CN110673133B - High-precision finger radar system based on search and tracking coaxiality - Google Patents
High-precision finger radar system based on search and tracking coaxiality Download PDFInfo
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- CN110673133B CN110673133B CN201910971576.5A CN201910971576A CN110673133B CN 110673133 B CN110673133 B CN 110673133B CN 201910971576 A CN201910971576 A CN 201910971576A CN 110673133 B CN110673133 B CN 110673133B
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Abstract
The invention discloses a high-precision finger radar system based on search and tracking coaxiality, which comprises: the system comprises an upper computer, a search radar, a tracking radar, a common turntable and a self-supporting lifting rod; the search radar, the tracking radar, the common rotating platform and the self-supporting lifting rod are all connected to an upper computer; the search radar is used for preliminarily detecting target information; the tracking radar is used for judging whether the target is a high-speed target or not according to target speed information in target information detected by the search radar, entering a tracking state if the target is judged to be the high-speed target, and issuing a control instruction for judging whether the tracking radar enters the tracking state or not by the upper computer if the target is judged to be the low-speed target; when the tracking radar enters a tracking state, target information detected in real time is sent to the upper computer, and the upper computer sends a control instruction to the weapon system to execute target disposal. The high-precision finger radar system can realize the searching and tracking of low and slow small targets, and has excellent performance of various technical indexes and better realization effect.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a high-precision finger radar system based on search and tracking coaxiality.
Background
Aiming at the threat of low-speed and medium-low-speed small targets in the air, the existing target indication radar can realize the omnibearing search detection capability, the target indication information of the search radar is transmitted to an indication control system, the accuracy and the data rate of the searched target information are poor, and the weapon indication control system is easy to cause larger deviation in the treatment of the target.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the high-precision finger radar system based on the search and tracking coaxiality is provided, and the low-slow small target is accurately detected and tracked through the coaxial design of the search radar and the tracking radar.
The invention provides a high-precision finger radar system based on search and tracking coaxiality, which comprises: the system comprises an upper computer, a search radar, a tracking radar, a common turntable and a self-supporting lifting rod; the search radar, the tracking radar, the common rotating platform and the self-supporting lifting rod are all connected to an upper computer;
the search radar comprises an antenna tower and an antenna pedestal, the antenna tower and the antenna pedestal are rotatably connected to the common-frame rotary table through the antenna pedestal, and the upper computer controls the rotation of the antenna pedestal to drive the antenna tower to realize 360-degree azimuth detection; the tracking radar is fixedly connected to the common rotating platform, the common rotating platform is rotatably connected to the self-supporting lifting rod, and the tracking radar controls the rotation of the common rotating platform through the upper computer to realize 360-degree azimuth tracking; the antenna tower of the search radar and the tracking radar array surface of the tracking radar both adopt a one-dimensional phased array antenna array surface, the phase scanning is carried out through the control of an upper computer to realize the pitch angle detection, and the rotation of the search radar and the rotation of the tracking radar in the azimuth direction are coaxial; the self-standing lifting rod is used for lifting the common turntable so as to drive the search radar and the tracking radar to reach the designated working height;
the search radar is used for preliminarily detecting target information; the tracking radar is used for judging whether the target is a high-speed target or not according to target speed information in target information detected by the search radar, entering a tracking state if the target is judged to be the high-speed target, and issuing a control instruction for judging whether the tracking radar enters the tracking state or not by the upper computer if the target is judged to be the low-speed target; when the tracking radar enters a tracking state, target information detected in real time is sent to the upper computer, and the upper computer sends a control instruction to the weapon system to execute target disposal.
Further, the host computer includes: the system comprises a human-computer interaction module, a search radar control module and a tracking radar control module;
the man-machine interaction module is used for displaying target information detected by the search radar and the tracking radar and issuing control commands of the search radar and the tracking radar;
the search radar control module is used for receiving and processing target information detected by the search radar, sending the target information to the man-machine interaction module, and outputting a corresponding control signal to the search radar according to a control command issued by the man-machine interaction module;
and the tracking radar control module is used for receiving and processing target information detected by the tracking radar and then sending the target information to the man-machine interaction module, and is used for outputting a corresponding control signal to the tracking radar according to a control command issued by the man-machine interaction module.
