CN109856607B - Real-time searching method and device for beam irradiation area and electronic equipment - Google Patents
Real-time searching method and device for beam irradiation area and electronic equipment Download PDFInfo
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Abstract
The invention provides a real-time searching method, a real-time searching device and electronic equipment for a beam irradiation area, and relates to the field of radar; determining the current radar position based on the current time, the radar initial position information and the radar speed vector; determining intersection point coordinates of the radar beam center and the ground based on the radar beam center pointing; obtaining boundary information of a beam irradiation area based on the radar height, the radar beam center pointing direction and the radar beam width; and obtaining coordinates of all grid points in the boundary information according to the current radar position, the boundary information and the preset auxiliary data index. The method can provide real-time beam irradiation area parameters for the missile-borne synthetic aperture radar real-time echo simulation process under any ballistic and radar working parameters and in a simulation beat, and can solve the technical problem that the beam irradiation area cannot be searched in the prior art. In addition, the method has the characteristics of accuracy, rapidness and flexibility.
Description
Technical Field
The invention relates to the technical field of missile-borne radar synthetic aperture radar echo simulators, in particular to a method and a device for searching a beam irradiation area in real time and electronic equipment.
Background
A missile-borne radar synthetic aperture radar echo simulator is an important component of a radar seeker semi-physical simulation and test platform. The echo simulator is used for stand-alone test of the tested radar seeker and full-system semi-physical closed-loop simulation test so as to accelerate the research and development process of the tested equipment.
At present, the existing echo simulator usually receives the beam irradiation area parameters input by the user to perform echo calculation, and the beam irradiation area parameters cannot be acquired by itself to perform calculation.
In summary, the conventional echo simulator has a technical problem that the beam irradiation region cannot be searched.
Disclosure of Invention
In view of the above, the present invention provides a method, an apparatus and an electronic device for searching a beam irradiation area in real time, so as to alleviate the technical problem that the beam irradiation area cannot be searched in the prior art.
In a first aspect, an embodiment of the present invention provides a method for searching a beam irradiation area in real time, including:
acquiring ballistic parameters and radar working parameters; the ballistic parameters comprise radar initial position information, radar speed vectors and radar height; the radar operating parameters include: radar beam center pointing, radar beam width;
determining a current radar position based on the current time, the radar initial position information and the radar speed vector;
determining intersection point coordinates of the radar beam center and the ground based on the radar beam center pointing direction;
obtaining boundary information of a beam irradiation area based on the radar height, the radar beam center pointing direction and the radar beam width;
and obtaining coordinates of all grid points in the boundary information according to the current radar position, the boundary information and a preset auxiliary data index.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the method further includes:
and generating grid clusters based on the grid point coordinates.
With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the method further includes:
and carrying out echo real-time calculation based on the grid cluster.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the radar beam width includes a radar beam distance directional beam width and a radar beam azimuth directional beam width; the boundary information comprises an upper boundary, a lower boundary, a left boundary and a right boundary;
the obtaining boundary information of a beam irradiation area based on the radar height, the radar beam center pointing direction, and the radar beam width includes:
obtaining the upper and lower boundaries of a beam irradiation area according to the radar height, the radar beam center direction and the radar beam distance direction beam width;
and obtaining the left and right boundaries of the irradiation area of the radar antenna according to the radar height, the radar beam center direction and the radar beam azimuth beam width.
With reference to the third possible implementation manner of the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where the upper and lower boundaries of the beam irradiation area are calculated by using the following formula:
wherein r isminRepresents a lower boundary; r ismaxRepresenting the upper boundary, H the radar height, thetaRng3dBRepresenting the radar beam distance towards the beamwidth,
representing the pitch angle of the intersection of the beam center in the radar beam center pointing direction and the ground.
With reference to the third possible implementation manner of the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the left and right boundaries of the beam irradiation area are calculated by using the following formulas:
where r represents the right boundary, l represents the left boundary, H represents the radar height, θAzm3dBIndicating the radar beam azimuth beam width,
the elevation angle of the intersection point of the beam center in the radar beam center pointing direction and the ground is represented, and theta represents the azimuth angle of the intersection point of the beam center in the radar beam center pointing direction and the ground.
With reference to the third possible implementation manner of the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where a lower boundary value and an upper boundary value of the upper and lower boundaries are respectively used as a radius of a closest distance circle and a radius of a farthest distance circle;
dividing to obtain a plurality of equidistant circles based on the nearest distance circle, the farthest distance circle and a preset resolution; wherein the preset resolution refers to circle intervals;
determining circle numbers of a plurality of equidistant circles according to a preset resolution;
sequentially determining the included angle between the part of each equidistant circle in the left and right boundaries and the bounce point and the boundary of each distance circle according to the left and right boundaries;
and searching from the nearest circle, sequentially searching for grid points in the boundary of each equidistant circle in the upper and lower boundaries from near to far, and searching according to preset auxiliary data indexes to obtain the grid point coordinates of the boundary of each equidistant circle.
