CN111487597B - Universal electronic reconnaissance interception simulation method based on time-space-frequency energy data - Google Patents
Universal electronic reconnaissance interception simulation method based on time-space-frequency energy data Download PDFInfo
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Abstract
The invention discloses a universal electronic reconnaissance interception simulation method based on time-space frequency energy data, which comprises the following steps of: reading electronic environment modeling parameters, radar modeling parameters and electronic reconnaissance equipment parameters; in the time domain, judging whether the antenna direction of the radar is aligned with the antenna direction of the electronic reconnaissance equipment, if so, intercepting in the time domain, otherwise, not intercepting; judging whether the radar frequency is aligned or not in the frequency domain, if so, intercepting the radar frequency in the frequency domain, otherwise, not intercepting the radar frequency; judging whether the receiving power exceeds the sensitivity of the reconnaissance equipment in the energy domain, if so, intercepting the receiving power in the energy domain, otherwise, not intercepting the receiving power; and full pulse sorting, namely performing full pulse sorting on the intercepted radar signals and then outputting a sorting result based on errors.
Description
Technical Field
The invention relates to a simulation method, in particular to a universal electronic reconnaissance interception simulation method based on time-space frequency energy data.
Background
The electronic reconnaissance identifies the radiation source based on the detected signal characteristic parameters and infers its use, capability and threat level. Electromagnetic signal space environments exist with a large number of radiation sources. The electromagnetic signals are distributed in a wide frequency domain and a wide space domain, the working systems are various, the waveforms are complex and changeable, and various electromagnetic signals are crowded in the frequency domain and densely overlapped in the time domain. Therefore, electronic reconnaissance to intercept and identify radiation sources from a dense complex electromagnetic signal environment is in fact quite complex. The input of an electronic reconnaissance system, which is usually a signal stream formed by a plurality of radiation sources that are overlapped together, is not known in terms of operating frequency, direction of arrival, time of arrival, modulation pattern, radiation time, signal strength, polarization form, geographical location, etc., and in order to ascertain the characteristics of the radiation sources and their capabilities, the electronic reconnaissance system first correctly finds the presence of the signal, which requires that the source being reconnaissance be generating radiation in the direction of the electronic reconnaissance system for a sufficient time, which must be directed in the direction, frequency and polarization towards the source being reconnaissance, and which must be sufficiently sensitive.
The electronic reconnaissance is the basis and the premise for implementing electronic countermeasures, an electronic reconnaissance system comprises a plurality of layers and relates to numerous professional fields, and the reliability and the stability of the system are verified through a simulation technology, so that the performance of the system can be effectively evaluated, and the defect of an outfield test can be overcome; the existing electronic reconnaissance simulation system has a great number of problems, which mainly include the following points:
1. because the radiation source may have activity in the space domain or the frequency domain, the reconnaissance system may also have activity in the space domain or the frequency domain, and the pulse radiation source and the radiation source adopting the intermittent radiation mode also need to consider the activity in the time domain, the existing interception simulation technology has a single interception condition, only considers the interception of the energy domain, but does not consider the time domain antenna scanning problem and the frequency domain frequency scanning problem, and the electronic reconnaissance system may have signal loss in the actual interception process;
2. in the aspect of a propagation model, only a free space propagation model is adopted to calculate propagation loss, different propagation models are not selected according to battle scenes and working frequency, and the influence of a real electromagnetic environment on signal propagation cannot be simulated;
3. in the prior art, only whether interception is carried out is judged, and efficiency simulation is carried out; and not calculating and outputting full pulse data, and performing function simulation; and the test and verification of the electronic reconnaissance equipment software cannot be supported.
Disclosure of Invention
The invention aims to solve the technical problem that the existing interception simulation technology only considers the interception of an energy domain and does not consider time domain antenna scanning and frequency domain frequency scanning, and aims to provide a universal electronic reconnaissance interception simulation method based on time-space-frequency energy data, which solves the problem that the existing interception simulation technology only considers the interception of the energy domain and does not consider the time domain antenna scanning and the frequency domain frequency scanning.
The invention is realized by the following technical scheme:
a universal electronic reconnaissance interception simulation method based on time-space-frequency energy data comprises the following steps:
s1, reading electronic environment modeling parameters, radar modeling parameters and electronic reconnaissance equipment modeling parameters;
s2, calculating a real-time scanning direction of the radar antenna in the time domain, calculating a real-time scanning direction of the antenna of the electronic reconnaissance equipment, and judging whether the antenna direction of the radar and the antenna direction of the electronic reconnaissance equipment are aligned or not, if so, intercepting in the time domain, otherwise, not intercepting;
s3, in the frequency domain, according to the read modeling parameters of the electronic reconnaissance equipment, obtaining a frequency scanning period, a scanning pattern, a key frequency set, a scanning range, a working bandwidth, a scanning speed and scanning direction parameters, calculating the real-time scanning frequency of the electronic reconnaissance equipment, judging whether the frequency of the electronic reconnaissance equipment is aligned with the radar, if so, intercepting the electronic reconnaissance equipment in the frequency domain, otherwise, not intercepting the electronic reconnaissance equipment;
s4, in an energy domain, acquiring position and attitude information of radar equipment and position and attitude information of electronic reconnaissance equipment according to the parameters read in the S1, and calculating a propagation path between the two points for calculating propagation loss; calculating the gain of the radar antenna positioned at the position of the electronic reconnaissance equipment according to the scanning position of the radar antenna calculated by the S2; calculating the gain of the electronic scout antenna as the radar azimuth according to the electronic scout antenna scanning azimuth calculated in S2; meanwhile, according to the electromagnetic environment modeling parameters, the radar parameters, the scout equipment parameters, the radar position posture information and the electronic scout equipment position posture information, a proper propagation model is selected to calculate the propagation loss by utilizing a propagation model selection rule; then calculating the receiving power when the transmitting power of the radar reaches the antenna of the electronic reconnaissance equipment after being influenced by the antenna gain and the propagation loss, finally judging whether the receiving power exceeds the sensitivity of the reconnaissance equipment, if so, intercepting the radar in an energy domain, otherwise, not intercepting the radar;
and S5, full pulse sorting, namely, performing full pulse sorting on the intercepted radar signals and then outputting sorting results based on errors.