Further, the method for processing the target information detected by the search radar control module comprises the following steps: preprocessing trace point data in the target information, and performing track starting and track point association on a target trace point;
the method for processing the target information detected by the tracking radar control module comprises the following steps: and processing the trace point data in the target information to generate a motion track of the target.
Further, the antenna pedestal is provided with a first collector ring; the search radar further comprises a servo system; the antenna tower is connected with the servo system and the tracking radar signal through a first bus ring of the antenna pedestal; the antenna tower comprises an antenna, a digital receiving and transmitting assembly and a signal processing assembly which are sequentially connected.
Further, the antenna tower further comprises a frequency synthesizer assembly; the frequency synthesis assembly is connected to the antenna, the digital transceiving assembly, the signal processing assembly and the servo system and is used for carrying out time synchronization on the working process of the search radar.
Further, the antenna tower further comprises a power supply assembly; the power supply assembly is used for supplying power for the search radar.
Further, the antenna is a low sidelobe waveguide split planar array antenna.
Further, the tracking radar comprises a north finder and a fiber optic gyroscope, and is used for leveling and correcting target information detected by the tracking radar.
Furthermore, a one-dimensional phased array antenna array surface adopted by a tracking radar array surface of the tracking radar is a Ku frequency band high-power one-dimensional active phased array radar.
Further, the tracking radar front is installed with a 30 ° inclination.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
the high-precision finger radar system based on search and tracking coaxiality designed by the invention can realize the search and tracking of low and slow small targets, and has excellent performance of various technical indexes and better realization effect.
Drawings
FIG. 1 is a diagram of a high-precision target radar system based on a search-and-follow common axis according to the present invention.
Fig. 2 is a schematic diagram of the search radar of the present invention.
Fig. 3 is a schematic diagram of the tracking radar of the present invention.
Fig. 4 is a control schematic diagram of the common turret of the present invention.
FIG. 5 is a flowchart of the operation of the high-precision finger radar system based on search and tracking coaxiality according to the present invention.
Fig. 6 is an example of a search radar range of the present invention.
Reference numerals: 1-search radar, 11-antenna tower, 12-antenna pedestal, 2-tracking radar, 21-tracking radar array surface, 22-north finder, 23-fiber gyroscope, 3-common rotating platform and 4-self-supporting lifting rod.
Detailed Description
The features and properties of the present invention are described in further detail below with reference to examples.
As shown in fig. 1, a high-precision finger radar system based on a search-and-follow common axis according to this embodiment includes: the system comprises an upper computer, a search radar 1, a tracking radar 2, a common turntable 3 and a self-supporting lifting rod 4; the search radar 1, the tracking radar 2, the common rotating platform 3 and the self-supporting lifting rod 4 are all connected to an upper computer;
the search radar 1 comprises an antenna tower 11 and an antenna pedestal 12, is rotatably connected to the common-frame rotary table 3 through the antenna pedestal 12, and controls the rotation of the antenna pedestal 12 through an upper computer to drive the antenna tower 11 to realize 360-degree azimuth detection; the tracking radar 2 is fixedly connected to the common-frame turntable 3, the common-frame turntable 3 is rotatably connected to the self-supporting lifting rod 4, and the tracking radar 2 controls the common-frame turntable 3 to rotate through an upper computer to realize 360-degree azimuth tracking; the antenna tower 11 of the search radar 1 and the tracking radar 2 array surface of the tracking radar 2 both adopt one-dimensional phased array antenna array surfaces, phase scanning is carried out through the control of an upper computer to realize pitch angle detection, and the search radar 1 and the tracking radar 2 rotate coaxially in the azimuth direction; the self-standing lifting rod 4 is used for lifting the common turntable 3, so that the search radar 1 and the tracking radar 2 are driven to reach a specified working height;
the search radar 1 is used for preliminarily detecting target information; the tracking radar 2 is used for judging whether the target is a high-speed target or not according to target speed information in the target information detected by the search radar 1, entering a tracking state if the target is judged to be the high-speed target, and issuing a control instruction of whether the tracking radar 2 enters the tracking state or not by the upper computer if the target is judged to be the low-speed target; when the tracking radar 2 enters a tracking state, target information detected in real time is sent to an upper computer, and the upper computer sends a control instruction to a weapon system to execute target disposal.