With reference to the sixth possible implementation manner of the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, where the method further includes:
generating a polar coordinate array based on the grid point coordinates;
generating a plurality of matrices based on the polar coordinate array; wherein the matrices include cpplolar matrices, cxyplar matrices, and Mgpr matrices.
In a second aspect, an embodiment of the present invention further provides a device for searching a beam irradiation area in real time, including:
the acquisition module is used for acquiring ballistic parameters and radar working parameters; the ballistic parameters comprise radar initial position information, radar speed vectors and radar height; the radar operating parameters include: radar beam center pointing, radar beam width;
the position determining module is used for determining the current radar position based on the current moment, the radar initial position information and the radar speed vector;
the intersection point determining module is used for determining the intersection point coordinates of the radar beam center and the ground based on the radar beam center pointing direction;
the boundary calculation module is used for obtaining boundary information of a beam irradiation area based on the radar height, the radar beam center pointing direction and the radar beam width;
and the searching module is used for obtaining all grid point coordinates in the boundary information according to the current radar position, the boundary information and a preset auxiliary data index.
In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the steps of the foregoing method.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the above method.
The embodiment of the invention has the following beneficial effects: the embodiment of the invention provides a real-time searching method, a real-time searching device, electronic equipment and a computer-readable storage medium for a beam irradiation area, wherein the method comprises the steps of obtaining a ballistic parameter and a radar working parameter; the ballistic parameters comprise radar initial position information, radar speed vectors and radar height; the radar operating parameters include: radar beam center pointing, radar beam width; determining the current radar position based on the current time, the radar initial position information and the radar speed vector; determining intersection point coordinates of the radar beam center and the ground based on the radar beam center pointing; obtaining boundary information of a beam irradiation area based on the radar height, the radar beam center pointing direction and the radar beam width; and obtaining coordinates of all grid points in the boundary information according to the current radar position, the boundary information and the preset auxiliary data index. Therefore, the technical scheme provided by the embodiment of the invention can provide real-time beam irradiation area parameters for the missile-borne synthetic aperture radar real-time echo simulation process in a simulation beat under any ballistic and radar working parameters, and can solve the technical problem that the beam irradiation area cannot be searched in the prior art. In addition, the method has the characteristics of accuracy, rapidness and flexibility.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 shows a flowchart of a real-time searching method for a beam irradiation area according to an embodiment of the present invention;
FIG. 2 shows a geometric relationship between a missile-borne radar platform and the ground;
FIG. 3 shows a geometric relationship diagram depicting the illuminated area and the grid with the missile-borne radar platform in perspective;
FIG. 4 shows a schematic diagram detailing the illuminated area and the upper and lower and left and right boundaries of the grid in a planar form;
fig. 5 is a diagram showing the coordinates of inner grid points after the beam irradiation area is determined;
FIG. 6 is a flow chart of another real-time searching method for beam irradiation areas according to an embodiment of the present invention;
fig. 7 is a flowchart illustrating a third method for searching a beam irradiation area in real time according to an embodiment of the present invention;
fig. 8 is a block diagram illustrating a structure of a beam irradiation area real-time searching apparatus according to an embodiment of the present invention;
fig. 9 is a block diagram illustrating an operation principle of a missile-borne synthetic aperture radar real-time echo simulator according to an embodiment of the present invention;
fig. 10 is a schematic diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The method, the device and the electronic equipment for searching the beam irradiation area in real time provided by the embodiment of the invention can solve the technical problem that the beam irradiation area cannot be searched in the prior art.
For the convenience of understanding the embodiment, a method for searching a beam irradiation area in real time disclosed in the embodiment of the present invention will be described in detail first.
The first embodiment is as follows:
the embodiment of the invention provides a real-time searching method for a beam irradiation area, which is applied to a missile-borne radar synthetic aperture radar real-time scene echo simulator, in particular to the real-time searching of the beam irradiation area and internal grids of the missile-borne radar synthetic aperture radar real-time scene echo simulator.
As shown in fig. 1, the method includes:
step S101, acquiring ballistic parameters and radar working parameters; the ballistic parameters comprise radar initial position information, radar speed vectors and radar height; the radar working parameters comprise radar beam center pointing and radar beam width;
the radar speed vector comprises a radar speed value and a radar advancing direction; the radar beam center points to a pitch angle comprising the intersection point of the beam center and the ground and an azimuth angle comprising the intersection point of the beam center and the ground; the radar beam beamwidth includes a radar beam range directional beamwidth and a radar beam azimuth beam width.