The invention finishes time domain antenna scanning, frequency domain frequency scanning and energy capture of an energy domain in the process of simulated electronic reconnaissance combat through software simulation, simultaneously considers the influence of propagation loss on signal propagation when the energy capture is calculated in the energy domain, supports manual selection of a propagation model or adopts an automatic propagation model selection rule, fully simulates the real propagation loss when the propagation model is calculated, and considers the influence of various factors on the propagation loss. The invention not only considers the interception of the energy domain, but also considers the time domain interception and the frequency domain interception, in addition, the invention also supports the selection of various propagation models, and simulates the electronic reconnaissance interception function of the propagation loss under the real electromagnetic environment more vividly. By the method, the output data of the electronic reconnaissance equipment is simulated, the efficiency simulation and evaluation of the electronic reconnaissance equipment, the test and verification of electronic reconnaissance equipment software and the simulation training of the electronic reconnaissance equipment can be supported, the cost of a real-installation system is saved, and the development period is shortened. In the process of intercepting and capturing the target by the electronic reconnaissance equipment, the judgment of distance, frequency and airspace is needed, and the interception and the capture of the target can be realized only under the condition that the three conditions are simultaneously met.
The specific steps of step S2 are as follows: firstly, calculating the antenna beam directions of the radar equipment and the reconnaissance equipment, and calculating the beam directions of the electronic reconnaissance equipment in real time based on platform orientation c _ az, roll c _ rl, antenna beam orientation az, antenna beam pitch el, beam width, beam scanning angle range, beam scanning mode, beam scanning direction, beam scanning speed and scanning time parameter data; the beam scanning angle comprises a starting angle s _ angle and an ending angle e _ angle; the method specifically comprises the following substeps:
a. judging the scanning mode, if the scanning mode is a fan scanning mode, then step b is carried out, if the scanning mode is a circle scanning mode, step c is carried out, and if the scanning mode is a fixed scanning mode, step d is carried out;
b. judging the scanning direction, if the scanning direction is clockwise scanning, proceeding to step e, otherwise proceeding to step f;
c. judging the scanning direction, if the scanning direction is clockwise scanning, proceeding to step g, otherwise proceeding to step h;
d. the antenna beam scanning direction is c _ az + az, and the antenna beam scanning pitch is c _ rl + el;
e. calculating a scanned angle, time, a scan width, width _ deg, e _ angle-s _ angle, a scanned scan width count, cnt, floor, etc. according to the scan time; if the cnt is left to be 0 for 2, then the antenna beam scanning orientation is s _ angle + (angle-cnt) width _ deg), otherwise the antenna beam scanning orientation is e _ angle- (angle-cnt) width _ deg;
f. calculating a scanned angle, time, a scanning width, width _ deg, s _ angle-e _ angle, a scanned scanning width number, cnt, floor, according to the scanning time; if the cnt is left to be 0 for 2, then the antenna beam scanning orientation is s _ angle- (angle-cnt width _ deg), otherwise the antenna beam scanning orientation is e _ angle + (angle-cnt width _ deg);
g. scanning azimuth of the antenna beam is s _ angle + angle, then checking the scanning azimuth, and converting the scanning azimuth into a range of 0-360 degrees;
h. scanning azimuth of the antenna beam is s _ angle-angle, then checking the scanning azimuth, and converting the scanning azimuth into a range of 0-360 degrees;
i. antenna beam scanning elevation ═ c _ rl + el;
j. calculating the azimuth AZ and the pitch EL of the radar relative to the reconnaissance equipment and the reconnaissance equipment relative to the radar equipment;
the method comprises the following steps:
X＝sind(lon2-lon1)*cosd(lat2)；
Y＝cosd(lat1)*sind(lat2)-sin(lat1)*cosd(lat2)*cosd(lon2-lon1)；
A＝tan2(X，Y)；
AZ＝fmod(A+2*π，2*π)*180/π；
wherein, the longitude and latitude of two equipments are respectively: lon1, lat1, lon2, lat2, units: degree;
when calculating the pitch EL, the geographic coordinates need to be converted into spatial coordinates first, and the conversion method is as follows:
the longitude and latitude heights of the reconnaissance equipment and the target radar are converted into space coordinates based on WGS84, wherein the longitude and latitude heights are respectively as follows: lon, lat, height;
equatorial radius radiusEquator 6378137.0, polar radius radiusepolar 6356752.3142;
Flattening＝(radiusEquator-radiusPolar)/radiusEquator；
eccentricitySquared＝2*Flattening–Flattening^2；
N＝radiusEquator/(sqrt(1.0-eccentricitySquared*sind(lat)*sind(lat)))；
X＝(N+height)*cosd(lat)*cosd(lon)；
Y＝(N+height)*cosd(lat)*sind(lon)；
Z＝(N*(1.0-eccentricitySquared)+height)*sind(lat)；
and (3) converting the longitude and latitude heights of the reconnaissance equipment and the target radar into space coordinates according to the conversion method, and calculating a vector included Angle of two points:
Angle＝180/π*acos((x1*x2+y1*y2+z1*z2)/(sqrt(x1*x1+y1*y1+z1*z1)/sqrt(x2*x2+y2*y2+z2*z2)))；
EL＝atan((cosd(angle)-(R+height1)/(R+height2))/sind(angle))*180/π；
wherein height1 and height2 are the heights of the two devices respectively; unit: m, R are the radius of the earth, unit: m; scout device coordinates (x1, y1, z1) and radar coordinates (x2, y2, z 2);
k. and judging whether the azimuth pitching corresponding to the target is in the antenna beam range or not according to the real-time beam azimuth and pitching of the antenna, the azimuth and pitching of the radar relative to the reconnaissance equipment, the azimuth and pitching of the reconnaissance equipment relative to the radar and the beam widths of the radar and the reconnaissance equipment antenna calculated in the steps, if so, successfully intercepting, and otherwise, failing to intercept.
