CN109490864B - Radar networking test system for measuring three coordinates of target range - Google Patents
Radar networking test system for measuring three coordinates of target range Download PDFInfo
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- CN109490864B CN109490864B CN201811546743.3A CN201811546743A CN109490864B CN 109490864 B CN109490864 B CN 109490864B CN 201811546743 A CN201811546743 A CN 201811546743A CN 109490864 B CN109490864 B CN 109490864B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/42—Diversity systems specially adapted for radar
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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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
Abstract
The invention belongs to the technical field of application of a target range radar, and particularly relates to a target range three-coordinate measuring radar networking test system. The system comprises a transmission protocol conversion device, a data processing central station and a command control center, wherein the transmission protocol conversion device is in bidirectional connection with a three-coordinate measuring radar, the data processing central station is in bidirectional connection with the transmission protocol conversion device, and the command control center is in bidirectional connection with the data processing central station. The invention can network more sets of three-coordinate measuring radars through the transmission protocol conversion and data fusion processing functions of the invention, thereby forming a radar networking test system, not only improving the test data precision, but also effectively ensuring the data acquisition rate and meeting the test requirements of a target range.
Description
Technical Field
The invention belongs to the technical field of application of a target range radar, and particularly relates to a target range three-coordinate measuring radar networking test system.
Background
Three-coordinate measurement radars are for two-coordinate measurement radars. Two coordinate measurement radars can only provide range and azimuth data for airborne targets, but cannot provide altitude data. In contrast, the three-coordinate measuring radar can simultaneously obtain three-dimensional coordinate parameters such as target azimuth, distance, elevation angle and the like, the target is more accurately positioned, and a plurality of targets can be simultaneously found, recorded and tracked, so that the three-coordinate measuring radar is highly emphasized by countries in the world. In the actual use process of the target range measuring radar, people find that the requirements on the test precision and the test guarantee success rate are continuously improved due to the continuous updating of the tested target, and a plurality of tested targets have the characteristics of darkness, smallness, quickness and weakness, so that even a three-coordinate measuring radar cannot finish the test task by a single set in many times. In order to improve the test accuracy and the data acquisition rate, the new substitute radar can be developed to ensure the improvement, but obviously, the development period is longer, the investment is extremely high, and the resource consumption is higher. Even if a new radar is developed, the defect that a single set of radar cannot fully guarantee the test requirement can not be overcome. Whether the existing three-coordinate test measurement radar technology can be utilized and mixed or not is a technical problem to be solved urgently in recent years in the field, so that the existing test requirements are solved in a networking test system mode, the investment cost is effectively reduced, and the research and development period and the resource consumption are reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a target range three-coordinate measuring radar networking test system; the invention can form a network of more sets of three-coordinate measuring radars by the transmission protocol conversion and data fusion processing functions of the system, thereby forming a radar networking test system, which not only can improve the precision of test data, but also can effectively ensure the excellent data acquisition rate and ensure the actual test requirement of a target range.
In order to achieve the purpose, the invention adopts the following technical scheme:
1. a radar networking test system for shooting range three-coordinate measurement is characterized in that: the system comprises a transmission protocol conversion device, a data processing central station and a command control center, wherein the transmission protocol conversion device is in bidirectional connection with a three-coordinate measuring radar, the data processing central station is in bidirectional connection with the transmission protocol conversion device, the command control center is in bidirectional connection with the data processing central station, and the following steps are executed:
each three-coordinate measuring radar participating in networking test marks the self measuring data with a Beidou/GPS time mark, outputs the measuring data to a transmission protocol conversion device, and receives the fused real-time measuring data sent by the transmission protocol conversion device as guide data; the transmission protocol conversion device receives the measurement data of each radar, converts the measurement data into conversion data conforming to the HDLC protocol in format, and then sends the conversion data to the data processing central station; the data processing central station performs fusion processing on the collected radar measurement data to obtain fusion real-time measurement data; the fused real-time measurement data is returned to each radar through the transmission protocol conversion device on one hand, and is also sent to the command control center as final test data on the other hand.
