CN110853455A - Information simulator system for C4ISR system - Google Patents
Information simulator system for C4ISR system Download PDFInfo
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Abstract
The invention discloses an information simulator system for a C4ISR system, which is used for carrying out message simulation and performance simulation on various sensors connected with the C4ISR system, simulating various air, sea and land targets of different types, and setting and configuring scenario of detecting the targets by multiple sensors, which can show the air situation. The method can calculate the radar detection capability and the radar detection probability in real time, provides a detection model of the distributed radar for the target, calculates the theoretical value of the radar for the target detection probability, and can provide good operability and expandability.
Description
Technical Field
The invention belongs to the field of C4ISR (Command information System), and particularly relates to an information simulator system for a C4ISR system.
Background
The simulator is designed to simulate the sensors when no sensors are input, improve the accuracy of multi-radar data fusion, train students in operation, drill the operation of colleges and analyze the fighting situations of both enemies and the my.
For aircraft-radar detection systems, the probability of finding a target and the time and distance of finding corresponding to a given probability of finding are powerful tools for system designers, to name a simple superficial example, a certain air defense C4The ISR system needs to consider the stealth target with the reflection cross section RCS of only 0.01 square meter, the discovery time and the discovery distance under the discovery probability of 90%, and when the reflection cross section RCS of the target is increased, the discovery time and the discovery distance become the concern of the patent.
Disclosure of Invention
The purpose of the invention is as follows: the invention belongs to the field of a C4ISR command information system (C4ISR is an abbreviation of English words for command, control, communication, computer, information and monitoring and reconnaissance, and the C4ISR system is an automatic command system for command, control, communication, computer, information and monitoring and reconnaissance and integration).
The technical scheme is as follows: the invention provides an intelligence simulator system for a C4ISR system, which comprises a radar simulation module, a target simulation module, a scenario simulation module and a radar discovery probability analysis module, wherein the target simulation module is used for simulating a scenario;
the radar simulation module is used for simulating a radar sensor message, sensor characteristics and a target detection process of a sensor;
the target simulation module is used for simulating the information of the air-sea-land target, and comprises the characteristics, the maneuverability, the height, the speed, the course and the position of the simulated air-sea-land target;
the scenario planning simulation module is used for setting scenarios of fixed time, distributing more than two virtual sensors for the scenarios, distributing more than two land, sea and air targets for the scenarios, controlling the starting and stopping of the scenarios and distributing the environments of the scenarios;
the radar discovery probability analysis module is used for analyzing the detection range and the detection capability of the radar so as to analyze the detection probability of the target.
(1) Sensor simulation module
The sensor simulation module comprises a control sensor module, a sensor related database table management module and a message management module;
the control sensor module designs the sensors into various types through C + +, configures the methods and attributes of various sensor types according to various base classes and derived classes, and can simulate the working states and working modes of various sensors;
the sensor-related database table management module stores the basic information of the sensor in a database table for reading and updating;
the message management module can simulate all sensor messages accessed to the air defense command information system and is used for processing and outputting the messages.
The control sensor module of the sensor simulation module sets the sensor class as a virtual base class, all the specific sensors inherit the sensor base class, and classifies the sensors according to functions to derive a unique modeling method of the sensors:
(a) ordinary scanning radar, radar scanning and sector theory
(b) Precision measurement sensors (precision measurement radar, photoelectric theodolite, GPS information and the like) which generally have very fast output frequency and only track a batch of targets,
(c) passive sensors (passive radar, ESM, DF, etc.), not requiring active detection, not scanning and true north
(d) Hybrid classes (both sensors and targets, e.g. early warning aircraft, ship-borne radar, etc.) as separate classes inherit from the sensor and target base classes
The database design of the sensor simulation module stores the parameters of the sensor, such as location, name, sensor type, duty cycle, operating frequency, detection range, etc., in a database.
A comprehensive and comprehensive radar message database is established by a message management module of the sensor simulation module, a message simulation filling program is designed, the sensor simulation module can simulate all sensor messages accessed into the air defense command information system, and the messages comprise various active radar messages at home and abroad, various passive radar messages at home and abroad, other sensor messages, radar control messages and comprehensive integrated messages;
according to the real situation, information output which can be provided by each sensor is configured, and when a target is found by the sensors, the sensors have the capacity of displaying the target in a message form.