The frequency scanning algorithm in step S3 is as follows:
calculating the working frequency parameter of the current electronic reconnaissance equipment in real time based on the frequency range of the reconnaissance equipment, the working bandWidth bandWidth, the scanning time scanTime, the tracking time followTime, the key frequency set freqs and the real-time simulation time parameter, wherein the frequency range of the reconnaissance equipment comprises the maximum frequency maxFreq and the minimum frequency minFreq; the specific substeps are as follows:
a1, judging whether the frequency in the input key frequency set exceeds the scanning range, and discarding the frequency if the frequency exceeds the scanning range;
b1, calculating the scanning times cnt based on the working bandWidth and the maximum and minimum frequency, wherein cnt is floor ((maxFreq-minFreq)/bandWidth);
c1, judging whether fmod ((maxFreq-minFreq) and bandWidth) are larger than zero, if so, adding 1 to cnt;
d1, calculating required sequential scanning time normalTime, cnt and scanTime, calculating required tracking time followTime, size (freq) and followTime;
e1, calculating whether the current simulation time is in the sequential scanning time period or the tracking scanning time period, and if the realTime is less than the normalTime, the current simulation time is in the sequential scanning time period or the tracking scanning time period, the current simulation time is fmod (time, normalTime + followTime), and if not, the current simulation time is in the tracking scanning time period;
f1, calculating the real-time center frequency midFreq in the normal scanning stage, wherein the calculation method of the real-time center frequency midFreq is as follows: midFreq + bandWidth/2+ floor (realTime/scanTime) bandWidth;
g1, calculating the real-time center frequency midFreq in the tracking and scanning stage, wherein the calculation method of the real-time center frequency midFreq is as follows: midFreq ═ freq [ floor ((realTime-normal time)/followTime) ];
h1, real-time frequency minimum realMinFreq is midFreq-bandWidth/2, if less than the minimum frequency, use the minimum frequency;
i1, real-time frequency maximum value realMaxFreq ═ midFreq + bandwidth/2, if greater than the maximum frequency, then the maximum frequency is used.
The specific steps of step S4 are as follows:
a1, converting the longitude and latitude heights of the reconnaissance equipment and the target radar into space coordinates based on WGS84, wherein the longitude and latitude heights are as follows: lon, lat, height;
b1, calculating the distance between two points according to the coordinates of the two points in space, and detecting the coordinates (x1, y1 and z1) of equipment and the coordinates (x2, y2 and z2) of radar: distance ═ sqrt (pow (x1-x2,2) + pow (y1-y2,2) + pow (z1-z2, 2));
c1, calculating the real-time azimuth pitching of the antennas of the reconnaissance device and the radar device respectively, wherein the calculation method comprises the following steps:
a. judging the scanning mode, if the scanning mode is a fan scanning mode, then step b is carried out, if the scanning mode is a circle scanning mode, step c is carried out, and if the scanning mode is a fixed scanning mode, step d is carried out;
b. judging the scanning direction, if the scanning direction is clockwise scanning, proceeding to step e, otherwise proceeding to step f;
c. judging the scanning direction, if the scanning direction is clockwise scanning, proceeding to step g, otherwise proceeding to step h;
d. the antenna beam scanning direction is c _ az + az, and the antenna beam scanning pitch is c _ rl + el;
e. calculating a scanned angle, time, a scan width, width _ deg, e _ angle-s _ angle, a scanned scan width count, cnt, floor, etc. according to the scan time; if the cnt is left to be 0 for 2, then the antenna beam scanning orientation is s _ angle + (angle-cnt) width _ deg), otherwise the antenna beam scanning orientation is e _ angle- (angle-cnt) width _ deg;
f. calculating a scanned angle, time, a scanning width, width _ deg, s _ angle-e _ angle, a scanned scanning width number, cnt, floor, according to the scanning time; if the cnt is left to be 0 for 2, then the antenna beam scanning orientation is s _ angle- (angle-cnt width _ deg), otherwise the antenna beam scanning orientation is e _ angle + (angle-cnt width _ deg);
g. scanning azimuth of the antenna beam is s _ angle + angle, then checking the scanning azimuth, and converting the scanning azimuth into a range of 0-360 degrees;
h. scanning azimuth of the antenna beam is s _ angle-angle, then checking the scanning azimuth, and converting the scanning azimuth into a range of 0-360 degrees;
i. antenna beam scanning elevation ═ c _ rl + el;
d1, respectively calculating a coordinate transformation Matrix according to the attitude information (azimuth az, pitch el and roll rl) of the platform to which the reconnaissance equipment and the radar equipment belong; the calculation formula of the coordinate transformation Matrix is as follows:
Matrix＝[cos(rl)0,-sin(rl)；sin(el)*sin(rl),cos(el),sin(el)*sin(rl)；cos(el)*sin(rl),-sin(el),cos(el)*cos(rl)]；
e1, respectively converting the radar into a reconnaissance equipment carrier system according to the longitude, the latitude and the height of the reconnaissance equipment and the platform to which the radar equipment belongs, and converting the reconnaissance equipment into a radar carrier system; the conversion method is as follows:
the target was first transformed into the carrier-level system:
Xh＝(-X)*cos(az)+(-Y)*(-sin(az))，
Yh＝(-X)*sin(az)+(-Y)*cos(az)，
Zh＝Z；
then converting the material into a carrier system: the Matrix is developed to [ Xa, Ya, Za ] ═ Matrix x [ Xh, Yh, Zh ], and we can obtain:
Xa＝cos(rl)*Xh-sin(rl)*Zh，
Ya＝sin(el)*sin(rl)*Xh+cos(el)*Yh+sin(el)*sin(rl)*Zh，
Za＝cos(el)*sin(rl)*Xh-sin(el)*Yh+cos(el)*cos(rl)*Zh；
f1, respectively calculating the orientation and the pitch of the radar relative to the reconnaissance equipment and calculating the orientation and the pitch of the reconnaissance equipment relative to the radar according to the relative coordinates; relative azimuth pitch is represented according to a general function:
AZ＝f1(Xa，Ya)；EL＝f2(Ya，Za，AZ)；
theta-f 1(X, Y) { theta1 ═ acrtg (| X |/| Y |), when X >0, Y > 0; theta2 pi-theta 1 when X >0 and Y < 0; theta 3-theta 1-pi, when X <0, Y < 0; theta4 ═ theta1, when X <0, Y >0 };
wherein 0< theta1 [ - ]/2, 0 [ | ], the azimuth angle is positive to the right, and negative to the left;
beta f2(Y, Z, theta) { Beta0 ═ arctg (| Z × cos (theta) |/| Y |), when Z > 0; -beta0, when Z <0 };
in the formula, 0< beta0 ═ pi/2, 0 | < | < ═ pi/2, the pitch angle is positive upward, and negative downward;
g1, converting the azimuth and the pitch calculated by the F1 into the azimuth and the pitch relative to the main lobe of the antenna; the orientation of the target relative to the equipped antenna is the relative orientation calculated by + F1 for the orientation of the antenna relative to the carrier; the pitch of the target relative to the equipped antenna is the pitch of the antenna relative to the carrier + the relative pitch calculated by F1;
h1, calculating the antenna gain of the reconnaissance device positioned in the radar direction and the radar pitch and the antenna gain of the reconnaissance device positioned in the radar direction and the radar pitch;
i1, calculating the propagation loss according to the distance between the reconnaissance equipment and the radar, other electromagnetic environment parameters and selecting a proper propagation model, calculating the antenna gains gain1 and gain2 of the H1, calculating the transmitting power of the radar and calculating the receiving power recvPower of the reconnaissance equipment; gain1 is radar, and gain2 is reconnaissance equipment
recvPower＝power+gain1+gain2–loss；
J1, judging whether the receiving power of the reconnaissance device exceeds the receiving sensitivity, if so, the energy interception is successful, otherwise, the interception is failed.