Further, the host computer includes: the system comprises a human-computer interaction module, a search radar 1 control module and a tracking radar 2 control module;
the man-machine interaction module is used for displaying target information detected by the search radar 1 and the tracking radar 2 and issuing control commands of the search radar 1 and the tracking radar 2;
the search radar 1 control module is used for receiving and processing target information detected by the search radar 1, sending the target information to the man-machine interaction module, and outputting a corresponding control signal to the search radar 1 according to a control command issued by the man-machine interaction module;
and the tracking radar 2 control module is used for receiving and processing target information detected by the tracking radar 2 and then sending the target information to the human-computer interaction module, and is used for outputting a corresponding control signal to the tracking radar 2 according to a control command issued by the human-computer interaction module.
In this embodiment, the search radar 1 control module and the tracking radar 2 control module may be separate processing modules, or search radar 1 control software and tracking radar 2 control software installed in an upper computer; wherein the search radar 1 control software and the tracking radar 2 control software may also be integrated into one piece of software. That is to say, the high-precision finger radar system based on search and tracking coaxiality of the embodiment is centrally controlled by an operator through a human-computer interaction module of an upper computer, so that the search radar 1 and the tracking radar 2 can detect a target in real time and carry out threat treatment.
Further, as shown in fig. 2, the antenna mount 12 is provided with a first slip ring; the search radar 1 further includes a servo system; the antenna tower 11 is in signal connection with the servo system and the tracking radar 2 through a first bus ring of the antenna pedestal 12; the antenna tower 11 comprises an antenna, a digital transceiving component and a signal processing component which are connected in sequence. The servo system is used for controlling the rotation of the antenna base 12 in the direction according to a control instruction of the upper computer.
The working process of the search radar 1 comprises the following steps:
the upper computer controls the working mode of the search radar 1;
in a transmitting state, the signal processing component sends control words to other components of the search radar 1 according to a set working mode; the digital receiving and transmitting component carries out distribution phase control according to the beam pointing control word of the signal processing component to form a required emission broadening beam and a required shaped beam, and the required emission broadening beam and the required shaped beam are radiated to a search airspace through an antenna after being filtered, amplified, up-converted and power-amplified;
in a receiving state, an echo signal enters the digital transceiving component through the antenna; the digital receiving and transmitting component receives, amplifies, down-converts, amplifies and filters the echo signals and converts the echo signals into intermediate frequency signals, then A/D (analog/digital) conversion and digital down-conversion are carried out on the intermediate frequency signals and the intermediate frequency signals are converted into zero intermediate frequency digital signals, and finally the zero intermediate frequency digital signals are output to the signal processing component; the zero intermediate frequency digital signals received by the signal processing assembly form digital wave beams, digital pulse compression, MTD processing and clutter map/constant false alarm detection of echo signals are completed, target point trace data (including distance, azimuth angle, pitch angle and the like) are extracted and sent to an upper computer.
Further, the antenna tower 11 further comprises a frequency synthesizer assembly; the frequency synthesis assembly is connected to the antenna, the digital transceiving assembly, the signal processing assembly and the servo system and is used for carrying out time synchronization on the working process of the search radar 1. And the working process of the whole radar system is coordinated and synchronized through the time synchronization of the frequency synthesizer assembly.
Further, the antenna tower 11 further comprises a power supply assembly; the power supply assembly is used for supplying power to the search radar 1.