The radar initial position information includes a radar initial position and a time corresponding to the radar initial position; the radar initial position refers to a radar position corresponding to the starting time of the simulation beat closest to the current time; for example, the current time is 12:10:00, the simulation beat is 1h (usually, the simulation beat is 1ms, and the simulation beat is enlarged to 1h for easy understanding, which should not be construed as a limitation to the present invention), the start time of the simulation beat closest to the current time is 12:00:00, and the end time of the simulation beat closest to the current time is 13:00: 00; then the radar position corresponding to 12:00:00 is the radar initial position;
step S102, determining the current radar position based on the current time, the radar initial position information and the radar speed vector;
specifically, the current radar position is determined based on the current time, the simulation beat of the current time, the radar initial position of the start time of the simulation beat, and the radar velocity vector.
Step S103, determining intersection point coordinates of the radar beam center and the ground based on the radar beam center pointing;
in this embodiment, under the condition that the ground curvature is not considered, that is, the ground is assumed to be flat, at this time, the intersection point coordinate of the radar beam center and the ground can be determined based on the pitch angle of the intersection point of the beam center pointed by the radar beam center and the ground and the azimuth angle of the intersection point of the beam center and the ground.
In other embodiments, where the ground curvature is taken into account, i.e. the ground is not flat, the coordinates of the intersection of the radar beam center and the ground are determined based on the pitch angle at which the beam center pointed at by the radar beam center intersects the ground and the bearing of the beam center intersecting the ground in conjunction with the ground scene.
It should be noted that the pitch angle of the intersection point of the beam center and the ground and the azimuth angle of the intersection point of the beam center and the ground are calculated by the detection angle of the radar, and in fact, the pitch angle of the intersection point of the beam center and the ground is the residual angle of the detection angle of the radar; and the azimuth angle of the intersection point of the beam center and the ground is obtained based on the pitch angle of the intersection point of the beam center and the ground and the detection angle of the radar.
Fig. 2 depicts the geometric relationship between a missile-borne radar platform (radar for short) and the ground, and with reference to fig. 2,
for the missile-borne radar platform motion velocity vector, the YOZ plane and
coplanar, any scattering point P on the ground (i.e. beam center and)Ground intersection) has a space cone angle phi with respect to the missile motion direction, alpha is the detection angle of the radar (i.e. the direction detected by the radar), theta is the angle of the XOY plane deviating from the X-axis, theta is called the azimuth angle (i.e. the azimuth angle of the intersection of the beam center and the ground),
is the elevation angle (i.e., the azimuth angle at which the center of the beam intersects the ground).
Step S104, obtaining boundary information of a beam irradiation area based on the radar height, the radar beam center pointing direction and the radar beam width;
wherein the boundary information includes upper and lower boundaries and left and right boundaries;
specifically, the step S104 is mainly realized by the following steps:
1. obtaining the upper and lower boundaries of a beam irradiation area according to the radar height, the radar beam center direction and the radar beam distance direction beam width;
2. and obtaining the left and right boundaries of the irradiation area of the radar antenna according to the radar height, the radar beam center direction and the radar beam azimuth beam width.
For ease of understanding, referring to fig. 3 and 4, fig. 3 illustrates the shot area and the geometric relationship of the grid to the missile-borne radar platform in a perspective form, in fig. 3, an ellipse is the whole radar shot area, Δ r denotes a preset resolution (including a range-wise resolution and an azimuth-wise resolution, both of which are Δ r),
representing the pitch angle of the intersection point of the beam center and the ground; theta represents the azimuth angle of the intersection point of the beam center and the ground, and H represents the radar height; r isminRepresents the lower boundary of the beam illumination area (also known as the distance from the kick-down point to the nearest circle); r ismaxRepresents the upper boundary of the beam irradiation region (also known as the distance from the kick-down point to the farthest distance circle); l represents the left boundary of the beam irradiation area; r represents the right boundary of the beam irradiation region; rcenterRepresenting the slant distance from the central point of the wave beam to the radar; r iscenterRepresenting the length of the projection of the slope on the ground. Wherein, the distance of the radar beam to the beam width thetaRng3dBIs the center of the radar antenna array surface and the lower boundary r of the radar irradiation areaminThe connecting line of the radar antenna array surface center and the upper boundary r of the radar irradiation areamaxThe included angle between the connecting lines; radar beam distance to beam width thetaAzm3dBThe included angle between a connecting line of the center of the radar antenna array surface and the left boundary l of the radar irradiation area and a connecting line of the center of the radar antenna array surface and the right boundary r of the radar irradiation area is formed; the radar exposure area includes a plurality of Δ r × Δ r grid points, only one of which is schematically shown in fig. 3. Both the distance resolution and the azimuth resolution are Δ r; it should be noted that Δ r is less than or equal to the radar imaging resolution to ensure that each grid point is uniform, in other words, the antenna gain, doppler shift, distance, incident angle, and clutter scattering rate of each grid point are all constants; it is understood that the constants such as antenna gain, doppler shift, distance, angle of incidence, clutter scattering ratio, etc. are different for different grid points. Further, considering the data processing capability of the processor of the echo simulator, 2 may be usedk×2k( k 1,2,3, 4.. said.) grid points constitute a grid cluster (wrap), where k is a constant related to the processing power of the processor.