The way of calculating the antenna gain in step H1 is: and (3) providing antenna directional diagram data in the forms of azimuth (0-360), elevation (-90) and gain (361 × 181), and then carrying out interpolation according to the azimuth and the elevation of the main lobe of the antenna calculated by G1 to calculate the antenna gain.
The way of calculating the antenna gain in step H1 is: and calculating a gain factor by adopting a Gaussian directional diagram function, wherein the formula is as follows: f (az, el) ═ exp (- ((az/theta 3dB) ^2+ (el/theta 3dB) ^2)) + Fs, where az is the azimuth relative to the antenna main lobe calculated by G1, el is the elevation relative to the antenna main lobe calculated by G1, theta 3dB is the 3dB beamwidth in the horizontal direction of the antenna main lobe beam, theta 3dB is the 3dB beamwidth in the vertical direction of the antenna main lobe beam, and Fs is the antenna average side lobe level.
The way of calculating the antenna gain in step H1 is: and calculating a gain factor by adopting a one-way cosine directional diagram function, wherein the formula is as follows: f (az, el) ═ cos (pi × (az)/(2 × thetah3dB)) × cos (pi × (el)/(2 × thetav3dB)), where the parameters define the same gaussian pattern function.
The way of calculating the antenna gain in step H1 is: adopting a one-way sinc-shaped directional diagram function to calculate a gain factor, wherein the formula is as follows: f (az, el) ═ sin (2 × pi × az/theta 3dB) × sin (2 × pi × el/theta 3 dB))/((pi × az/theta 3dB) ((2 pi × el/theta 3dB)), the parameters of which define the gaussian pattern function.
The antenna gain is calculated in the H1 method according to the present invention in any one of the four manners.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the universal electronic reconnaissance interception simulation method based on the time-space-frequency energy data not only considers interception of an energy domain, but also considers time domain interception and frequency domain interception, so that the electronic reconnaissance interception function considering propagation loss in a real electromagnetic environment is simulated more vividly;
2. the universal electronic reconnaissance interception simulation method based on the time-space-frequency energy data is based on a parameterized model modeling simulation technology, is more convenient and practical, is not limited by time and space, and saves hardware cost;
3. the universal electronic reconnaissance interception simulation method based on the time-space-frequency energy data considers the influence of the propagation loss on signal propagation when the energy domain calculates the energy interception, supports manual selection of a propagation model or adopts an automatic propagation model selection rule, fully simulates the real propagation loss when the propagation model is calculated, and considers the influence of various factors on the propagation loss.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic diagram of the frequency interception relationship between the electronic reconnaissance device and a radar according to the present invention;
FIG. 2 is a schematic view of an airspace interception relationship between the electronic reconnaissance device and a radar of the present invention;
FIG. 3 is a schematic diagram of an electronic scout interception relationship according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1
The invention relates to a universal electronic reconnaissance interception simulation method based on time-space frequency energy data, which comprises the following steps of:
s1, reading electronic environment modeling parameters, radar modeling parameters and electronic reconnaissance equipment parameters;
s2, calculating a real-time scanning direction of the radar antenna in the time domain, calculating a real-time scanning direction of the antenna of the electronic reconnaissance equipment, and judging whether the antenna direction of the radar and the antenna direction of the electronic reconnaissance equipment are aligned or not, if so, intercepting in the time domain, otherwise, not intercepting;
s3, in the frequency domain, according to the read modeling parameters of the reconnaissance equipment, obtaining a frequency scanning period, a scanning pattern, a key frequency set, a scanning range, a working bandwidth, a scanning speed and scanning direction parameters, calculating the real-time scanning frequency of the electronic reconnaissance equipment, judging whether the frequency of the electronic reconnaissance equipment is aligned with the radar, if so, intercepting the frequency in the frequency domain, otherwise, not intercepting the frequency;
s4, in an energy domain, acquiring position and attitude information of radar equipment and position and attitude information of electronic reconnaissance equipment according to the parameters read in the S1, and calculating a propagation path between the two points for calculating propagation loss; calculating the gain of the radar antenna positioned at the position of the electronic reconnaissance equipment according to the scanning position of the radar antenna calculated by the S2; calculating the gain of the electronic scout antenna as the radar azimuth according to the electronic scout antenna scanning azimuth calculated in S2; meanwhile, according to the electromagnetic environment modeling parameters, the radar parameters, the scout equipment parameters, the radar position posture information and the electronic scout equipment position posture information, a proper propagation model is selected to calculate the propagation loss by utilizing a propagation model selection rule; then calculating the receiving power when the transmitting power of the radar reaches the antenna of the electronic reconnaissance equipment after being influenced by the antenna gain and the propagation loss, finally judging whether the receiving power exceeds the sensitivity of the reconnaissance equipment, if so, intercepting the radar in an energy domain, otherwise, not intercepting the radar;
and S5, full pulse sorting, namely, performing full pulse sorting on the intercepted radar signals and then outputting sorting results based on errors.