Preferably, the data processing central station comprises a data fusion processing module and a data transceiver module; for the conversion data transmitted by the transmission protocol conversion device, the data fusion processing module forms fusion real-time measurement data after a time alignment step, a outlier point elimination step, a filtering step, a data smoothing step and an extrapolation step in sequence by depending on a data fusion algorithm model; the data processing central station can perform the following track fusion operation:
1) if each three-coordinate measuring radar participating in networking test normally works, the data processing central station can perform multi-target tracking on the point track information of the radar at the moment, and performs data processing on the local track from the radar to obtain a fused track;
2) in the tracking process, if a certain radar is interfered, the data processing central station firstly judges whether the tracks of other normally working radars are still associated with the fused track: if the correlation exists, outputting the tracks of other radars which normally work as the fusion track until the interfered radars normally work; if the tracks of all the radars cannot be associated, extrapolating the point tracks of the system fusion track, and outputting the radar track at the moment as the system fusion track when any radar can normally work before the extrapolated point tracks reach 3 times; and when all radars can not work normally after extrapolation for 3 times, the command control center controls each three-coordinate measuring radar participating in networking test to search for the target again.
Preferably, before the track fusion operation, the data processing central station performs the following track fusion process:
a) removing noise from point track data measured by each radar by using a wavelet technology, wherein the noise comprises data cleaning, data transformation and numerical reduction;
b) compressing the data by utilizing a wavelet technology;
c) layering the preprocessed data by using a wavelet technology, and performing Kalman filtering on the layered similar high-frequency coefficient and the detailed low-frequency coefficient;
d) calculating the signal-to-noise ratio of the track data of each radar point by using the maximum and minimum closeness, and fusing the approximate coefficients of the data through the signal-to-noise ratio;
e) fusing and reconstructing data obtained in the step c) and the step d) by utilizing a wavelet technology to obtain a fusion result.
Preferably, the step a) comprises the following substeps:
filling missing values through different filling value modes, removing attribute data and smooth noise irrelevant to final decision, identifying outlier data points and correcting the outlier data points, wherein the specific operations comprise:
1) data cleaning: performing data cleaning through deviation detection;
2) data transformation: normalizing the data;
3) reduction of the numerical value: the purpose is to reduce the data volume and uniformly reduce the original data volume.
Preferably, step b) comprises the sub-steps of:
1) decomposing the point track data into a high-frequency coefficient and a low-frequency coefficient through wavelet transformation;
2) and performing threshold quantization processing on the coefficients.
Preferably, step c) comprises the sub-steps of:
1) performing multi-scale decomposition on the signal based on a multi-resolution analysis method of wavelet transform;
2) estimating data on each scale by using a Kalman filter, and obtaining an estimation result on each scale;
3) and based on the estimation result on each scale, the weights of different radars at the same moment are obtained through a rapid reconstruction algorithm of Mallat.
Preferably, the transmission protocol conversion device comprises a transmission protocol conversion module, a data preprocessing module and a data transceiver module; the transmission protocol conversion module and the data preprocessing module are used for carrying out format conversion on the received data, converting all the data into data of an HDLC protocol, and then converting the measurement data of different coordinate systems into data under a target range coordinate system; the data preprocessing module unifies the data rate into 20 frames per second so as to send the data to the data processing central station; the data transceiver module receives the real-time guiding data transmitted by the data processing central station while receiving the measurement data of each radar so as to distribute the real-time guiding data to each radar device.
The invention has the beneficial effects that:
the invention effectively utilizes the data fusion technology, and realizes the cooperative measurement and on-line data fusion effects of a plurality of sets of three-coordinate measuring radars by establishing the transmission protocol conversion device and the data processing central station. The invention can obviously improve the precision of the test data by fusing the test data of each radar, and can effectively improve the test data acquisition rate of the target range measuring radar because the guide data can be formed and sent in real time. The invention is designed based on the existing three-coordinate measuring radar, and does not need to additionally research and develop a novel radar, so the technical difficulty is small, the investment cost is low, a plurality of radars can be subjected to networking test on the basis of not changing the existing three-coordinate measuring radar equipment, higher test data precision and better data recording rate are obtained, the invention is suitable for the networking test of the target range measuring radar, and the effect is obvious.