For example, a certain common scanning radar needs to be simulated, the period is 10 seconds, the time is controlled once for 10 seconds through software, the period of the radar is simulated, and a positive north report of the radar is output; setting each scanning period of the radar as 32 sectors, setting 32 sector time control, processing data when each sector time control arrives, and searching all targets which can meet the detected requirements in the target chain table through information such as radar detection range, detection height and the like; and selecting a primary radar or a secondary radar to work according to the working mode of the radar, and if the primary radar or the secondary radar detects a target, outputting a point track or a track message through the found target information.
(2) Target simulation module
Based on the characteristics of the air-sea-land targets accessed by the C4ISR system, the target simulation module simulates the height, speed, course, machine type, number of times, whether interference exists or not and the type of interference radar of the targets required by an operator through analyzing and modeling the performance parameters of various air-sea-land targets;
the target simulation module can maneuver the target, modify the parameters of the simulated target, and configure the air route of the target in real time, and the target can fly according to the designated air route after the air route is configured.
Firstly, determining the land, sea and air type of a target, modeling the target according to the land, sea and air target and a specific target type, for example, the speed range of a sea surface target is limited, the maneuvering capability is good, the altitude is not high, the speed altitude range of the target is controlled, according to the target type and the movement mode of a specific platform simulation target, including the speed altitude maneuvering acceleration and the like, the target is extrapolated according to the speed altitude course through a timer, and the parameters and the coordinates of the target are updated every extrapolation, so that the movement state and the parameters of the target are maintained.
(3) Simulation module for scenario
The scenario simulation module can configure the start and stop time of the scenario, can control the execution rate of the scenario, configures the battlefield environment, and can generally describe and record the scenario. For example, imagine a radar and target located in a certain southeast coast of china, imagine a duration of 24 hours, imagine the author to be an engineer, imagine a meaning to demonstrate the process of a homeland air defense scenario, and so on.
The scenario-setting simulation module establishes a simulation scene database, can store a large amount of simulation scene data and is convenient to call, and through rich human-computer interface design, the scenario-setting simulation module simulates multi-directional air attacks according to target parameters and airway configuration, so that a user can create and delete scenes at any time. And the plot simulation module is designed to provide a system capable of dynamically modifying the flight route of the current target in real time or generating a new flight route when the scene is operated,
the scenario planning simulation module can also configure planned virtual radar information, wherein the virtual radar information comprises radar quality, clutter, interference and a shielding area; the scenario imagination module can configure imagination target information, wherein the target information comprises the number of targets, interference of the targets on radar, maneuvering of the targets, multipoint routes of the targets, secondary codes and basic parameters of the targets. For example, the target secondary code 1234, the initial speed 800Km/h, the target flying height 5000m, the speed and height of each route are different, the number of the target is 7, the target is a certain fighter plane model, etc.
(4) Radar detection probability calculation module
For an airplane-radar detection system, the discovery probability of a target and the discovery time and discovery distance corresponding to a given discovery probability are powerful tools for a system designer, and a user can train, analyze, evaluate and learn the system, and a radar discovery probability analysis module calculates the comprehensive detection probability, the discovery time and the discovery distance of a radar on the target by executing the following steps:
step 3, calculating the signal-to-noise ratio of the single radar at different distances and radar reflection sectional areas;
step 4, calculating the cumulative detection probability of the single radar according to an empirical formula and the detection times;
step 5, after the data fusion criterion is determined, calculating the detection probability of the multi-radar after fusion according to a formula;
and 6, setting a threshold T, and if the detection probability is greater than T, determining that the target is detected.
In step 1, the radar minimum detectable signal-to-noise ratio SNR is calculated by the following formulamin：
Wherein C is0Is a determining parameter of radar performance, σ0Indicates a false alarm probability of Pfa0Time, maximum detectionDistance R0Cross section area of radar reflection, R0Representing the range of the target from the radar.