Fig. 4 finely depicts the irradiation region and the upper and lower and left and right boundaries of the grid in a planar form. The projection shape of the radar beam on the ground is approximate to an ellipse, and the radar beam is approximate to a rectangle in the method. In FIG. 4, αmaxRepresenting the maximum field angle of the beam irradiation area in the direction relative to the shot point; r isnRepresents the distance from the kick-down point to the nth distance circle;
represents the maximum opening angle in the beam irradiation region with respect to the pop-down point in the nth distance circle.
Specifically, the center pointing direction of the radar beam according to the radar height H is calculated by the following formula
And the distance of the radar beam to the beam width thetaRng3dBCalculating the upper and lower boundaries [ r ] of the irradiation region of radar antenna beammin,rmax]：
Wherein r isminRepresents a lower boundary; r ismaxRepresenting the upper boundary, H the radar height, thetaRng3dBRepresenting the radar beam distance towards the beamwidth,
representing the pitch angle of the intersection of the beam center in the radar beam center pointing direction and the ground.
In the direction of the centre of the radar beam according to the radar height H by using the following formula
Theta and radar beam azimuth beam width thetaAzm3dBCalculating the left and right boundaries of the irradiation area of the radar antenna
Where r represents the right boundary, l represents the left boundary, H represents the radar height, θAzm3dBIndicating the radar beam azimuth beam width,
the elevation angle of the intersection point of the beam center in the radar beam center pointing direction and the ground is represented, and theta represents the azimuth angle of the intersection point of the beam center in the radar beam center pointing direction and the ground.
And step S105, obtaining coordinates of all grid points in the boundary information according to the current radar position, the boundary information and a preset auxiliary data index.
Specifically, this step S105 is performed by:
(1) respectively taking the lower boundary value and the upper boundary value of the upper boundary and the lower boundary as the radius of the nearest circle and the radius of the farthest circle;
(2) dividing to obtain a plurality of equidistant circles (namely n +2 equidistant circles) based on the nearest distance circle, the farthest distance circle and the preset resolution; wherein the preset resolution refers to circle intervals;
(3) determining circle numbers of a plurality of equidistant circles according to a preset resolution;
(4) sequentially determining the included angle between the part of each equidistant circle in the left and right boundaries and the bounce point and the boundary of each distance circle according to the left and right boundaries;
(5) and searching from the nearest circle, sequentially searching for grid points in the boundary of each equidistant circle in the upper and lower boundaries from near to far, and searching according to preset auxiliary data indexes to obtain the grid point coordinates of the boundary of each equidistant circle.
Specifically, referring to fig. 3 and 4, the lower boundary value r of the upper and lower boundaries is defined as the lower boundary value rminUpper boundary value rmaxAs the radius of the nearest circle and the radius of the farthest circle, and dividing the nearest circle and the farthest circle at intervals by using a preset resolution delta r as a circle to obtain a plurality of equidistant circles; according to a predetermined formula andthe preset resolution determines a plurality of equidistant circle radiuses and circle numbers thereof; the preset formula is as follows: r isn＝rmin+ n.DELTA.r; wherein r isnDenotes the radius of the n-th equidistant circle, rminRepresenting a lower boundary value, n represents the circle number of the nth equidistant circle, and delta r represents preset resolution; determining the included angle between the part of the circle with the circle number n (n is 1,2,3 …) in the boundary and the down-flick point according to the left and right boundaries
Thereby determining the boundary of the distance circle with the circle number n (n is 1,2,3 …)
Wherein:
from the nearest circle rminAnd starting searching, sequentially searching the grid points (including the positions and the number of the grid points, the coordinates of each grid point and the angle value) in the boundary of each equidistant circle from near to far in the upper boundary and the lower boundary, and searching and determining the coordinates of the grid points of each equidistant circle boundary according to a preset auxiliary data index. The size of the grid points is Δ r × Δ r, and fig. 5 shows a schematic diagram of coordinates of the grid points inside the beam irradiation region, which are divided into X, Y dimensions, representing an azimuth direction and a distance direction, respectively.