The invention finishes time domain antenna scanning, frequency domain frequency scanning and energy capture of an energy domain in the process of simulated electronic reconnaissance combat through software simulation, simultaneously considers the influence of propagation loss on signal propagation when the energy capture is calculated in the energy domain, supports manual selection of a propagation model or adopts an automatic propagation model selection rule, fully simulates the real propagation loss when the propagation model is calculated, and considers the influence of various factors on the propagation loss. The invention not only considers the interception of the energy domain, but also considers the time domain interception and the frequency domain interception, simultaneously supports the selection of various propagation models, and simulates the electronic reconnaissance interception function considering the propagation loss under the real electromagnetic environment more vividly. By the method, the output data of the electronic reconnaissance equipment is simulated, the efficiency simulation and evaluation of the electronic reconnaissance equipment, the test and verification of electronic reconnaissance equipment software and the simulation training of the electronic reconnaissance equipment can be supported, the cost of a real-installation system is saved, and the development period is shortened.
In the process of intercepting and capturing the target by the electronic reconnaissance equipment, the judgment of distance, frequency and airspace is needed, and the interception and the capture of the target can be realized only under the condition that the three conditions are simultaneously met. The sensitivity of the electronic reconnaissance equipment is limited, and the reconnaissance distances of the electronic reconnaissance equipment to radars with different powers are different; only when the radar is within the range of the electronic reconnaissance device is the radar intercepted by the electronic reconnaissance device over distance.
The electronic reconnaissance equipment has narrow instantaneous working bandwidth (typically about 400MHz) and wide working frequency range (typically 0.8 GHz-18 GHz), and the electronic reconnaissance equipment can cover radar targets in the whole working frequency range only by scanning in a frequency domain; only when the instantaneous working frequency range of the electronic reconnaissance device contains the working frequency range of the radar, the radar is intercepted by the electronic reconnaissance device in frequency, and the frequency interception relation between the electronic reconnaissance device and the radar is shown in figure 1.
Based on the consideration of cost, the beam of the electronic reconnaissance equipment is not wide (typically 90 degrees), the combat object covers in the range of 0-360 degrees, and the electronic reconnaissance equipment can cover all airspaces only by carrying out beam scanning; only when the beam direction of the antenna of the electronic reconnaissance equipment is communicated with the beam direction of the radar, the radar is intercepted by the reconnaissance support equipment on an airspace; the spatial interception relationship between the electronic reconnaissance device and the radar is shown in fig. 2.
Example 2
Based on the above embodiment, as shown in fig. 3, the electronic reconnaissance interception simulation process of the present invention is as follows:
1) starting to obtain parameter information of the electronic reconnaissance equipment from the model database, wherein the parameter information comprises the transmitting power, the sensitivity, the working frequency range, the instantaneous working bandwidth, the gain, the pulse width range, the repetition frequency range and the like of the electronic reconnaissance;
2) acquiring attitude information of the current electronic reconnaissance mounting platform according to the simulation platform, wherein the attitude information comprises longitude, latitude, height, roll angle, pitch angle, horizontal angle and other data of the platform;
3) acquiring attitude information of the target platform according to the simulation platform, wherein the attitude information comprises longitude, latitude, height, roll angle, pitch angle, horizontal angle and other data of the target platform;
4) calculating the reconnaissance distance of the electronic reconnaissance equipment by referring to model data (radar radiation power and antenna gain) of a radar and model data (antenna gain and channel sensitivity) of the electronic reconnaissance equipment according to the attitude information of the self platform and the attitude information of other platforms in scene simulation;
5) calculating an airspace interception relation of the electronic reconnaissance equipment according to the position of a target in a battle scene, the position of the electronic reconnaissance equipment, the target radar scanning beam range and the electronic reconnaissance equipment beam scanning range;
6) frequency interception relation: according to the working mode of the electronic reconnaissance equipment, the parameters (working frequency band and reconnaissance bandwidth) of the electronic reconnaissance equipment model are referred, and the spatial interception relation of the electronic reconnaissance equipment is calculated by combining the data (power, frequency and the like) of the radar model; and forming an electronic reconnaissance interception result.
Example 3
Based on the above embodiment, the usage of the invention is as follows: firstly, setting electromagnetic environment parameters mainly including terrain parameters, air parameters, climate parameters and the like, setting radar model modeling parameters mainly including transmitting power, working frequency, frequency range, working bandwidth, antenna scanning speed, antenna scanning azimuth, antenna scanning range, antenna directional diagram, full pulse data and the like, and setting electronic reconnaissance equipment modeling parameters mainly including working frequency, frequency range, working bandwidth, antenna scanning speed, antenna scanning azimuth, antenna scanning range, antenna directional diagram, receiving sensitivity, noise coefficient, noise temperature, noise bandwidth and the like; inputting real-time variable parameters, and selecting a propagation model to be used (or automatically selecting); the software of the invention can be called to simulate the result of the electronic reconnaissance equipment for reconnaissance radar signals.