The step 2 comprises the following steps: in the information simulator system, a radar and a target are in a unified coordinate system, a sensor simulation module obtains position information of the target relative to the radar through projection calculation in the same coordinate system, and a target simulation module simulates the radar reflection sectional area of the target according to the model of the target.
The step 3 comprises the following steps: for a target with a distance of R and a radar reflection cross section area of sigma, the corresponding signal-to-noise ratio SNR in a radar receiver is as follows:
divided by equations (1) and (2) to yield:
thus, a single radar signal-to-noise ratio at different ranges and RCS can be calculated.
Step 4 comprises the following steps: the following empirical formula is established:
in the formula (4), the SNR is the signal-to-noise ratio after m pulses are accumulated; m is the number of pulse accumulations, and: A. b is respectively the false alarm probability PfaAnd a detection probability PdA is In (0.62/P)fa)，B＝In(Pd/(1-Pd))；
Given a false alarm probability P with a known signal-to-noise ratiofaCalculating m through accumulation of scanning periods of the analog radar, wherein m is the number of times that the radar detects the target, calculating the signal-to-noise ratio through formula (3), calculating B according to formula (4) when m is known, A is known and SNR is known, and calculating the detection probability value P of the radar on the target with the distance R, RCS being sigmad。
The step 5 comprises the following steps:
if the decision vector A is (a1, a2, …, aN) and aN represents the Nth fusion condition requiring multi-radar data fusion, the decision vector is sent to a data fusion center (the data fusion center refers to software for multi-sensor information cooperative processing), the data fusion center makes global decision according to A, and all combinations of A have 2 in totalNThe method comprises the following steps:
wherein, i is 1-N, the set data fusion criterion is represented by a function R (A), and K out of N criteria, namely K of N hypotheses are satisfied, namely, effective representation is:
in the formula, K is an integer between 1 and N, H0 represents that the data fusion threshold is not passed, H1 represents that the data fusion threshold is passed, and the total discovery probability P of the fused system to the aircraftDiComprises the following steps:
in the formula, S0 represents a radar set in which the element value in the decision vector a is 0, that is, the radars in the set all decide that a target does not exist; s1 denotes the set of radars with decision 1 in A, PdkProbability of discovery of the aircraft for the kth radar;
the step 6 comprises the following steps: setting a fixed detection probability value T, generally taking a value of 0.6, when P isDiAnd when the target is higher than the threshold, calling a message management module and a target simulation module, filling the data message of the radar with target information, using the data message as the output of the simulator, and transmitting the data message to a C4ISR system for processing.
The invention mainly comprises the following key points in function:
(a) sensor message comprehensive simulator.
(b) A sensor state controller.
(c) Target motion parameters, attribute parameter configuration and route setting.
(d) The target has an electronic interference function.
(e) A configuration and a controller are envisaged.
(f) And calculating the detection probability of multiple radars.
In the function (1) of the invention, the message database of various sensors is established, the message and the simulation mode are centralized on code processing, and different messages are input according to different system requirements. By means of functional analysis and modeling of the sensor, startup and shutdown, a search mode, a scanning mode, detection probability, clutter and a silent area of the radar are simulated, and after the parameters are set, the detection of the radar on a target is closer to the real working function and performance of the radar.
In the function (2) of the invention, according to the understanding and modeling simulation of the target characteristics, an air-sea-land target is generated, a graphic editing dialog box of a human-computer interface is used for setting a course of the target, setting parameters, height, speed and course in the course of the target, setting secondary codes, setting the type of the target, setting the attributes of the enemy and the like, and storing the parameters in a database, wherein in the process of detecting the target by a radar, if the target meets the conditions detected by the radar, the radar can obtain the parameters. A radar with a target having passive interference, the target having such interfering radar will release the passive interference, and a radar interfered by such target, if it can intercept target information, will obtain hostile target passive radar information, which can be processed and displayed on a simulator.