Preferably, the search radar 1 adopts an X-band three-coordinate, all-coherent, all-solid-state, digital radar:
a) all-coherent and all-solid-state: the antenna of the search radar 1 adopts a full-phase coherent system and is suitable for target detection in a complex clutter environment;
b) digitalizing and software: the antenna of the search radar 1 adopts a distributed all-solid-state transmission technology, so that the average power of signals transmitted by the radar is improved, the detection distance of the radar is increased, and the reliability of the system is improved;
c) various anti-interference measures are adopted: the combination of searching radar 1 antenna and comprehensive processing adopts the technology of digitalization and software, the technology of DDS digital waveform generation, intermediate frequency sampling, digital down conversion, Digital Beam Forming (DBF), digital pulse compression and high-speed real-time digital signal processing is adopted, and the control scheduling and distribution management of resources such as various beam shapes, various signal waveforms, signal processing modes, radar airspace, energy and the like are defined and realized through software, so that the radar has various functions;
d) high reliability and good maintainability: the antenna is a low-sidelobe waveguide split planar array antenna, and can effectively limit interference level entering from a sidelobe. The radar also has multiple anti-interference measures such as multiple frequency points, active interference azimuth extraction and the like; meanwhile, by adopting the measures of MTD, clutter map constant virtual detection and the like, the capability of the system for resisting ground clutter, meteorological clutter, foil strip interference and the like can be effectively improved;
the search radar 1 adopts the modular, standardized and integrated design, has a perfect built-in test means, and has the advantages of good system maintainability, high availability and convenient use.
Preferably, the one-dimensional phased array antenna array surface adopted by the tracking radar 2 array surface of the tracking radar 2 is a Ku-frequency-band high-power one-dimensional active phased array radar. As shown in fig. 3, the tracking radar 2 array comprises an antenna module, a radio frequency module and a digital module, and is configured to detect a target, and complete detection and positioning of a low-slow small target through algorithms such as digital down conversion, digital beam forming, range-direction pulse pressure, clutter map, doppler pulse pressure, constant false alarm, protection antenna determination, single pulse amplitude measurement, multi-target tracking, and the like. The tracking radar 2 includes, in addition to the tracking radar 2 wavefront, a north finder 22 and a fiber optic gyroscope 23 for leveling and correcting target information detected by the tracking radar 2. Further, the one-dimensional phased array antenna array adopted by the tracking radar 2 can realize the scanning of the pitch angle of +/-50 degrees, therefore, the tracking radar 2 array is preferably arranged by inclining 30 degrees, and the scanning of the pitch angle of minus 20 degrees to 80 degrees can be realized.
In order to enable target information detected by the search radar 1 and the tracking radar 2 displayed on the upper computer to be more visual, the track and the movement track of the target information can be displayed. In particular, the amount of the solvent to be used,
the method for processing the target information detected by the search radar 1 control module comprises the following steps: preprocessing trace point data in the target information, and performing track starting and track point association on a target trace point;
the method for processing the target information detected by the tracking radar 2 control module comprises the following steps: and processing the trace point data in the target information to generate a motion track of the target.
Further, as shown in fig. 4, the common turret 3 includes a servo controller, a servo driver, a motor, a reducer, a gear, an encoder, and a second bus ring; the common frame turntable 3 receives a control signal and is connected with an external power supply through a second bus ring; the external power supplies include a DC28V power supply for the servo controller and an AC380C power supply for the servo drive. After receiving the control signal, the servo controller decomposes and calculates the control signal and then sends a corresponding control instruction to the servo driver, the servo driver receives the control instruction of the servo controller and then controls the output of the motor, and finally the speed reducer and the gear machine drive the state of the housekeeper to do corresponding movement. Meanwhile, the encoder feeds back the angle position information of the common rotating table 3 to the servo controller in real time, and finally the closed-loop control of the common rotating table 3 is realized.