Example 4
Based on the above embodiment, the specific steps of step S5 are as follows:
firstly, error processing is carried out on full pulse data, and the method specifically comprises the following steps:
reading out a frequency measurement error ERR _ R _ RF, a pulse width measurement error ERR _ R _ PW, a repetition frequency measurement error ERR _ R _ PRI, an azimuth measurement error ERR _ R _ DOA and a TIME measurement error ERR _ R _ TIME of the electronic scout equipment from the model modeling data;
obtaining radar PULSE parameters from radar modeling data, wherein the radar PULSE parameters comprise working frequency PULSE _ RF, PULSE width PULSE _ PW, repetition frequency PULSE _ PRI and intra-PULSE type PULSE _ MN;
obtaining the position Lon of the radar from the real-time simulation of the radarT、LatT，HT；
Obtaining electronically supported position Lon from electronic support simulationR、LatR，HR
The current simulation time T _ SIM is available from the simulation control;
the parameters of the simulation output full pulse are as follows:
the output full PULSE frequency is PULSE _ RF + range (0, ERR _ R _ RF);
the PULSE width of the output full PULSE is PULSE _ PW + random (0, ERR _ R _ PW);
the output full PULSE repetition frequency is equal to PULSE _ PRI + range (0, ERR _ R _ PRI);
the output full pulse position is position (according to the position calculation formula) + random (0, ERR _ R _ DOA);
the output full pulse TIME T _ SIM (exactly ns) +10e9 (distance of radar from electronic support equipment, km)/C (km/s) + random (0, ERR _ R _ TIME);
secondly, the full pulse data is processed by abnormal pulse, as follows:
reading out an abnormal frequency measurement error ERR _ RF, an abnormal pulse width measurement error ERR _ PW, an abnormal repetition frequency measurement error ERR _ PRI, an abnormal azimuth measurement error ERR _ DOA and an abnormal TIME measurement error ERR _ TIME of the electronic scouting equipment from model modeling data;
reading the abnormal pulse number num (including single abnormality and multiple abnormalities), wherein the abnormal pulse number is definitely smaller than the full pulse number;
randomly generating num abnormal subscripts [ n1, n2 …, n ] less than the full pulse number;
indexs ═ rand ([1, total number of pulses ], 1, num);
modifying the pulse data corresponding to the subscript according to the indexs matrix, and outputting parameters of the abnormal pulse as follows:
the output abnormal pulse frequency is abnormal frequency + random (0, ERR _ RF);
the output abnormal pulse width is abnormal pulse width + random (0, ERR _ PW);
the output abnormal pulse repetition frequency is equal to the abnormal repetition frequency + random (0, ERR _ PRI);
the output abnormal pulse position is the abnormal position (according to the position calculation formula) + random (0, ERR _ DOA);
output abnormal pulse TIME T _ SIM (accurate to ns) +10e9 (abnormal distance between radar and electronic support device, kilometer)/C (kilometer/sec) + random (0, ERR _ TIME);
the abnormal pulse can be abnormal with single attribute or multiple attributes, such as frequency abnormality only in the abnormal pulse, frequency abnormality plus pulse width abnormality, and other various conditions, which can be combined at will.
And finally, sorting the full pulse data, wherein the specific implementation steps are as follows:
(1) calculating the difference value of adjacent TOAs, counting the occurrence times of DTOA, and drawing to obtain a first-level TOA difference histogram;
(2) sorting the statistical results according to the DTOA values, and if a certain DTOA appears and the multiple difference value is also above the detection threshold, considering the DTOA as a PRI value of a potential radar signal radiation source;
(3) sequence search is performed in the full pulse sequence with the potential PRI value. If the search is successful, adding the PRI into the result set and stripping the corresponding pulse train from the full pulse train, and returning to the step (1); if the retrieval fails, increasing the number of stages of difference calculation;
(4) and (4) calculating the difference value of the next stage DTOA, counting the difference value together with the difference value calculated by the previous stage number, drawing a TOA difference histogram, and repeating the steps (2) to (4) until the exit condition is met.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A universal electronic reconnaissance interception simulation method based on time-space-frequency energy data is characterized by comprising the following steps:
s1, reading electronic environment modeling parameters, radar modeling parameters and electronic reconnaissance equipment modeling parameters;
s2, calculating a real-time scanning direction of the radar antenna in the time domain, calculating a real-time scanning direction of the antenna of the electronic reconnaissance equipment, and judging whether the antenna direction of the radar and the antenna direction of the electronic reconnaissance equipment are aligned or not, if so, intercepting in the time domain, otherwise, not intercepting;
s3, in the frequency domain, according to the read modeling parameters of the electronic reconnaissance equipment, obtaining a frequency scanning period, a scanning pattern, a key frequency set, a scanning range, a working bandwidth, a scanning speed and scanning direction parameters, calculating the real-time scanning frequency of the electronic reconnaissance equipment, judging whether the frequency of the electronic reconnaissance equipment is aligned with the radar, if so, intercepting the electronic reconnaissance equipment in the frequency domain, otherwise, not intercepting the electronic reconnaissance equipment;
s4, in an energy domain, acquiring position and attitude information of radar equipment and position and attitude information of electronic reconnaissance equipment according to the parameters read in the S1, and calculating a propagation path between the two points for calculating propagation loss; calculating the gain of the radar antenna positioned at the position of the electronic reconnaissance equipment according to the scanning position of the radar antenna calculated by the S2; calculating the gain of the electronic scout antenna as the radar azimuth according to the electronic scout antenna scanning azimuth calculated in S2; meanwhile, according to the electromagnetic environment modeling parameters, the radar parameters, the scout equipment parameters, the radar position posture information and the electronic scout equipment position posture information, a proper propagation model is selected to calculate the propagation loss by utilizing a propagation model selection rule; then calculating the receiving power when the transmitting power of the radar reaches the antenna of the electronic reconnaissance equipment after being influenced by the antenna gain and the propagation loss, finally judging whether the receiving power exceeds the sensitivity of the reconnaissance equipment, if so, intercepting the radar in an energy domain, otherwise, not intercepting the radar;
