CN112154346A

CN112154346A - Radar anti-interference method, equipment, system and storage medium

Info

Publication number: CN112154346A
Application number: CN201980033288.3A
Authority: CN
Inventors: 王俊喜; 高迪; 陈文平
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-10-09
Filing date: 2019-10-09
Publication date: 2020-12-29
Also published as: WO2021068136A1

Abstract

An anti-interference method, equipment, a system and a storage medium of radar are provided, the method comprises: acquiring a plurality of motion information of a plurality of movable platforms (S101); determining at least one target movable platform from the plurality of movable platforms according to the plurality of motion information (S102); reconfiguring radar configuration parameters of the at least one target movable platform according to the plurality of motion information (S103); and sending the radar configuration parameters to the at least one target movable platform for parameter configuration so as to improve the radar anti-interference capability of the at least one target movable platform (S104).

Description

Radar anti-interference method, equipment, system and storage medium

Technical Field

The present application relates to the field of radar technologies, and in particular, to an anti-interference method, an apparatus, a control system, and a storage medium for a radar.

Background

Currently, the radar carried on the movable platform has important applications, such as speed measurement, distance measurement, detection, tracking, positioning, identification and the like. Movable platform is for unmanned aerial vehicle for example, can use in the field such as take photo by plane, agricultural plant protection, electric power inspection, the relief of disaster, performance cruises, the electromagnetic wave mutual interference probability that sends simultaneously between different unmanned aerial vehicle's radar equipment is bigger and bigger, radar equipment work electromagnetic environment is also complicated more, especially when there are many unmanned aerial vehicle simultaneous workings in narrow and small operation space, because each unmanned aerial vehicle all is equipped with the same radar equipment, its electromagnetic environment is very complicated, every unmanned aerial vehicle is facing serious electromagnetic interference, from this normal function that can arouse radar equipment is inefficacy, can't ensure unmanned aerial vehicle safe operation.

Therefore, how to improve the anti-interference capability of the radar becomes a problem which needs to be solved urgently.

Disclosure of Invention

Based on the method, the equipment, the control system and the storage medium, the anti-interference capability of the radar between the movable platforms is improved, and the safe operation of the movable platforms is further ensured.

In a first aspect, the present application provides an anti-interference method for a radar, where the radar is applied to a movable platform, and the method includes:

acquiring a plurality of motion information of a plurality of movable platforms;

determining at least one target movable platform from the plurality of movable platforms according to the plurality of motion information, the at least one target movable platform being a movable platform with radar interference;

reconfiguring radar configuration parameters of the at least one target movable platform according to the plurality of motion information;

and sending the radar configuration parameters to the at least one target movable platform for parameter configuration so as to improve the radar anti-interference capability of the at least one target movable platform.

In a second aspect, the present application further provides an anti-interference method for a radar, where the radar is applied to a movable platform, and the method includes:

sending motion information of a first target movable platform;

receiving radar configuration parameters, and sending the radar configuration parameters to the first target movable platform, so that the at least first target movable platform can perform parameter configuration according to the radar configuration parameters, and the radar anti-jamming capability of the first target movable platform can be improved;

wherein the first target movable platform is a movable platform in which radar interference is present, and the first target movable platform is determined from a plurality of movable platforms based on a plurality of motion information, the radar configuration parameter being reconfigured based on at least one motion information of the at least one target movable platform.

In a third aspect, the present application further provides a server comprising a memory and a processor; the memory is used for storing a computer program; the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

In a fourth aspect, the present application further provides a remote control device comprising a memory and a processor; the memory is used for storing a computer program; the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

sending motion information of a first target movable platform;

In a fifth aspect, the present application further provides a movable platform comprising a radar, a memory, and a processor;

the radar is used for sending electromagnetic waves to measure or detect;

the memory is used for storing a computer program;

the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

receiving radar configuration parameters, and sending the radar configuration parameters to the radar for parameter configuration so as to improve the radar anti-interference capability of the movable platform;

wherein the radar configuration parameters are configuration parameters for determining at least one target movable platform in which radar interference exists from the plurality of movable platforms according to the plurality of motion information, and reconfiguring the at least one target movable platform according to the plurality of motion information.