Drawings
FIG. 1 is a block diagram of the overall architecture of the present invention;
FIG. 2 is a block diagram of a transport protocol conversion apparatus;
FIG. 3 is a block diagram of a data processing central station;
FIG. 4 is a flow chart of multi-radar data fusion of a data processing central station when two sets of three-coordinate measuring radars are used as an embodiment.
Detailed Description
For ease of understanding, the specific procedures and modes of operation of the present invention are further described herein with reference to FIGS. 1-4:
as shown in fig. 1-3, a system for testing a three-coordinate radar network in a shooting range includes:
and the transmission protocol conversion device is used for receiving and transmitting data of the three-coordinate measuring radar and the data processing central station and completing the format conversion of the radar transmission protocol.
And the data processing central station is used for carrying out fusion processing on the radar data from the transmission protocol conversion, sending the fused real-time measurement data serving as guide data to the transmission protocol conversion device, and simultaneously transmitting the fused data to the command control center.
As shown in fig. 2, the transmission protocol conversion device is used for receiving data sent by each measuring radar, and is composed of a transmission protocol conversion module, a data preprocessing module and a data transceiver module. Because the data formats of different radars are different and the data rates are also different, the transmission protocol conversion device firstly carries out format conversion on the received data, all the data are converted into the data of the HDLC protocol, then the measured data of different coordinate systems are converted into the data under the coordinate system of the shooting range, finally the data rate is unified to be 20 frames per second, and the processed data are sent to the data processing central station for data fusion processing. And meanwhile, receiving real-time guide data sent by the data processing central station and distributing the real-time guide data to each radar device.
As shown in fig. 3, the data processing central station is used for fusion processing of the multi-radar measurement data, and is composed of a data fusion processing module and a data transceiver module. And (3) adopting a data fusion algorithm model for the radar data transmitted by the transmission protocol conversion device, and finally forming high-precision measurement data after the steps of time alignment, outlier point elimination, filtering, data smoothing and extrapolation.
Here, two sets of three-coordinate measuring radars are taken as an example, as shown in fig. 4, and the multi-radar data fusion process of the data processing central station at this time is as follows:
1) if each three-coordinate measuring radar participating in networking test normally works, the data processing central station can perform multi-target tracking on the point track information of the radar at the moment, and performs data processing on the local track from the radar to obtain a fused track;
2) in the tracking process, if a certain radar is interfered, the data processing central station firstly judges whether the tracks of other normally working radars are still associated with the fused track: if the correlation exists, outputting the tracks of other radars which normally work as the fusion track until the interfered radars normally work; if the tracks of all the radars cannot be associated, extrapolating the point tracks of the system fusion track, and outputting the radar track at the moment as the system fusion track when any radar can normally work before the extrapolated point tracks reach 3 times; and when all radars can not work normally after extrapolation for 3 times, the command control center controls each three-coordinate measuring radar participating in networking test to search for the target again.
After the multi-radar data fusion process is finished, data fusion processing can be performed by means of a data fusion processing algorithm based on analysis of performance parameters and target flight parameters of each radar so as to obtain measurement data and finally achieve the purpose of stable tracking.
In conclusion, the invention effectively combines the data fusion technology, and realizes the cooperative measurement and data fusion judgment effects of a plurality of sets of three-coordinate measuring radars by establishing the transmission protocol conversion device and the data processing central station. The invention is designed based on the existing three-coordinate measuring radar, and does not need to additionally research and develop a novel radar, so the technical difficulty is small, the investment cost is low, a plurality of radars can be subjected to networking test on the basis of not changing the existing three-coordinate measuring radar equipment, the test data precision is high, the data acquisition rate is good, and the invention is suitable for the networking test of the target range measuring radar.