s5, full pulse sorting, namely, performing full pulse sorting on the intercepted radar signals, and then outputting sorting results based on errors;
the specific steps of step S2 are as follows: firstly, calculating the antenna beam directions of the radar equipment and the reconnaissance equipment, and calculating the beam directions of the electronic reconnaissance equipment in real time based on platform orientation c _ az, roll c _ rl, antenna beam orientation az, antenna beam pitch el, beam width, beam scanning angle range, beam scanning mode, beam scanning direction, beam scanning speed and scanning time parameter data; the beam scanning angle comprises a starting angle s _ angle and an ending angle e _ angle; the method specifically comprises the following substeps:
a. judging the scanning mode, if the scanning mode is a fan scanning mode, then step b is carried out, if the scanning mode is a circle scanning mode, step c is carried out, and if the scanning mode is a fixed scanning mode, step d is carried out;
b. judging the scanning direction, if the scanning direction is clockwise scanning, proceeding to step e, otherwise proceeding to step f;
c. judging the scanning direction, if the scanning direction is clockwise scanning, proceeding to step g, otherwise proceeding to step h;
d. the antenna beam scanning direction is c _ az + az, and the antenna beam scanning pitch is c _ rl + el;
e. calculating a scanned angle according to the scanning time, calculating a scanning width _ deg, and calculating the number of scanned widths cnt (angle/width _ deg) of the scanned width; if the cnt is left to be 0 for 2, then the antenna beam scanning orientation is s _ angle + (angle-cnt) width _ deg), otherwise the antenna beam scanning orientation is e _ angle- (angle-cnt) width _ deg;
f. calculating a scanned angle according to the scanning time, calculating a scanning width _ deg, and calculating the number of scanned widths cnt (angle/width _ deg) of the scanned width; if the cnt is left to be 0 for 2, then the antenna beam scanning orientation is s _ angle- (angle-cnt width _ deg), otherwise the antenna beam scanning orientation is e _ angle + (angle-cnt width _ deg);
g. scanning azimuth of the antenna beam is s _ angle + angle, then checking the scanning azimuth, and converting the scanning azimuth into a range of 0-360 degrees;
h. scanning azimuth of the antenna beam is s _ angle-angle, then checking the scanning azimuth, and converting the scanning azimuth into a range of 0-360 degrees;
i. antenna beam scanning elevation ═ c _ rl + el;
j. calculating the azimuth AZ and the pitch EL of the radar relative to the reconnaissance equipment and the reconnaissance equipment relative to the radar equipment;
the method comprises the following steps:
X＝sind(lon2-lon1)*cosd(lat2)；
Y＝cosd(lat1)*sind(lat2)-sin(lat1)*cosd(lat2)*cosd(lon2-lon1)；
A＝tan2(X，Y)；
AZ＝fmod(A+2*π，2*π)*180/π；
wherein, the longitude and latitude of two equipments are respectively: lon1, lat1, lon2, lat2, units: degree;
when the pitch EL is calculated, the geographic coordinates need to be converted into spatial coordinates;
converting the longitude and latitude heights of the reconnaissance equipment and the target radar into space coordinates, and calculating a vector included Angle of two points:
Angle＝180/π*acos((x1*x2+y1*y2+z1*z2)/(sqrt(x1*x1+y1*y1+z1*z1)/sqrt(x2*x2+y2*y2+z2*z2)))；
EL＝atan((cosd(angle)-(R+height1)/(R+height2))/sind(angle))*180/π；
wherein height1 and height2 are the height of two devices, unit: m; r is the earth radius, unit: m; scout device coordinates (x1, y1, z1) and radar coordinates (x2, y2, z 2);
k. and judging whether the azimuth pitching corresponding to the target is in the antenna beam range or not according to the real-time beam azimuth and pitching of the antenna, the azimuth and pitching of the radar relative to the reconnaissance equipment, the azimuth and pitching of the reconnaissance equipment relative to the radar and the beam widths of the radar and the reconnaissance equipment antenna calculated in the steps, if so, successfully intercepting, and otherwise, failing to intercept.
2. The universal electronic reconnaissance interception simulation method based on space-time-frequency energy data according to claim 1, wherein the frequency scanning algorithm in step S3 is as follows:
calculating the working frequency parameter of the current electronic reconnaissance equipment in real time based on the frequency range of the reconnaissance equipment, the working bandWidth bandWidth, the scanning time scanTime, the tracking time followTime, the key frequency set freqs and the real-time simulation time parameter, wherein the frequency range of the reconnaissance equipment comprises the maximum frequency maxFreq and the minimum frequency minFreq; the specific substeps are as follows:
a1, judging whether the frequency in the input key frequency set exceeds the scanning range, and discarding the frequency if the frequency exceeds the scanning range;
b1, calculating the scanning times cnt based on the working bandWidth and the maximum and minimum frequency, wherein cnt is floor ((maxFreq-minFreq)/bandWidth);
c1, judging whether fmod ((maxFreq-minFreq) and bandWidth) are larger than zero, if so, adding 1 to cnt;
d1, calculating required sequential scanning time normalTime, cnt and scanTime, calculating required tracking time followTime, size (freq) and followTime;
e1, calculating whether the current simulation time is in the sequential scanning time period or the tracking scanning time period, and if the realTime is less than the normalTime, the current simulation time is in the sequential scanning time period or the tracking scanning time period, the current simulation time is fmod (time, normalTime + followTime), and if not, the current simulation time is in the tracking scanning time period;
f1, calculating the real-time center frequency midFreq in the normal scanning stage, wherein the calculation method of the real-time center frequency midFreq is as follows: midFreq + bandWidth/2+ floor (realTime/scanTime) bandWidth;
g1, calculating the real-time center frequency midFreq in the tracking and scanning stage, wherein the calculation method of the real-time center frequency midFreq is as follows: midFreq ═ freq [ floor ((realTime-normal time)/followTime) ];
h1, real-time frequency minimum realMinFreq is midFreq-bandWidth/2, if less than the minimum frequency, use the minimum frequency;
i1, real-time frequency maximum value realMaxFreq ═ midFreq + bandwidth/2, if greater than the maximum frequency, then the maximum frequency is used.