Further, the self-supporting lifting rod 4 comprises a rod body, a driving motor, a transmission mechanism, a steel wire rope linkage mechanism, an upper limit switch, a lower limit switch and a control assembly. The control assembly receives a control signal of the upper computer to control the output of the driving motor, the transmission mechanism and the steel wire rope linkage mechanism are used for lifting movement, the upper limit switch and the lower limit switch are used for feeding back lifting position information, and finally the closed-loop control of the self-supporting lifting rod 4 is realized.
According to the high-precision finger radar system based on the search and tracking coaxiality, the working process is shown in fig. 5 and comprises the following steps:
(1) the system is electrified, an upper computer is started, self-checking is carried out on the search radar 1, the tracking radar 2, the common rotating platform 3 and the self-supporting lifting rod 4, and a self-checking result is fed back to the upper computer;
(2) controlling the self-supporting lifting rod 4 to lift to reach the working height;
(3) the upper computer sends a control instruction of a working mode to the tracking radar 2 and forwards the searching radar 1;
(4) searching radar 1 for preliminary detection target information;
(5) the tracking radar 2 judges whether the target is a high-speed target according to target speed information in the target information detected by the search radar 1; if the target is judged to be a high-speed target, entering a tracking state, and if the target is judged to be a low-speed target, sending a control instruction whether the tracking radar 2 enters the tracking state by the upper computer;
(6) and when the tracking radar 2 enters a tracking state, sending the target information detected in real time to an upper computer.
(7) The upper computer sends a control instruction to the weapon system to execute target disposal;
(8) judging whether all the targets are processed or not, if so, stopping working, retracting the self-supporting lifting rod 4 and then powering off; otherwise, repeating the steps (4) to (8). In order to achieve a better working state, the invention also provides an optimal system parameter index of the high-precision finger radar system based on the search-heel coaxiality, which comprises the following steps:
1) designing input parameters: the target types comprise a high-speed target drone and a small unmanned plane, and typical targets comprise a certain ultra-low altitude high-speed unmanned plane (cruise speed 200m/s) and a Xinjiang eidolon four-unmanned plane (2 m/s-50 m/s);
2) the working system is as follows: a three-coordinate measurement target indication radar;
3) searching for radar coverage
Maximum acting distance: the speed is more than or equal to 8 km;
minimum working distance: less than or equal to 500 m;
azimuth angle range: 0 degree to 360 degrees;
elevation angle range: 0 degree to 45 degrees;
4) search data rate: 6 s;
5) multi-target search capability: searching for not less than 100 batches of targets at the same time;
6) tracking radar range
Maximum acting distance: the length is more than or equal to 7 km;
minimum working distance: less than or equal to 500 m;
azimuth angle range: 0 degree to 360 degrees;
elevation angle range: 0 degree to 45 degrees;
7) tracking target resolution:
azimuth resolution (beam width): 4 degrees or less (maximum);
elevation resolution (beam width): 4 degrees or less (maximum);
distance resolution: less than or equal to 5m (maximum, for same size drone target);
8) accuracy requirement
Searching radar azimuth precision: less than or equal to 0.5 degree (root mean square);
searching for radar pitch accuracy: 1 degree or less (root mean square);
searching radar distance precision: less than or equal to 20m (root mean square);
and (3) tracking radar azimuth accuracy: less than or equal to 0.5 degree (maximum);
tracking radar elevation accuracy: less than or equal to 0.5 degree (maximum);
tracking radar distance accuracy: less than or equal to 10m (maximum);
9) data rate output to finger: not less than 20 Hz;
10) system power consumption:
standby state: less than 3 kW;
the working state is as follows: less than 10 kW.