In a sixth aspect, the present application further provides a control system, where the control system includes a server, a plurality of movable platforms, and corresponding remote control devices, and the remote control devices are in communication connection with the server and the movable platforms;

the plurality of movable platforms are used for sending motion information to the plurality of corresponding remote control devices;

the plurality of remote control devices are used for sending the plurality of motion information to the server;

the server is used for acquiring a plurality of pieces of motion information of a plurality of movable platforms, and determining at least one target movable platform from the plurality of movable platforms according to the plurality of pieces of motion information, wherein the at least one target movable platform is a movable platform with radar interference;

the server is used for reconfiguring radar configuration parameters of the at least one target movable platform according to the plurality of motion information;

the server is further used for sending the radar configuration parameters to remote control equipment corresponding to the at least one target movable platform to be forwarded to the at least one target movable platform for parameter configuration, and therefore the radar anti-jamming capability of the at least one target movable platform is improved.

In a seventh aspect, the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the processor is caused to implement the above radar anti-jamming method.

The radar anti-interference method, the equipment, the system and the storage medium provided by the invention can improve the radar anti-interference capability of the movable platform and ensure the safe operation of the movable platform.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic block diagram of a control system provided in an embodiment of the present application;

FIG. 2 is a diagram illustrating the generation of synchronous interference according to an embodiment of the present application;

FIG. 3 is a schematic diagram illustrating burst interference generation according to an embodiment of the present application;

fig. 4a and 4b are schematic diagrams of interference time domain signals of two radars according to an embodiment of the present application;

fig. 5a and 5b are schematic diagrams of interference frequency domain signals of two radars according to an embodiment of the present application;

fig. 6a and fig. 6b are schematic diagrams of frequency domain signals with time domain interference removed according to an embodiment of the present application;

FIG. 7 is a flowchart illustrating steps of a method for radar anti-jamming according to an embodiment of the present application;

fig. 8 is a schematic diagram illustrating a dividing effect of a preset area range according to an embodiment of the present application;

FIG. 9a is a schematic diagram of a polarization mode of a radar according to an embodiment of the present application;

FIG. 9b is a schematic diagram of a bandwidth of a frequency band of a radar provided in an embodiment of the present application;

FIG. 10 is a flow chart illustrating steps provided in an embodiment of the present application for reconfiguring radar configuration parameters;

FIG. 11 is a flow chart illustrating steps of an alternative radar anti-jamming method according to an embodiment of the present application;

FIG. 12 is a schematic block diagram of a movable platform provided by an embodiment of the present application;

FIG. 13 is a schematic block diagram of a remote control device provided by an embodiment of the present application;

fig. 14 is a schematic block diagram of a server provided in an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

The embodiment of the application provides an anti-interference method, anti-interference equipment, an anti-interference control system and a storage medium of a radar, which are used for improving the anti-interference capacity of the radar carried on a movable platform, so that the safe operation of the movable platform is ensured.

The equipment comprises a movable platform, remote control equipment, a server and the like; the control system includes a movable platform and a remote control device, or includes a server, a movable platform and a remote control device.

Exemplary movable platforms include aircraft, robotic or autonomous vehicles, and the like.

Exemplary remote control devices include remote controls, ground control platforms, cell phones, tablet computers, laptop computers, PC computers, and the like.

For example, a server may be an independent server, or a server cluster, or a plurality of servers may be logically organized into a system. In practical applications, the server may be a drone server or a cloud server.

Illustratively, as shown in fig. 1, the control system is a flight control system, and the flight control system includes a cloud server, an aircraft, and remote controllers, where the number of the aircraft and the remote controllers is multiple and corresponds to one another. The aircraft 11a, the aircraft 11b and the aircraft 11c correspond to the remote controller 12a, the remote controller 12b and the remote controller 12c, respectively. The remote controller is used for controlling the flight of the aircraft or executing corresponding actions, acquiring corresponding motion information such as flight direction, flight attitude, flight altitude, flight speed and/or position information and the like from the aircraft, and sending the acquired motion information to the cloud server.