In the functions (3) and (4) of the invention, the thought control can be combined with information of radar, target, environment and the like to form a comprehensive large-scale scenario for demonstration, training, rehearsal and other operations, a plurality of radars and a plurality of enemy and my targets can be configured to participate in the confrontation training, and the thought start, stop, pause and the like can be controlled. Because the virtual radar to be built exists in the system, in order to research the characteristics of the system, the probability of detecting the free space of the radar is given by configuring the functions of the virtual radar information and combining the radar position environment parameters and the radar static technical parameters, and reference value is provided for the system.
The main technical points of the invention are as follows: radar message integration, radar detection of targets, target simulation extrapolation, target route configuration, scenario setting, scenario control, radar detection probability calculation and the like.
Has the advantages that: the invention provides strong support for the air defense system; the training system has the advantages of providing powerful training functions for the trainees, improving the comprehension of the trainees to the system, improving the familiarity of the trainees to radar and targets, and having good advantages in transportability, operability and expandability.
Drawings
The foregoing and other advantages of the invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
FIG. 1 is a diagram of a sensor simulator design architecture.
FIG. 2 is a diagram of a target simulator design architecture.
FIG. 3 is a flow chart of an aerial target simulator extrapolation design.
FIG. 4is a multi-radar data fusion detection probability calculation chart.
Detailed Description
The specific embodiment of the invention is as follows:
(1) the system simulates due north messages and track messages of the radars such as JH-12, JH-62 and MDS, and simulates the normal work of the radars. JH-12 radar is in 2 coordinates, and JH-62 radar is in 3 coordinates (the height of the target can be detected). The working time of the radar is 4 hours, the JH-12 detection range is 300km, the JH-62 radar detection range is 400km, the MDS detection range is 500km, each radar has a shielding area, and the target cannot be continuously detected in the whole process.
The message output structure of the radar is as follows:
(2) the system simulates 5 enemy attribute targets and 5 friend attribute targets, the targets are detected by the sensors, and a real-time situation is formed, wherein the target class is specifically designed into a structure as follows:
(3) this scenario of thinking lasts 8 hours, and the radar of thinking and target location distribute in china's southeast coast, think including 3 radars, 10 targets, and the scenario of should thinking sets up the structure as follows:
(4) when the scenario is executed and the detection probability of the radar to the target needs to be calculated according to the scenario configuration, firstly, according to the formulas (1), (2) and (3), the reflection sectional area of the target is sigma, and the position R of the target relative to the radar is calculated according to the model of the target:
divided by equations (1) and (2) to yield:
according to the formula (4), the detection probability value P of the single radar to the target with the distance R, RCS being sigma is calculatedd：
In the formula (4), the SNR is the signal-to-noise ratio after m pulses are accumulated; m is the number of pulse accumulations, and: A. b is respectively the false alarm probability PfaAnd a detection probability PdA is In (0.62/P)fa)，B＝In(Pd/(1-Pd))；
Given a false alarm probability P with a known signal-to-noise ratiofaBy simulating thunderAccumulating the scanning period of the radar to calculate m, wherein m is the number of times that the radar detects the target, calculating the signal-to-noise ratio through formula (3), when m is known, A is known, and SNR is known, calculating B according to formula (4), and calculating the detection probability value P of the radar to the target with the distance R, RCS being sigmad. The simulation plan is provided with a plurality of radars, so the total discovery probability P of the targets by the plurality of radars is calculated according to the formulas (5), (6) and (7)di：
When P is presentdiAnd when the threshold requirement is met, the target can be found by the radar, and a radar message is output.
The invention is further explained below with reference to the drawings and the embodiments.
(1) Sensor simulation module
The sensor simulator is designed to synthesize various radars, simulate messages of various sensors, concentrate the messages and simulation modes on code processing, input different messages including primary information, secondary information, clutter information and north-positive messages according to different system requirements, control sensor parameter states, process the radar in the north-positive time and sector to simulate a detection target, and is shown in fig. 1.