The system parameters of the high-precision finger radar system based on the search-and-follow coaxiality are realized through specific design parameters:
(1) searching radar system parameter indexes:
a. search for radar as distance:
the equation for the range is:
the parameters in the range equation are shown in table 1;
table 1:
as shown in fig. 6, for 0.05m2The aircraft category targets of (1): pd＝0.9,Pfa＝1×10-6The maximum range is 8.91 km.
b. Searching radar distance precision:
the search radar range error is shown in table 2;
table 2:
therefore, the total distance measurement precision can reach 6.58m, and the requirement that the distance precision (root mean square error) of the search radar is less than 20m is met.
c. Searching radar azimuth precision:
the search radar azimuth error is shown in table 3;
table 3:
according to the analysis, the root mean square error of the azimuth measurement is estimated to be 0.44 degrees, and the requirement that the azimuth precision of the search radar is less than 0.5 degrees is met.
d. Searching for radar elevation accuracy:
the search radar elevation error is shown in table 4;
table 4:
according to the analysis, the root mean square error of elevation measurement is estimated to be 0.83 degrees, and the requirement that the elevation precision of the search radar is less than 1 degree is met.
(2) Tracking radar system parameter indexes:
a. tracking radar range:
the radar action distance is tracked by adopting a detection power calculation formula of a coherent Doppler detection device:
in the formula: pt-radar transmitted average power;
Gt-antenna transmission gain;
Gr-antenna reception gain;
λ -the operating wavelength;
σ — target RCS;
r-range of action;
k-Boltzmann constant;
t-noise temperature;
b, radar signal bandwidth;
tau-radar radiation signal pulse width;
Fs-a noise figure;
Ls-system loss;
n-number of accumulated pulses;
SNR-detection signal-to-noise ratio;
loss composition of the tracking radar is shown in table 5;
table 5:
detecting P of signal-to-noise ratio SNR from single detection probabilityD' sum false alarm probability Pfa' determination:
if the radar adopts multiple frames at one wave position to realize multiple detections, the discovery probability P after the multiple detectionsDAnd the detection probability P of a single detectionD' relationship between PDRepresented by the formula:
general alert radar system discovery probability PD50% false alarm probability Pfa＝10-6In time, the subsequent data processing requirements can be met. If single detection is adopted, the discovery probability P can be calculated according to a formulaD50% false alarm probability Pfa＝10-6The SNR of the time detection signal to noise ratio is 12.8 dB; if the 2/4 criterion is adopted, the discovery probability P can be calculated by adopting the formulaD50% false alarm probability Pfa＝10-6When detecting the corresponding detection probability P in a single timeD38%, the corresponding SNR of the detected signal-to-noise ratio is 11.2 dB. In fact, due toThe TBD algorithm is adopted in signal processing, so that in the prior engineering practice, it is found that the requirement of subsequent data processing can still be met by taking the SNR as 10.5dB for a single detection threshold.
The bandwidth of signals in the radar is 40MHz, the pulse width of the signals is 4us, the number of accumulated pulses is 700, the radar action distance is 11297m when the SNR is 12.8dB, the radar action power is 12386m when the SNR is 11.2dB, and the radar action power is 12896m when the SNR is 10.5dB by calculating a radar equation, so that the index requirement of tracking the radar power coverage is met.
b. Tracking radar distance accuracy:
the random error R in the range accuracy of tracking radar consists mainly of:
a) pulse jitter
In the formula: Δ tsMaximum pulse jitter amount, which is necessarily in nanosecond order for coherent equipment, and Δ ts5 ns, C — speed of light; calculated pulse jitter error sigmad＝0.22m。
b) Distance clock
In the formula: f. ofcTiming clock frequency, taken as 100MHz, the calculated range clock error σc＝0.43m。
c) Frequency modulated waveform
Since the Doppler frequency of the target causes a corresponding time drift in the matched filter, a range error is generated, an error sigma to the chirp waveformFMComprises the following steps:
in the formula:
T0when signals are transmittedWide, the maximum time width of the signal is 5 us; (ii) a
Vm-maximum relative speed between the platform and the target, set at 100 m/s;
f0-transmission frequency at 16 GHz;
Δ f-Signal Bandwidth of 150 MHz.