3. The universal electronic reconnaissance interception simulation method based on space-time-frequency energy data according to claim 1, wherein the specific steps of step S4 are as follows:
a1, converting the longitude and latitude heights of the reconnaissance equipment and the target radar into space coordinates based on WGS84, wherein the longitude and latitude heights are as follows: lon, lat, height;
b1, calculating the distance between two points according to the coordinates of the two points in space, and detecting the coordinates (x1, y1 and z1) of equipment and the coordinates (x2, y2 and z2) of radar: distance ═ sqrt (pow (x1-x2,2) + pow (y1-y2,2) + pow (z1-z2, 2));
c1, calculating the real-time azimuth pitching of the antennas of the reconnaissance device and the radar device respectively, wherein the calculation method comprises the following steps:
a. judging the scanning mode, if the scanning mode is a fan scanning mode, then step b is carried out, if the scanning mode is a circle scanning mode, step c is carried out, and if the scanning mode is a fixed scanning mode, step d is carried out;
b. judging the scanning direction, if the scanning direction is clockwise scanning, proceeding to step e, otherwise proceeding to step f;
c. judging the scanning direction, if the scanning direction is clockwise scanning, proceeding to step g, otherwise proceeding to step h;
d. the antenna beam scanning direction is c _ az + az, and the antenna beam scanning pitch is c _ rl + el;
e. calculating a scanned angle, time, a scan width, width _ deg, e _ angle-s _ angle, a scanned scan width count, cnt, floor, etc. according to the scan time; if the cnt is left to be 0 for 2, then the antenna beam scanning orientation is s _ angle + (angle-cnt) width _ deg), otherwise the antenna beam scanning orientation is e _ angle- (angle-cnt) width _ deg;
f. calculating a scanned angle, time, a scanning width, width _ deg, s _ angle-e _ angle, a scanned scanning width number, cnt, floor, according to the scanning time; if the cnt is left to be 0 for 2, then the antenna beam scanning orientation is s _ angle- (angle-cnt width _ deg), otherwise the antenna beam scanning orientation is e _ angle + (angle-cnt width _ deg);
g. scanning azimuth of the antenna beam is s _ angle + angle, then checking the scanning azimuth, and converting the scanning azimuth into a range of 0-360 degrees;
h. scanning azimuth of the antenna beam is s _ angle-angle, then checking the scanning azimuth, and converting the scanning azimuth into a range of 0-360 degrees;
i. antenna beam scanning elevation ═ c _ rl + el;
d1, respectively calculating a coordinate transformation Matrix according to the attitude information (azimuth az, pitch el and roll rl) of the platform to which the reconnaissance equipment and the radar equipment belong; the calculation formula of the coordinate transformation Matrix is as follows:
Matrix＝[cos(rl)0,-sin(rl)；sin(el)*sin(rl),cos(el),sin(el)*sin(rl)；cos(el)*sin(rl),-sin(el),cos(el)*cos(rl)]；
e1, respectively converting the radar into a reconnaissance equipment carrier system according to the longitude, the latitude and the height of the reconnaissance equipment and the platform to which the radar equipment belongs, and converting the reconnaissance equipment into a radar carrier system; the conversion method is as follows:
firstly, converting the target into a carrier horizontal system, and then converting the target into a carrier system;
f1, respectively calculating the orientation and the pitch of the radar relative to the reconnaissance equipment and calculating the orientation and the pitch of the reconnaissance equipment relative to the radar according to the relative coordinates;
g1, converting the azimuth and the pitch calculated by the F1 into the azimuth and the pitch relative to the main lobe of the antenna; the orientation of the target relative to the equipped antenna is the relative orientation calculated by + F1 for the orientation of the antenna relative to the carrier; the pitch of the target relative to the equipped antenna is the pitch of the antenna relative to the carrier + the relative pitch calculated by F1;
h1, calculating the antenna gain of the reconnaissance device positioned in the radar direction and the radar pitch and the antenna gain of the reconnaissance device positioned in the radar direction and the radar pitch;
i1, calculating the propagation loss according to the distance between the reconnaissance equipment and the radar, other electromagnetic environment parameters and selecting a proper propagation model, calculating the antenna gains gain1 and gain2 of the H1, calculating the transmitting power of the radar and calculating the receiving power recvPower of the reconnaissance equipment; gain1 is radar, and gain2 is reconnaissance equipment;
recvPower＝power+gain1+gain2–loss；
j1, judging whether the receiving power of the reconnaissance device exceeds the receiving sensitivity, if so, the energy interception is successful, otherwise, the interception is failed.
4. The universal electronic reconnaissance interception simulation method based on space-time-frequency energy data as claimed in claim 3, wherein the manner of calculating the antenna gain in step H1 is as follows: and (3) providing antenna directional diagram data in the forms of azimuth (0-360), elevation (-90) and gain (361 × 181), and then carrying out interpolation according to the azimuth and the elevation of the main lobe of the antenna calculated by G1 to calculate the antenna gain.
5. The universal electronic reconnaissance interception simulation method based on space-time-frequency energy data as claimed in claim 3, wherein the manner of calculating the antenna gain in step H1 is as follows: and calculating a gain factor by adopting a Gaussian directional diagram function, wherein the formula is as follows: f (az, el) ═ exp (- ((az/theta 3dB) ^2+ (el/theta 3dB) ^2)) + Fs, where az is the azimuth relative to the antenna main lobe calculated by G1, el is the elevation relative to the antenna main lobe calculated by G1, theta 3dB is the 3dB beamwidth in the horizontal direction of the antenna main lobe beam, theta 3dB is the 3dB beamwidth in the vertical direction of the antenna main lobe beam, and Fs is the antenna average side lobe level.
6. The universal electronic reconnaissance interception simulation method based on space-time-frequency energy data as claimed in claim 3, wherein the manner of calculating the antenna gain in step H1 is as follows: and calculating a gain factor by adopting a one-way cosine directional diagram function, wherein the formula is as follows: f (az, el) ═ cos (pi × (az)/(2 × thetah3dB)) × cos (pi × (el)/(2 × thetav3dB)), where the parameters define the same gaussian pattern function.
7. The universal electronic reconnaissance, interception and simulation method based on space-time-frequency energy data as claimed in claim 3, wherein a one-way sinc-shaped directional diagram function is adopted to calculate a gain factor, and the formula is as follows: f (az, el) ═ sin (2 × pi × az/theta 3dB) × sin (2 × pi × el/theta 3 dB))/((pi × az/theta 3dB) ((2 pi × el/theta 3dB)), the parameters of which define the gaussian pattern function.
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