As shown in fig. 1, the sensor simulation module includes a control sensor module, a sensor-related database table management module, and a message management module;
the control sensor module designs sensors into various types through C + +, various functions of the sensors are completed according to methods and attributes of various types of sensors configured according to various base classes and derivative classes, setting the sensor position means arranging the sensors to certain geographic position coordinates, switching the sensor fingers on or off the analog sensors, simulating fixed bias errors violating random principles by the sensor system errors, variable accidental errors by the sensor, simulating clutter detected by the sensors by the sensor clutter setting fingers, simulating passive interference messages detected by the sensors by the sensor passive interference fingers, and repairing errors of the sensors by artificial sensor error correction fingers;
the sensor related database table management module stores the basic information of the sensor in a database table for reading and updating, and stores the information of the position, the detection distance, the period, the name and the like of the sensor, so that the analog sensor is convenient to add, delete and modify;
the message management module is used for processing and outputting messages and can simulate various message outputs, the north of a sensor is used for north alignment of a radar, the sensor control main function is that the sensor processes a target detected by the sensor at the moment of the north, the radar sector processing means that the radar is divided into 32 sectors and the target is detected in the sectors, and the messages are mainly filled by target information which can be detected by the radar so as to play a role of the sensor and provide support for the system.
(2) Target simulation module
The target has various characteristics and parameters, generates an air-sea-land target, sets a target course, can realize maneuvering turning and parameter change processing of the target in a timing control mode, can enable the simulation target to reach a course inflection point and an end point according to set time, sets parameters, height, speed and course in the target course, sets a secondary code, sets a target type, sets enemy attributes and the like. In terms of module design, the following points are mainly included:
1) different kinds of targets and parameters are input according to the human-computer interface, and one or more targets can be generated after the points are determined.
2) Different target motion models are established according to different types of targets, the targets have speed height navigation back, the targets are extrapolated at regular time, and the parameters and the positions of the targets are updated at regular time.
3) The target parameter may be modified by manual intervention.
4) The target simulation module and the sensor simulation module are provided with interfaces, and are used for detecting a target by a sensor and outputting a sensor message.
Target simulator the main flow diagram is shown in fig. 2, which shows how targets are generated, how target properties are changed, and how simulation of a batch of targets is stopped. For example, if a target needs to be generated, a new index should be found in the target array, and information such as speed, altitude, heading coordinates and the like input by an operator should be filled in the target array and given a unique lot number to the target, since the target is moving and needs to be updated every second. When the target attribute (such as the heading) needs to be changed, the lot number needs to be found through information input by an operator, the heading, the turning gradient, the left turn or the right turn and the like which the operator needs to change are filled in the target array, and the extrapolation module is called to update the information every second. The flow chart of the extrapolated target in the step 2) is shown in fig. 3, and the flow chart is adapted to the airborne target and has the function of updating basic parameters such as speed, altitude and heading position of the airborne target at regular time according to the current motion state of the target. The target control extrapolation module calculates the update of the target once per second, and obtains the new speed of the target according to the instantaneous speed and the acceleration of the target: i.e. the velocity vp at the input time t is:
vp＝v0+va*dt，
dt is the difference between the input time t and the target time tc, v0 is the velocity at time tc, va represents the acceleration,
and obtaining a new height of the target according to the height climbing rate of the target, namely the height hp of the time t is as follows:
hp＝h0+ha*dt，
h0 is the height at time tc, and ha represents the rate of climb;
obtaining a new course of the target according to the course and the angular speed of the target, wherein the course change dc of the time t is as follows:
dc＝G*dt*tan(bank)/vm，
g represents gravity acceleration, bank represents turning gradient, vm represents average speed, then the coordinate information of the target position at the next moment is calculated according to the coordinate information of the current target, the target information is updated, the coordinate at the time tc is (x0, y0), and the coordinate (x, y) at the time t is calculated according to the formula:
x＝x0+dt*vm*sin(cm)，
y＝y0+dt*vm*cos(cm)，
where cm is the average of the angles over dt time.
And assigning the calculated target attribute of the time t to an infra area, and filling the data of the infra into a message when the radar is in the north.
(3) Plot setting
The scenario setting controls the start and end time of the integrated scenario, controls the content, author, recording configuration, and the like of the integrated scenario. The system can comprehensively configure and control the scenarios, can combine information such as radar, targets and environment to form comprehensive and large scenarios so as to perform operations such as demonstration, training and rehearsal, can configure a plurality of radar enemy and my targets to participate in confrontation training, and can control the start, stop, pause and the like of imagination.