Calculating to obtain the error sigma of the frequency modulation waveformFM＝0.02m。
d) A/D conversion
In digital circuits, the analog sampling error σ due to the circuit and contactsADNot more than 0.2 m.
e) Clutter and noise
The target distance can be obtained by distance gate width quantization processing, noise caused by clutter and noise can be calculated by the following formula, but when the signal-to-noise ratio is higher than 15dB, the precision can not be obviously improved any more:
in the formula: k is the coefficient of broadening, 1.4 is taken;
σTR-range errors due to clutter and noise;
τe-equivalent pulse width, equivalent pulse width corresponding to 150MHz signal bandwidth is 0.0067 us;
S/C-the signal-to-noise ratio after accumulation, taken as 16.5 dB.
Calculating to obtain errors sigma caused by clutter and noiseTR＝0.1m。
f) Multiple path
In the formula:
σMR-multipath induced range errors;
rho is the ground reflection coefficient, the reflection coefficient is 0.15;
GSL-antenna side lobe level, equivalent to 20 dB;
τeequivalent pulse width of 0.0067 us.
Calculated sigmaMR＝0.0053m。
g) Target flicker
σG＝0.35LR
In the formula:
LRradial span of the target, taking the size of the target 6m, then σG＝2.1m。
After the errors are combined, the total tracking radar distance precision is as follows:
the requirement that the distance accuracy of the tracking radar is less than 10m is met.
c. Tracking radar angle accuracy
The angle measurement error θ of the tracking radar is composed of:
a) clutter and noise
Clutter and noise induced errors can be calculated as follows, but when the signal to noise ratio is higher than 15dB, there is no significant improvement in accuracy.
In the formula:
KM-taking 1.4 for normalized monopulse slope;
θ3dB-half power beamwidth, take 4 °;
S/C-the signal-to-noise ratio after accumulation, taken as 16.5 dB.
Calculating to obtain errors sigma caused by clutter and noiseCN＝0.37°。
The precision under tracking can be improved to 1/3 of single measurement by fusing three times of measurement data under high refresh rate, and the final precision can reach 0.13 degrees.
b) Antenna pointing error
Due to manufacturing tolerances (mechanical and electrical), temperature, wind, sun, gravity and deformation of the front.
In the formula:
ξ — the root mean square implant equivalent to the total phase error of the antenna element is 0.1745;
N-a total number of units of about 1024;
calculated antenna pointing error sigmab＝0.0068°
c) Target flicker
In the formula:
l-the lateral span of the target;
r is the target distance;
calculating to obtain the error sigma of the target flickerG＝0.0024°。
d) Angle measurement error caused by common turntable servo
Servo fixed point angle measurement error sigmasNot more than 0.1 deg.
e) Maximum pointing error of radome
Well-made mean square aiming error sigma of antenna housingtNot more than 0.05 deg.
After the errors are combined, the angle precision of the tracking radar is as follows:
the requirement that the tracking radar angle precision is less than 0.5 degree is met.