The real-time searching method for the beam irradiation area provided by the embodiment of the invention comprises the steps of obtaining ballistic parameters and radar working parameters; the ballistic parameters comprise radar initial position information, radar speed vectors and radar height; the radar operating parameters include: radar beam center pointing, radar beam width; determining the current radar position based on the current time, the radar initial position information and the radar speed vector; determining intersection point coordinates of the radar beam center and the ground based on the radar beam center pointing; obtaining boundary information of a beam irradiation area based on the radar height, the radar beam center pointing direction and the radar beam width; and obtaining coordinates of all grid points in the boundary information according to the current radar position, the boundary information and the preset auxiliary data index. Therefore, the technical scheme provided by the embodiment of the invention can provide real-time beam irradiation area parameters for the missile-borne synthetic aperture radar real-time echo simulation process in a simulation beat under any ballistic and radar working parameters, and can solve the technical problem that the beam irradiation area cannot be searched in the prior art. In addition, the method also has the characteristics of accuracy, rapidness and flexibility, wherein 1) the method is accurate: completing beam irradiation area and internal grid search through floating point calculation according to radar height, beam direction, azimuth beam width, elevation beam width and ground height parameters; 2) and (3) fast: the beam irradiation area search can be completed in a simulation beat (usually within 1 ms) on a main stream processor (comprising a CPU, an ARM, a DSP, a GPU and the like), and the strict requirement of a real-time echo simulation process on the irradiation area search is met; 3) flexibility: and the elevation information is considered, and the search of the irradiation area in various complex terrain and landform states is supported.
Further, the method further comprises: and constructing the auxiliary data index.
Specifically, the ground is divided according to the size of the grid points to obtain a ground scene in a grid point form, wherein coordinates (x, y) of each grid point form a matrix, the number of rows of the matrix is the length of the scene divided by the resolution, and the width of the matrix is the width of the scene divided by the resolution. In this case, the coordinates of the upper left corner point of the square are taken as the coordinates of the grid point, considering that the grid point is a square.
It should be noted that the auxiliary data index file with the required resolution and scene size can be generated by only modifying the resolution and scene size.
Example two:
as shown in fig. 6, on the basis of the first embodiment, another real-time beam irradiation area searching method is further provided in the embodiment of the present invention, which is different from the first embodiment in that the method further includes:
step S601, generating a grid cluster based on the grid point coordinates.
Specifically, all grid points and coordinates thereof in the boundary information are divided according to a preset rule to obtain grid clusters, wherein the preset rule comprises a preset grid point number and a numbering rule, and the preset grid point number of each grid cluster depends on the data processing capacity of a processor in the echo simulator; the numbering rule is used to determine the number of each grid cluster per grid cluster. Accordingly, the mesh cluster includes the number and the number of mesh points.
Specifically, this step fully considers the situation that the echo simulator includes multiple processors, and the data processing capability of each processor may be different, so that all grid points inside the boundary information are divided into multiple grid clusters, and each grid cluster contains 2k×2kAnd (k is 1,2,3, 4.. the.) grid points, taking the coordinates of the grid point at the leftmost upper corner in each grid cluster as the serial number of each grid cluster, and simultaneously setting the distance resolution and the azimuth resolution in advance, namely the coordinates of all grid points in each grid cluster can be directly determined. It should be noted that the echo simulator may include a plurality of processors, and the processing capability of each processor may be different, and therefore, the size of the divided grid clusters may also be different, as long as the corresponding grid cluster size is processed by the processor with the corresponding data processing capability.
Step S602, echo real-time calculation is carried out based on the grid cluster.
Specifically, the divided grid clusters are packed and sent to a corresponding processor of the echo simulator for echo real-time calculation.
In other embodiments, the echo is calculated in real time based directly on the grid point coordinates.
Specifically, the searched grid point coordinates are sent to a cache and finally sent to a processor for processing real-time echo simulation for processing.
The real-time searching method for the beam irradiation area provided by the embodiment of the invention is convenient for the corresponding processor to process by dividing the grid points into the grid clusters, is suitable for different processors and is beneficial to saving the cost.