(4) Radar detection probability and radar discovery distance and time
For a given radar system, the probability of detection of a target from a certain RCS value is a certain value, with a determined false alarm probability. The detection performance of the radar when the maximum detection distance is reached (at this time, the signal-to-noise ratio which can be processed by the radar receiver becomes the minimum detectable signal-to-noise ratio) is called as the characteristic detection performance, and the characteristic detection performance is determined by a set of parameters: false alarm probability of Pfa0Time, maximum probability of detection R0At RCS of σ0To a minimum detectable signal-to-noise ratio state within the radar receiver, the minimum detectable signal-to-noise ratio being the SNRminWhen the probability of detection is Pd0Assuming that the performance parameters of the same radar are approximately consistent, the radar detection probability PdIs a function of the false alarm probability and the signal-to-noise ratio, the detection probability value P of the radar to the target with the distance R, RCS sigma can be calculated by the formula (3) and the formula (4)d。
For a given distributed detection system, the detection performance of the system is closely related to the detection performance of each distributed detector forming the system, data sharing and information fusion are realized among the radars through data chains and the like, the detection capability of the system depends on multiple factors such as spatial distribution, a system structure, an information fusion criterion and the like of the multiple radars, and the discovery probability of the multiple radar detection system refers to the target discovery probability obtained by an information fusion center. Taking a typical distributed multi-radar detection system as an example, assuming that the detection system is composed of N radars, a "K out of N" fusion criterion is adopted for the discovery of targets (i.e., K of N hypotheses are satisfied and are valid), i.e., when the number of radars of the targets discovered in the detection system exceeds a detection threshold K, the targets are determined to be discovered, and a fusion decision flow is shown in fig. 4.
The design of the C4ISR simulator provided by the invention has the following characteristics:
(1) the simulation of different sensors, the function of the simulation sensor and the message output can be realized.
(2) The simulation of air-sea-land targets can be realized, and the targets are detected by the sensors.
(3) The scenario configuration can be planned, so that an operator can conveniently realize simulation training in what way.
(4) The detection probability of the radar can be calculated as a reference model. And the cooperative detection is realized by reasonably utilizing the resource deployment and distribution of the radar.
The present invention provides an intelligence simulator system for a C4ISR system, and a method and a way for implementing the technical solution are many, and the above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and embellishments can be made without departing from the principle of the present invention, and these should be regarded as the protection scope of the present invention. All the components not specified in the present embodiment can be realized by the prior art.
Claims (10)
1. An intelligence simulator system for a C4ISR system is characterized by comprising a sensor simulation module, a target simulation module, a scenario simulation module and a radar discovery probability analysis module;
the sensor simulation module is used for simulating sensor messages, sensor characteristics and a detection process of a sensor on a target;
the target simulation module is used for simulating the information of the air-sea-land target, and comprises the characteristics, the maneuverability, the height, the speed, the course and the position of the simulated air-sea-land target;
the scenario planning simulation module is used for setting scenarios of fixed time, distributing more than two virtual sensors for the scenarios, distributing more than two land, sea and air targets for the scenarios, controlling the starting and stopping of the scenarios and distributing the environments of the scenarios;
the radar discovery probability analysis module is used for analyzing the detection range and the detection capability of the radar so as to analyze the detection probability of the target.
2. The system of claim 1, wherein the sensor simulation module comprises a control sensor module, a sensor-related database table management module, and a message management module;
the control sensor module designs the sensors into various types through C + +, configures the methods and attributes of various sensor types according to various base classes and derived classes, and can simulate the working states and working modes of various sensors;
the sensor-related database table management module stores the basic information of the sensor in a database table for reading and updating;
the message management module can simulate all sensor messages accessed to the air defense command information system and is used for processing and outputting the messages.
3. The system of claim 2, wherein the target simulation module simulates the height, speed, heading, model, number of stands, interference or not, interference radar type of the target required by the operator through analyzing and modeling performance parameters of various air, sea and land targets;
the target simulation module can maneuver the target, modify the parameters of the simulated target, and configure the air route of the target in real time, and the target can fly according to the designated air route after the air route is configured.