Claims (6)
1. A radar networking test system for shooting range three-coordinate measurement is characterized in that: the system comprises a transmission protocol conversion device, a data processing central station and a command control center, wherein the transmission protocol conversion device is in bidirectional connection with a three-coordinate measuring radar, the data processing central station is in bidirectional connection with the transmission protocol conversion device, the command control center is in bidirectional connection with the data processing central station, and the following steps are executed:
each three-coordinate measuring radar participating in networking test marks the self measuring data with a Beidou/GPS time mark, outputs the measuring data to a transmission protocol conversion device, and receives the fused real-time measuring data sent by the transmission protocol conversion device as guide data; the transmission protocol conversion device receives the measurement data of each radar, converts the measurement data into conversion data conforming to the HDLC protocol in format, and then sends the conversion data to the data processing central station; the data processing central station performs fusion processing on the collected radar measurement data to obtain fusion real-time measurement data; the fused real-time measurement data is returned to each radar through the transmission protocol conversion device on one hand, and is also sent to a command control center as final test data on the other hand;
the data processing central station comprises a data fusion processing module and a data transceiving module; for the conversion data transmitted by the transmission protocol conversion device, the data fusion processing module forms fusion real-time measurement data after a time alignment step, a outlier point elimination step, a filtering step, a data smoothing step and an extrapolation step in sequence by depending on a data fusion algorithm model; the data processing central station can perform the following track fusion operation:
1) if each three-coordinate measuring radar participating in networking test normally works, the data processing central station can perform multi-target tracking on the point track information of the radar at the moment, and performs data processing on the local track from the radar to obtain a fused track;
2) in the tracking process, if a certain radar is interfered, the data processing central station firstly judges whether the tracks of other normally working radars are still associated with the fused track: if the correlation exists, outputting the tracks of other radars which normally work as the fusion track until the interfered radars normally work; if the tracks of all the radars cannot be associated, extrapolating the point tracks of the system fusion track, and outputting the radar track at the moment as the system fusion track when any radar can normally work before the extrapolated point tracks reach 3 times; and when all radars can not work normally after extrapolation for 3 times, the command control center controls each three-coordinate measuring radar participating in networking test to search for the target again.
2. The system of claim 1, wherein the radar networking test system for measuring three coordinates of a target range comprises: before the data processing central station performs the track fusion operation, the following track fusion flow is performed:
a) removing noise from point track data measured by each radar by using a wavelet technology, wherein the noise comprises data cleaning, data transformation and numerical reduction;
b) compressing the data by utilizing a wavelet technology;
c) layering the preprocessed data by using a wavelet technology, and performing Kalman filtering on the layered similar high-frequency coefficient and the detailed low-frequency coefficient;
d) calculating the signal-to-noise ratio of the track data of each radar point by using the maximum and minimum closeness, and fusing the approximate coefficients of the data through the signal-to-noise ratio;
e) fusing and reconstructing data obtained in the step c) and the step d) by utilizing a wavelet technology to obtain a fusion result.
3. The system of claim 2, wherein the radar networking test system for measuring three coordinates of a target range comprises: a) the method comprises the following substeps:
filling missing values through different filling value modes, removing attribute data and smooth noise irrelevant to final decision, identifying outlier data points and correcting the outlier data points, wherein the specific operations comprise:
1) data cleaning: performing data cleaning through deviation detection;
2) data transformation: normalizing the data;
3) reduction of the numerical value: the purpose is to reduce the data volume and uniformly reduce the original data volume.
4. The system of claim 2, wherein the radar networking test system for measuring three coordinates of a target range comprises: b) the method comprises the following substeps:
1) decomposing the point track data into a high-frequency coefficient and a low-frequency coefficient through wavelet transformation;
2) and performing threshold quantization processing on the coefficients.
5. The system of claim 2, wherein the radar networking test system for measuring three coordinates of a target range comprises: c) the method comprises the following substeps:
1) performing multi-scale decomposition on the signal based on a multi-resolution analysis method of wavelet transform;
2) estimating data on each scale by using a Kalman filter, and obtaining an estimation result on each scale;
3) and based on the estimation result on each scale, the weights of different radars at the same moment are obtained through a rapid reconstruction algorithm of Mallat.
6. A target site three coordinate survey radar networking test system of claim 1 or 2 or 3 or 4 or 5, wherein: the transmission protocol conversion device comprises a transmission protocol conversion module, a data preprocessing module and a data receiving and transmitting module; the transmission protocol conversion module and the data preprocessing module are used for carrying out format conversion on the received data, converting all the data into data of an HDLC protocol, and then converting the measurement data of different coordinate systems into data under a target range coordinate system; the data preprocessing module unifies the data rate into 20 frames per second so as to send the data to the data processing central station; the data transceiver module receives the real-time guiding data transmitted by the data processing central station while receiving the measurement data of each radar so as to distribute the real-time guiding data to each radar device.
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