Example three:
as shown in fig. 7, on the basis of the first embodiment, the embodiment of the present invention provides a third real-time searching method for a beam irradiation area, which is different from the first embodiment in that the method further includes:
step S701, generating a polar coordinate array based on grid point coordinates;
specifically, each grid point in the beam irradiation area is first mapped onto polar coordinates, i.e. each grid point is no longer represented by (x, y), but by distance (e.g. Rcenter in fig. 3) and angle (e.g. Rcenter in fig. 3)
And theta or alpha in fig. 4max) To indicate. Since the ground scene is divided into a plurality of equidistant circles, all the grid points can be classified into the equidistant circles to which the grid points belong.
A polar coordinate array is then generated based on the polar coordinates of the respective grid points.
Step S702, generating various matrixes based on the polar coordinate array; wherein the matrices include cpplolar, cxyplar and Mgpr matrices.
Specifically, a plurality of matrices are obtained according to the coordinates of the grid points and the polar coordinate array.
Wherein, the generation rule of the Cppolar matrix is as follows: the angle values of the grid points on each equidistant circle are stored according to the distance from near to far, and the angle values are arranged from small to large.
The generation rule of the cxypolar matrix is as follows: the dimension of the cpploar matrix is the same as that of the cpploar matrix, and the difference is that the cxypolar matrix stores the coordinates (x, y) of the grid points and the angle values of the grid points, and the two are in a one-to-one correspondence relationship.
Generation rule of Mgpr matrix: the Mgpr matrix is a one-dimensional array, and the number of grid points on each equidistant circle is stored in the Mgpr matrix from near to far according to the equidistant circles.
Step S703, outputting the various matrices to a buffer for the processor to extract and implement the echo calculation process.
The real-time searching method for the beam irradiation area provided by the embodiment of the invention is convenient for a processor to extract and implement an echo calculation process by matrixing the coordinates of the grid points, and is beneficial to improving the processing efficiency.
Example four:
as shown in fig. 8, an embodiment of the present invention further provides a beam irradiation area real-time searching apparatus, including: an acquisition module 100, a location determination module 200, an intersection determination module 300, a boundary calculation module 400, and a search module 500.
The acquiring module 100 is configured to acquire a ballistic parameter and a radar operating parameter; the ballistic parameters comprise radar initial position information, radar speed vectors and radar height; the radar operating parameters include: radar beam center pointing, radar beam width;
the position determining module 200 is configured to determine a current radar position based on the current time, the radar initial position information, and the radar velocity vector;
the intersection point determining module 300 is configured to determine intersection point coordinates of the radar beam center and the ground based on the radar beam center pointing direction;
the boundary calculation module 400 is configured to obtain boundary information of a beam irradiation area based on the radar height, the radar beam center pointing direction, and the radar beam width;
the search module 500 is configured to obtain coordinates of all grid points in the boundary information according to the current radar position, the boundary information, and a preset auxiliary data index.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
The beam irradiation area real-time searching device provided by the embodiment of the invention has the same technical characteristics as the beam irradiation area real-time searching method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
Example five:
because the current mainstream missile has high flying speed and high maneuvering capability, the carried synthetic aperture radar has the characteristics of high parameter change and large ground irradiation area. In order to meet the requirement of real-time calculation, the simulator is provided with strong computing capability and an efficient processing algorithm. The fact that the seeker beam irradiation area and the internal grid can be searched in real time according to the ballistic parameters and radar parameters changed in each simulation beat becomes a key premise for real-time echo generation.
In view of this, an embodiment of the present invention further provides a missile-borne radar synthetic aperture radar real-time scene echo simulator, where the missile-borne radar synthetic aperture radar real-time scene echo simulator includes a beam irradiation area real-time search device and an echo real-time calculation device, which are connected to each other.
Fig. 9 shows a working principle block diagram of a missile-borne synthetic aperture radar real-time echo simulator, and referring to fig. 9, the simulator can calculate echo signals conforming to the working conditions of a real missile, such as speed, height, beam irradiation area, imaging resolution and the like in real time in each simulation beat. The core working process of the simulator comprises two parts, namely real-time search of a radar beam irradiation area and an internal grid and real-time calculation of an echo of the irradiation area. The real-time searching device of the beam irradiation area searches the beam irradiation area and the internal grid according to ballistic parameters and radar working parameters such as radar beam direction, beam width and the like; and the echo real-time computing device computes to obtain the missile-borne synthetic aperture radar echo signal according to the missile-borne synthetic aperture radar transmitting signal and the real-time searching result.
It should be noted that the ballistic parameters, the radar operating parameters such as the radar beam direction and the beam width are updated at each real-time simulation beat, and therefore the beam irradiation area real-time searching device correspondingly updates the search result at each real-time simulation beat. The simulator can complete the beam irradiation area search in a simulation beat (usually within 1 ms) according to the actual working requirements of the missile-borne synthetic aperture radar, and meets the strict requirements of a real-time echo simulation process on the irradiation area search.