4. The system of claim 3,
the scenario imagination simulation module has the function of configuring imagination resources, and is used for configuring battlefield environment and carrying out overall description and recording on imagination; the scenario planning simulation module can also configure planned virtual radar information, wherein the virtual radar information comprises radar quality, clutter, interference and coverage areas; the scenario imagination module can configure imagination target information, wherein the target information comprises the number of targets, interference of the targets on radar, maneuvering of the targets, multipoint routes of the targets, secondary codes and basic parameters of the targets.
5. The system of claim 4, wherein the radar discovery probability analysis module calculates the comprehensive detection probability, the discovery time and the discovery distance of the radar to the target by performing the following steps:
step 1, calculating a minimum detectable signal-to-noise ratio of a radar;
step 2, calculating the position of the target relative to the radar and calculating the reflection sectional area of the radar in real time;
step 3, calculating the signal-to-noise ratio of the single radar at different distances and radar reflection sectional areas;
step 4, calculating the cumulative detection probability of the single radar according to an empirical formula and the detection times;
step 5, after the data fusion criterion is determined, calculating the detection probability of the multi-radar after fusion according to a formula;
and 6, setting a threshold T, and if the detection probability is greater than T, determining that the target is detected.
6. The system of claim 5, wherein in step 1, the radar minimum detectable signal-to-noise ratio (SNR) is calculated by the following formulamin：
Wherein C is0Is a determining parameter of radar performance, σ0Indicates a false alarm probability of Pfa0Time, maximum detection distance R0Cross section area of radar reflection, R0Representing the range of the target from the radar.
7. The system of claim 6, wherein step 2 comprises: in the information simulator system, a radar and a target are in a unified coordinate system, a sensor simulation module obtains position information of the target relative to the radar through an interface, and a target simulation module simulates the radar reflection sectional area of the target according to the type of the target.
8. The system of claim 7, wherein step 3 comprises: for a target with a distance of R and a radar reflection cross section area of sigma, the corresponding signal-to-noise ratio SNR in a radar receiver is as follows:
divided by equations (1) and (2) to yield:
thus, a single radar signal-to-noise ratio at different ranges and RCS can be calculated.
9. The system of claim 8, wherein step 4 comprises: the following empirical formula is established:
in the formula (4), the SNR is the signal-to-noise ratio after m pulses are accumulated; m is the number of pulse accumulations, and: A. b are respectivelyIs false alarm probability PfaAnd a detection probability PdA is In (0.62/P)fa)，B＝In(Pd/(1-Pd))；
Given a false alarm probability P with a known signal-to-noise ratiofaCalculating m through accumulation of scanning periods of the analog radar, wherein m is the number of times that the radar detects the target, calculating the signal-to-noise ratio through formula (3), calculating B according to formula (4) when m is known, A is known and SNR is known, and calculating the detection probability value P of the radar on the target with the distance R, RCS being sigmad。
10. The system of claim 9, wherein step 5 comprises:
setting the decision vector A to (a1, a2, …, aN), wherein aN represents the Nth fusion condition needing multi-radar data fusion, sending the decision vector to a data fusion center, making global decision by the data fusion center according to A, and all combinations of A have 2 in totalNThe method comprises the following steps:
wherein, i is 1-N, the set data fusion criterion is represented by a function R (A), and K out of N criteria, namely K of N hypotheses are satisfied, namely, effective representation is:
in the formula, K is an integer between 1 and N, H0 represents that the data fusion threshold is not passed, H1 represents that the data fusion threshold is passed, and the total discovery probability P of the fused system to the aircraftDiComprises the following steps:
in the formula, S0 represents a radar set in which the element value in the decision vector a is 0, that is, the radars in the set all decide that a target does not exist; s1 shows the thunder with the judgment result of 1 in AReach set, PdkProbability of discovery of the aircraft for the kth radar;
the step 6 comprises the following steps: setting a fixed detection probability value T when PDiAnd when the target is higher than the threshold, calling a message management module and a target simulation module, filling the data message of the radar with target information, using the data message as the output of the simulator, and transmitting the data message to a C4ISR system for processing.
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