;
and step 3: calculating the maximum detection range of radar
If i is more than or equal to circle _ num, jumping to the step 7; otherwise, calculating an azimuth angle circle [ i ] corresponding to the ith sampling point according to the input parameters]Maximum detection range R of radar max [i]；
(1) Without interference, radar detection range R max The following formula is used for calculation:
wherein, P t For antenna transmit power and L is the system loss factor, G r For transmitting antenna power gain, G t For receiving antenna gain, P n Is noise power, sigma is radar target equivalent cross section area, lambda is radar antenna wavelength, snr min Is the minimum detectable signal power signal to noise ratio;
(2) in case of active interference, R max Radar maximum acting distance equation R under interference of multiple interference machines jam Alternative, R jam Calculated with the following formula:
wherein, P ji The transmission power of the i-th jammer, N is the total number of jammers, and the first half of the equation is equivalent to the minimum detected signal-to-noise ratio snr of the radar min The second half part of the maximum detection distance is equivalent to the power of all interference machine signals received by the radar and the signal-to-noise ratio of the noise of the same system;
and 4, step 4: calculating radar action range by combining directional diagram function
If j is more than or equal to theta _ num, i is i +1, jumping to step 3, otherwise, using directional diagram functions F (j) and R max [i]Calculating the radar action range R [ j ] at the sampling position]＝R max [i]F[j]；
And 5: planar coordinate transformation
The coordinates (x [ j ], y [ j ]) transformed onto the xoy plane are:
x[j]＝R[j]cos(theta[j])
y[j]＝R[j]sin(theta[j])
when radar pitch angle is theta dir Then, the coordinates (x) after rotation are obtained dir [j],y dir [j])：
x dir [j]＝x[j]cos(θ dir )-y[j]sin(θ dir )
y dir [j]＝x[j]sin(θ dir )+y[j]cos(θ dir )
Step 6: spatial three-dimensional rectangular coordinate system conversion
Will (x) dir [j],y dir [j]) Converting the space of the three-dimensional coordinate system to finally obtain a Radar detection range Radar [ i][j]The coordinates of (a):
Radar[i][j].x＝x dir [j]cos(i×circle_step)
Radar[i][j].z＝x dir [j]sin(i×circle_step)
Radar[i][j].y＝y dir [j]
j equals j +1, jump to step 4;
and 7: arranging vertex indices
And establishing an index cache of a triangular list for the points in the Radar [ i ] [ j ], the Radar [ i ] [ j +1], the Radar [ i +1] [ j +1] and the Radar [ i +1] [ j ] according to the sequence of the Radar [ i ] [ j ], and sending the index cache to an image rendering pipeline for rendering.
Step 3, calculating R on each azimuth sampling point jam The method comprises the following specific steps:
step a: presetting a common cntjammer station jammer, and calculating the minimum signal-to-interference ratio snr min R of max ：
Step b: if k is more than or equal to cntjammer, executing the step d; otherwise, calculating the angle difference between the kth jammer and the current azimuth sampling point position as alpha; calculating effective gain G 'of radar antenna in k-th jammer direction' rk (α)：
Wherein, theta 0.5 Is the radar main lobe width; g r Gain for a radar receiving antenna; k is an empirical constant, and the value is related to the type of the antenna;
step c: calculating interference signal power P of kth interference machine received by radar rjk ：
Wherein, for the k-th jammer, P jk Is a transmission power of G jk Is jammer antenna gain, G' rk For effective gain of the radar antenna in the direction of the jammer, R jk Distance of jammers from radar, gamma jk For the polarization coefficient of the interfering signal to the radar antenna, L jk System loss for jammers, B jk Bandwidth is transmitted for the jammers. B is r For radar receiversA bandwidth;
k equals k +1, performing step b;
step d: calculating the power sum P of interference signals of all interference machines received by the radar rjsum Calculating the signal-to-noise ratio snr of the system noise:
snr＝(P rjsum +P n )/P n
the maximum detection distance R of the azimuth sampling point under the interference of all the jammers jam Comprises the following steps:
R jam ＝R max (1/snr) 1/4
advantageous effects
The invention relates to a radar equation-based three-dimensional visualization method for a detection range under active interference, which is characterized in that a calculation method for suppressing the detection range of a radar under active interference is deduced based on a radar detection range theory of the radar equation, and the calculation and three-dimensional visualization of the detection range of the radar are completed by setting all real parameters of the radar and supporting the parameter setting of a single jammer and multiple jammers.