Specifically, considering that echo calculation needs to obtain an irradiation region and a mesh search result and then perform echo data calculation, a beam irradiation region real-time search method of the beam irradiation region real-time search apparatus will be briefly described here:
first, prepare the auxiliary data
As long as the resolution, and scene size, is modified. The auxiliary data file of the desired resolution and scene size can be generated.
The coordinates (x, y) of each grid point in the scene are formed into a matrix, the number of rows of the matrix is the scene length divided by the resolution, and the width of the matrix is the scene width divided by the resolution.
Two, real-time search
Calculating the current radar position according to the current time, the initial radar position, the velocity vector and other trajectory parameters;
calculating the intersection point coordinate of the radar beam center and the ground according to the current radar beam center pointing direction;
according to the radar beam center pointing direction and the radar beam distance in the ballistic parameters to the beam width thetaRng3dBCalculating the upper and lower boundaries [ r ] of the irradiation region of the radar antennamin,rmax]；
Beam width theta according to radar beam azimuth in ballistic parametersAzm3dBCalculate left and right boundaries
Wherein:
from the nearest distance circle rminStarting searching, and calculating circle numbers n of a plurality of equidistant circles according to delta r; determining the included angle between the part (circular arc) of the distance circle in the boundary and the down-flicking point according to the left and right boundaries calculated in the previous step
Thereby determining the boundary of the distance circle
Wherein:
rn＝rmin+n·Δr
searching each distance circle, and searching in the upper and lower boundaries from top to bottom, wherein the process is a table look-up process and a process of searching grid cluster numbers and coordinates according to auxiliary data indexes.
Each grid point is mapped onto polar coordinates and is no longer represented by (x, y), but by distance and angle. The scene is divided into a plurality of equidistant circles. Thus, all grid points can be put on the equidistant circle to which the grid points belong.
Placing the grid points in a polar array yields the cpplolar matrix, as well as the cxyplar matrix, the Mgpr matrix.
Cppolar stores the angle values of the grids on each equidistant circle from near to far, and the angle values are arranged from small to large.
cxypolar matrix: the dimensions of the cpploar matrix are the same, except that the matrix stores grid coordinates (x, y) in a one-to-one correspondence with the angular values of the grid points.
Mgpr matrix: the grid points are stored in a one-dimensional array from near to far according to equidistant circles.
And after all grids are searched, sending the searched grid point coordinates and grid point polar coordinate arrays to a cache and finally sending the grid point coordinates and grid point polar coordinate arrays to a processor for processing real-time echo simulation.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the simulator described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
The missile-borne radar synthetic aperture radar real-time scene echo simulator provided by the embodiment of the invention has the same technical characteristics as the beam irradiation area real-time searching method provided by the embodiment, so that the same technical problems can be solved, and the same technical effect can be achieved.
Referring to fig. 10, an embodiment of the present invention further provides an electronic device 1000, including: a processor 40, a memory 41, a bus 42 and a communication interface 43, wherein the processor 40, the communication interface 43 and the memory 41 are connected through the bus 42; the processor 40 is arranged to execute executable modules, such as computer programs, stored in the memory 41.
The Memory 41 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 43 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
The bus 42 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 10, but this does not indicate only one bus or one type of bus.
The memory 41 is used for storing a program, the processor 40 executes the program after receiving an execution instruction, and the method executed by the apparatus defined by the flow process disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 40, or implemented by the processor 40.
The processor 40 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 40. The Processor 40 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory 41, and the processor 40 reads the information in the memory 41 and completes the steps of the method in combination with the hardware thereof.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The computer program product for performing the beam irradiation area real-time search method provided in the embodiment of the present invention includes a computer-readable storage medium storing a nonvolatile program code executable by a processor, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, which is not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A real-time searching method for a beam irradiation area is characterized by comprising the following steps:
acquiring ballistic parameters and radar working parameters; the ballistic parameters comprise radar initial position information, radar speed vectors and radar height; the radar working parameters comprise radar beam center pointing and radar beam width;
determining a current radar position based on the current time, the radar initial position information and the radar speed vector; the radar initial position information comprises a radar initial position and a moment corresponding to the radar initial position; the radar initial position is the radar position corresponding to the starting time of the simulation beat closest to the current time;
determining intersection point coordinates of the radar beam center and the ground based on the radar beam center pointing direction;
obtaining boundary information of a beam irradiation area based on the radar height, the radar beam center pointing direction and the radar beam width;
and obtaining coordinates of all grid points in the boundary information according to the current radar position, the boundary information and a preset auxiliary data index.