In conclusion, the search radar and the tracking radar meet the requirements in terms of precision. Meanwhile, the high-precision finger radar system based on the search and tracking coaxiality can realize the search and tracking of low and slow small targets, and has excellent performance of various technical indexes and better realization effect.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. A high-precision finger radar system based on search and tracking coaxiality is characterized by comprising: the system comprises an upper computer, a search radar, a tracking radar, a common turntable and a self-supporting lifting rod; the search radar, the tracking radar, the common rotating platform and the self-supporting lifting rod are all connected to an upper computer;
the search radar comprises an antenna tower and an antenna pedestal, the antenna tower and the antenna pedestal are rotatably connected to the common-frame rotary table through the antenna pedestal, and the upper computer controls the rotation of the antenna pedestal to drive the antenna tower to realize 360-degree azimuth detection; the tracking radar is fixedly connected to the common rotating platform, the common rotating platform is rotatably connected to the self-supporting lifting rod, and the tracking radar controls the rotation of the common rotating platform through the upper computer to realize 360-degree azimuth tracking; the antenna tower of the search radar and the tracking radar array surface of the tracking radar both adopt a one-dimensional phased array antenna array surface, the phase scanning is carried out through the control of an upper computer to realize the pitch angle detection, and the rotation of the search radar and the rotation of the tracking radar in the azimuth direction are coaxial; the self-standing lifting rod is used for lifting the common turntable so as to drive the search radar and the tracking radar to reach the designated working height;
the search radar is used for preliminarily detecting target information; the tracking radar is used for judging whether the target is a high-speed target or not according to target speed information in target information detected by the search radar, entering a tracking state if the target is judged to be the high-speed target, and issuing a control instruction for judging whether the tracking radar enters the tracking state or not by the upper computer if the target is judged to be the low-speed target; when the tracking radar enters a tracking state, target information detected in real time is sent to an upper computer, and the upper computer sends a control instruction to a weapon system to execute target disposal;
the host computer includes: the system comprises a human-computer interaction module, a search radar control module and a tracking radar control module;
the man-machine interaction module is used for displaying target information detected by the search radar and the tracking radar and issuing control commands of the search radar and the tracking radar;
the search radar control module is used for receiving and processing target information detected by the search radar, sending the target information to the man-machine interaction module, and outputting a corresponding control signal to the search radar according to a control command issued by the man-machine interaction module;
and the tracking radar control module is used for receiving and processing target information detected by the tracking radar and then sending the target information to the man-machine interaction module, and is used for outputting a corresponding control signal to the tracking radar according to a control command issued by the man-machine interaction module.
2. The high-precision pointing radar system based on the search and follow co-axis as claimed in claim 1, wherein the method for processing the target information detected by the search radar control module comprises: preprocessing trace point data in the target information, and performing track starting and track point association on a target trace point;
the method for processing the target information detected by the tracking radar control module comprises the following steps: and processing the trace point data in the target information to generate a motion track of the target.
3. The high-precision pointing radar system based on tracking coaxiality according to claim 1, wherein the antenna mount is provided with a first slip ring; the search radar further comprises a servo system; the antenna tower is connected with the servo system and the tracking radar signal through a first bus ring of the antenna pedestal; the antenna tower comprises an antenna, a digital receiving and transmitting assembly and a signal processing assembly which are sequentially connected.
4. The high accuracy finger radar system based on search and follow coaxiality of claim 3 wherein said antenna tower further comprises a frequency synthesizer assembly; the frequency synthesis assembly is connected to the antenna, the digital transceiving assembly, the signal processing assembly and the servo system and is used for carrying out time synchronization on the working process of the search radar.
5. A high accuracy pointing radar system according to claim 3 wherein said antenna tower further comprises power supply components; the power supply assembly is used for supplying power for the search radar.
6. The high-precision pointing radar system based on search and tracking co-axis according to claim 4, wherein the antenna is a low sidelobe waveguide slotted planar array antenna.
7. The high-precision pointing radar system based on tracking and co-axial direction finding is claimed in claim 1, wherein the tracking radar comprises a north finder and a fiber optic gyroscope for leveling and correcting the target information detected by the tracking radar.
8. The high-precision eye-pointing radar system based on the search and follow coaxiality of claim 1, wherein a one-dimensional phased array antenna array surface adopted by a tracking radar array surface of the tracking radar is a Ku frequency band high-power one-dimensional active phased array radar.
9. A high accuracy boresight radar system based on tracking co-axial as claimed in claim 1 wherein the tracking radar front is mounted with a 30 ° tilt.
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| CN112799051B (en) * | 2020-12-24 | 2022-12-09 | 济南和普威视光电技术有限公司 | Automatic capturing and tracking method and system for low-speed small target |
| CN113203324A (en) * | 2021-05-07 | 2021-08-03 | 武汉汉略达科技股份有限公司 | Anti-unmanned aerial vehicle detection system and control method thereof |
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| CN117554953B (en) * | 2023-11-17 | 2024-08-27 | 乾元科学研究院 | Control method and system of flying target prevention and control system |
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