Drawings
FIG. 1 is a flow chart of a method for calculating radar vertex coordinates by using the method
FIG. 2 is a diagram of an arrangement of vertex coordinates
FIG. 3 is a flowchart of the calculation of the maximum detection range of radar under multiple active interferences
FIG. 4 three-dimensional visualization result of radar detection range without interference
FIG. 5 three-dimensional visualization result of radar detection range under single and multiple interference
FIG. 6 shows the result of the application of the method in a geographic information system
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the main process of the invention is shown in figure 1:
the method comprises the following steps: inputting radar parameters and jammer parameters
The radar parameters include: the radar signal processing method comprises the following steps of radar transmitter transmitting power, radar transmitting antenna gain, radar receiving antenna gain, target equivalent reflection area, antenna wavelength, receiver bandwidth, system loss factor, receiver noise coefficient and radar minimum detection signal-to-noise ratio.
The jammer parameters include: the number of the jammers, the transmission power of the jammers, the transmission gain of the jammers, the polarization loss, the transmission bandwidth of the jammers, the loss factor of the jammers and the distance from the jammers to the radar.
Step two: and presetting the drawing sampling times and an array space for storing the vertex of the radar detection range.
Azimuth angle
That is, the number of sampling times on the xoz plane is circle _ num;
the pitch angle theta, namely the sampling times on the xoy plane, is theta _ num;
the sampling interval of the azimuth angle is circle _ step ═ 2 pi/circle _ num;
the sampling interval of the pitch angle is theta _ step ═ pi/theta _ num;
the index of the sampling point on the current processing azimuth is i (i is more than or equal to 0 and less than circle _ num), and the azimuth angle at the ith sampling point is as follows: circle [ i ] ═ pi + i circle step;
the currently processed pitch angle index is j (j is more than or equal to 0 and less than theta _ num), and the pitch angle from the jth sampling point is as follows: theta [ j ] - [ pi ]/2 + j ] - [ theta ] step;
and finally, converting rendering and drawing into space coordinate system coordinates, and defining a vertex structure body format:
struct Vertex{float x；float y；float z；}
and defining a two-dimensional array Radar [ circle _ num ] [ theta _ num ] to store each vertex coordinate by using the vertex structure body.
Step three: calculating the maximum detection range of radar
And if i is more than or equal to circle _ num, jumping to the step seven. Otherwise, calculating the azimuth angle circle [ i ] corresponding to the ith sampling point according to the input parameters]Maximum detection range R of radar max [i]；
(3) Wherein the parameter is the antenna transmitting power P t And its system loss factor L; without interference, radar detection range R max It can also be reduced to the following formula:
transmit antenna power gain G r And receive antenna gain G t (ii) a Noise power P n (ii) a Radar target equivalent cross-sectional area σ; a radar antenna wavelength λ; minimum detectable signal power snr min 。
(4) For the case of active interference, R max Radar maximum acting distance equation R under interference of multiple interference machines jam Alternative, R jam Calculated with the following formula:
wherein, P ji The transmission power of the ith jammer is N is the total number of jammers, and the first half of the equation is equivalent to the minimum detected signal-to-noise ratio snr of the radar min The second half of the maximum detection distance is equivalent to the power of all jammer signals received by the radar and the signal-to-noise ratio of the same system noise.
Step four: calculating radar action range by combining directional diagram function
And if j is more than or equal to theta _ num, i is i +1, jumping to the step three. Otherwise by the directional diagram functions F (j) and R max [i]Calculating the radar action range Rj at the sampling position]＝R max [i]F[j]；
The free space may only take into account the relation between the pattern propagation factor and the pattern function of the radar antenna. Common such as gaussian antenna patterns:
wherein
θ b Is the beam width.
Step five: planar coordinate transformation
The coordinates (x [ j ], y [ j ]) transformed onto the xoy plane are:
x[j]＝R[j]cos(theta[j])y[j]＝R[j]sin(theta[j])
when radar pitch angle is theta dir Then, the coordinates (x) after rotation are obtained dir [j],y dir [j])：
x dir [j]＝x[j]cos(θ dir )-y[j]sin(θ dir )y dir [j]＝x[j]sin(θ dir )+y[j]cos(θ dir )
Step six: spatial three-dimensional rectangular coordinate system conversion
Will (x) dir [j],y dir [j]) Converting the space of the three-dimensional coordinate system to finally obtain a Radar detection range Radar [ i][j]The coordinates of (a):
Radar[i][j].x＝x dir [j]cos(i×circle_step)
Radar[i][j].z＝x dir [j]sin(i×circle_step)
Radar[i][j].y＝y dir [j]
j equals j +1, go to step four.