2. The method of claim 1, further comprising:
and generating grid clusters based on the grid point coordinates.
3. The method of claim 2, further comprising:
and carrying out echo real-time calculation based on the grid cluster.
4. The method of claim 1, wherein the radar beam beamwidth comprises a radar beam range directional beamwidth and a radar beam azimuth beam width; the boundary information comprises an upper boundary, a lower boundary, a left boundary and a right boundary;
the obtaining boundary information of a beam irradiation area based on the radar height, the radar beam center pointing direction, and the radar beam width includes:
obtaining the upper and lower boundaries of a beam irradiation area according to the radar height, the radar beam center direction and the radar beam distance direction beam width;
and obtaining the left and right boundaries of the irradiation area of the radar antenna according to the radar height, the radar beam center direction and the radar beam azimuth beam width.
5. The method of claim 4, wherein the upper and lower boundaries of the beam irradiation region are calculated using the following formula:
wherein r isminRepresents a lower boundary; r ismaxRepresenting the upper boundary, H the radar height, thetaRng3dBRepresenting the radar beam distance towards the beamwidth,
representing the pitch angle of the intersection of the beam center in the radar beam center pointing direction and the ground.
6. The method of claim 4, wherein the left and right boundaries of the beam exposure field are calculated using the following formula:
where r represents the right boundary, l represents the left boundary, H represents the radar height, θAzm3dBIndicating the radar beam azimuth beam width,
the elevation angle of the intersection point of the beam center in the radar beam center pointing direction and the ground is represented, and theta represents the azimuth angle of the intersection point of the beam center in the radar beam center pointing direction and the ground.
7. The method of claim 4, wherein obtaining coordinates of all grid points inside the boundary information according to the current radar position, the boundary information and a preset auxiliary data index comprises:
respectively taking the lower boundary value and the upper boundary value of the upper boundary and the lower boundary as the radius of the nearest circle and the radius of the farthest circle;
dividing to obtain a plurality of equidistant circles based on the nearest distance circle, the farthest distance circle and a preset resolution; wherein the preset resolution refers to circle intervals;
determining circle numbers of a plurality of equidistant circles according to a preset resolution;
sequentially determining the included angle between the part of each equidistant circle in the left and right boundaries and the bounce point and the boundary of each distance circle according to the left and right boundaries;
and searching from the nearest circle, sequentially searching for grid points in the boundary of each equidistant circle in the upper and lower boundaries from near to far, and searching according to preset auxiliary data indexes to obtain the grid point coordinates of the boundary of each equidistant circle.
8. The method of claim 1, further comprising:
generating a polar coordinate array based on the grid point coordinates;
generating a plurality of matrices based on the polar coordinate array; wherein the matrices include cpplolar matrices, cxyplar matrices, and Mgpr matrices.
9. A beam irradiation area real-time searching apparatus, comprising:
the acquisition module is used for acquiring ballistic parameters and radar working parameters; the ballistic parameters comprise radar initial position information, radar speed vectors and radar height; the radar operating parameters include: radar beam center pointing, radar beam width;
the position determining module is used for determining the current radar position based on the current moment, the radar initial position information and the radar speed vector; the radar initial position information comprises a radar initial position and a moment corresponding to the radar initial position; the radar initial position is the radar position corresponding to the starting time of the simulation beat closest to the current time;
the intersection point determining module is used for determining the intersection point coordinates of the radar beam center and the ground based on the radar beam center pointing direction;
the boundary calculation module is used for obtaining boundary information of a beam irradiation area based on the radar height, the radar beam center pointing direction and the radar beam width;
and the searching module is used for obtaining all grid point coordinates in the boundary information according to the current radar position, the boundary information and a preset auxiliary data index.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of any of the preceding claims 1 to 8 are implemented when the computer program is executed by the processor.
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| CN111650565A (en) * | 2020-02-28 | 2020-09-11 | 北京华力创通科技股份有限公司 | Simulation method and device for composite terrain features and electronic equipment |
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| CN111708022B (en) * | 2020-07-15 | 2022-02-08 | 四川长虹电器股份有限公司 | Method and device for calculating scanning area boundary of millimeter wave radar |
| CN113589246B (en) * | 2021-05-24 | 2023-09-01 | 中国南方电网有限责任公司超高压输电公司广州局海口分局 | Target detection method and device based on radar and computer equipment |
| CN113640799A (en) * | 2021-08-11 | 2021-11-12 | 北京无线电测量研究所 | Method and device for determining central irradiation point of radar beam and storage medium |
| CN117368867B (en) * | 2023-11-10 | 2024-05-03 | 北方工业大学 | Method and system for searching beam irradiation area of flight carrier oriented to attitude change |
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