Step seven: arranging vertex indices
The form is shown in fig. 2. And sending the index cache into an image drawing pipeline for rendering.
Following maximum range of action R for radar under active interference in step three jam The calculation method of (2) is explained in detail, R on each azimuth sampling point is calculated jam The method comprises the following specific steps:
step 1: presetting a common cntjammer station jammer, and respectively setting other parameters such as the angle of the jammer, the distance from a radar, the jammer power and the like. And directly calculating the minimum signal-to-interference ratio snr min R of max 。
Step 2: if k is greater than or equal to cntjammer, step 4 is performed. Otherwise, calculating the angle difference between the kth jammer and the current azimuth sampling point position as alpha; substituting formula to calculate radar antenna at k-th trunkEffective gain G in the direction of disturbance r ' k (α)。
And 3, step 3: calculating the interference signal power P of the kth interference machine received by the radar rjk
Wherein, for the k-th jammer, P jk Is a transmission power of G jk Is jammer antenna gain, G' rk For effective gain of the radar antenna in the direction of the jammer, R jk Distance of jammers from radar, gamma jk For the polarization coefficient of the interfering signal to the radar antenna, L jk System loss for jammers, B jk Bandwidth is transmitted for the jammers. B is r Is the radar receiver bandwidth.
k +1, executing step 2;
and 4, step 4: calculating the power sum P of interference signals of all interference machines received by the radar rjsum Calculating the signal-to-noise ratio snr of the system noise:
snr＝(P rjsum +P n )/P n
the maximum detection distance R under the interference of all interference machines at the azimuth angle sampling point jam Comprises the following steps:
R jam ＝R max (1/snr) 1/4
FIG. 4 shows three-dimensional visualization results of radar detection ranges from different angles when radar direction angles face 15 degrees and 30 degrees without interference, and it can be seen that the method visually constructs a model of the radar detection range by using a triangular mesh.
Fig. 5 sequentially shows three-dimensional visualization results of radar detection distances under active interference, one, two, and three jammers, and corresponding MATLAB simulation verification results below, from left to right, it can be seen that the method can be accurately applied to radar detection distance calculation under a single or multiple jammers, and can clearly, vividly, and intuitively perform three-dimensional visualization expression.
Fig. 6 shows the results of the method combined with the three-dimensional geographic information system to show the radar situation of the battlefield, and experiments prove that the method can be well combined with actual engineering and has good effects.
Claims (2)
1. A radar equation-based three-dimensional visualization method for a detection range under active interference is characterized by comprising the following steps:
step 1: inputting radar parameters and jammer parameters
The radar parameters comprise: the method comprises the following steps of (1) transmitting power of a radar transmitter, gain of a radar transmitting antenna, gain of a radar receiving antenna, target equivalent reflection area, antenna wavelength, receiver bandwidth, system loss factor, receiver noise coefficient and radar minimum detection signal-to-noise ratio;
the parameters of the jammer comprise: the number of jammers, the transmission power of the jammers, the transmission gain of the jammers, the polarization loss, the transmission bandwidth of the jammers, the loss factor of the jammers and the distance from the jammers to the radar;
step 2: presetting array space for drawing sampling times and storing radar detection range vertex
Azimuth angle
That is, the number of sampling times on the xoz plane is circle _ num;
the pitch angle theta, namely the sampling times on the xoy plane, is theta _ num;
the sampling interval of the azimuth angle is circle _ step ═ 2 pi/circle _ num;
the sampling interval of the pitch angle is theta _ step ═ pi/theta _ num;
the index of the sampling point on the current processing azimuth is i, wherein i is more than or equal to 0 and is less than circle _ num, and the azimuth angle at the ith sampling point is as follows: circle [ i ] ═ pi + i circle step;
the index of the pitch angle processed currently is j, j is more than or equal to 0 and is less than theta _ num, and the angle of the pitch angle from the jth sampling point is as follows: theta [ j ] - [ pi ]/2 + j ] - [ theta ] step;
and finally, converting rendering and drawing into space coordinate system coordinates, and defining a vertex structure body format:
struct Vertex{float x；float y；float z；}
defining a two-dimensional array Radar [ circle _ num ] [ theta _ num ] to store each vertex coordinate by using a vertex structure body;
and 3, step 3: calculating the maximum detection range of radar
If i is more than or equal to circle _ num, jumping to the step 7; otherwise, calculating the azimuth angle circle [ i ] corresponding to the ith sampling point according to the input parameters]Maximum detection range R of radar max [i]；
(1) Without interference, radar detection range R max The following formula is used for calculation:
wherein, P t For antenna transmit power and L is the system loss factor, G r For transmitting antenna power gain, G t For receiving antenna gain, P n Is noise power, sigma is equivalent cross section area of radar target, lambda is radar antenna wavelength, snr min Is the minimum detectable signal power signal to noise ratio;
(2) in case of active interference, R max Radar maximum detection distance R under interference of multiple jammers jam Alternative, R jam Calculated with the following formula:
wherein, P ji The transmission power of the i-th jammer, N is the total number of jammers, and the first half of the equation is equivalent to the minimum detected signal-to-noise ratio snr of the radar min The second half part of the maximum detection distance is equivalent to the power of all interference machine signals received by the radar and the signal-to-noise ratio of the noise of the same system;
and 4, step 4: calculating radar action range by combining directional diagram function
If j is more than or equal to theta _ num, i is i +1, jump to step 3, otherwise, the directional diagram functions F, (j) andR max [i]calculating the radar action range Rj at the sampling position]＝R max [i]F[j]；
And 5: planar coordinate transformation
The coordinates (x [ j ], y [ j ]) transformed onto the xoy plane are:
x[j]＝R[j]cos(theta[j])
y[j]＝R[j]sin(theta[j])
when the radar pitch angle is theta dir Then, the coordinates (x) after rotation are obtained dir [j],y dir [j])：
x dir [j]＝x[j]cos(θ dir )-y[j]sin(θ dir )
y dir [j]＝x[j]sin(θ dir )+y[j]cos(θ dir )
Step 6: spatial three-dimensional rectangular coordinate system conversion
Will (x) dir [j],y dir [j]) Converting the space of the three-dimensional coordinate system to finally obtain a Radar detection range Radar [ i][j]The coordinates of (a):
Radar[i][j].x＝x dir [j]cos(i×circle_step)
Radar[i][j].z＝x dir [j]sin(i×circle_step)
Radar[i][j].y＝y dir [j]
j equals j +1, jump to step 4;
and 7: arranging vertex indices
And establishing an index cache of a triangular list for the points in the Radar [ i ] [ j ], the Radar [ i ] [ j +1], the Radar [ i +1] [ j +1] and the Radar [ i +1] [ j ] according to the sequence of the Radar [ i ] [ j ], and sending the index cache to an image rendering pipeline for rendering.
2. The radar equation-based three-dimensional visualization method for the detection range under the active interference according to claim 1, wherein the R at each azimuth sampling point is calculated in step 3 jam The method comprises the following specific steps:
a, step a: presetting a common cntjamer interference machine, and calculating the signal-to-noise ratio snr (snr) of the minimum detectable signal power min R of max ：
Step b: if k is more than or equal to cntjammer, executing the step d; otherwise, calculating the angle difference between the kth jammer and the current azimuth sampling point position as alpha; calculating effective gain G 'of the radar antenna in the k < th > jammer direction' rk (α)：
Wherein, theta 0.5 Is the radar main lobe width; g' r Gain for a radar receiving antenna; k is an empirical constant, and the value is related to the type of the antenna;
step c: calculating interference signal power P of kth interference machine received by radar rjk ：
Wherein, for the k-th jammer, P jk Is a transmission power of G jk Is jammer antenna gain, G' rk For effective gain of the radar antenna in the direction of the jammer, R jk Distance of jammers from radar, gamma jk For the polarization coefficient of the interfering signal to the radar antenna, L jk System loss for jammers, B jk For jammers transmitting bandwidth, B r Is the radar receiver bandwidth;
k equals k +1, performing step b;
step d: calculating the power sum P of interference signals of all the interference machines received by the radar rjsum Calculating the signal-to-noise ratio snr of the system noise:
snr＝(P rjsum +P n )/P n
the maximum detection distance R of the azimuth sampling point under the interference of all the jammers jam Comprises the following steps:
R jam ＝R max (1/snr) 1/4 。
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