The aircraft includes unmanned aerial vehicle, and this unmanned aerial vehicle includes rotor type unmanned aerial vehicle, for example four rotor type unmanned aerial vehicle, six rotor type unmanned aerial vehicle, eight rotor type unmanned aerial vehicle, also can be fixed wing type unmanned aerial vehicle, can also be the combination of rotor type and fixed wing type unmanned aerial vehicle, does not do the injecing here.

Wherein the remote control device is used to control the movement of the movable platform or to perform some action, such as performing a photographing or measurement. One remote control device typically controls one movable platform, although multiple movable platforms may be controlled by one remote control device.

The movable platform is provided with a radar, and functions of speed measurement, distance measurement, detection, tracking, positioning, identification and the like are realized through the radar. The radar mainly comprises a radio frequency front end module and a signal processing module, wherein the radio frequency front end module comprises a transmitting antenna and a receiving antenna, and the signal processing module is responsible for generating a modulation signal and processing and analyzing an acquired intermediate frequency signal.

Specifically, the radio frequency front end module receives a modulation signal to generate a high-frequency signal of which the frequency changes linearly along with the modulation signal, the high-frequency signal is radiated downwards through the transmitting antenna, electromagnetic waves meet the ground, a target object or an obstacle and are reflected back and received by the receiving antenna, the transmitting signal and the intermediate frequency are mixed to obtain an intermediate frequency signal, and speed information and distance information can be obtained according to the frequency of the intermediate frequency signal.

The radar meets a target object through radiation electromagnetic wave propagation in space, and a target object scattered echo is received by the radar to realize target object detection. Therefore, electromagnetic waves of electromagnetic equipment meeting certain conditions can enter the receiving antenna, the performance of the radar is affected, the detection performance of the radar is reduced, information such as detection, tracking, positioning and identification cannot be obtained, or useful information is submerged in a plurality of interference signals, and real information cannot be extracted.

When a plurality of radars work simultaneously in a certain area, the probability of mutual interference exists, and when two radars (a radar 1 and a radar 2) are in approximate synchronization of emission modulation, as shown in figure 2, T₁Transmitting a modulated waveform, T, for the radar 1₂Is a mineUp to 2 transmit modulation waveform, T₃Receiving a modulated waveform for the radar 1, f₁Interference frequencies, f, generated for radar 1 and radar 2₂A target frequency is transmitted for the radar 1. In fig. 2, the waveforms emitted by radar 1 and radar 2 are similar, and the baseband signal generated by mixing the waveforms may fall within the bandwidth of the detection frequency band, and is received by the receiving antenna and processed and detected by the signal processing module, so as to form a false target. If the interference frequency energy is too large and the real target energy is small, a shielding effect may be formed, and further the detection performance of the radar is affected, namely synchronous interference is formed.

When two radars are operating simultaneously, burst interference may occur. As shown in fig. 3, two radars transmit chirp signals, the interval of the edges exceeds the cutoff frequency band f _ cutoff, but there still exists a crossed time section Delta _ t, where f _ cutoff has the time length:

where k is the modulation slope, i.e., the ratio of bandwidth to modulation time. Burst interference may occur when the radar is subjected to electromagnetic waves in the above-described situation (situation in fig. 3).

The interfered signals of the two radars can be specifically represented in a time domain or a frequency domain, and as shown in fig. 4a and 4b, the diagram is a schematic diagram of the interfered signals of the two radars in the time domain. Fast Fourier Transform (FFT) is performed on the time domain signal to obtain the frequency domain information interfered diagrams of the two radars, which are respectively shown in fig. 5a and fig. 5 b. The frequency domain signal after the time domain interference is removed is shown in fig. 6a and fig. 6 b.

As can be seen from fig. 4a, 4b, 5a and 5b, the abrupt signal (interference signal) in the time domain causes the entire noise floor in the frequency domain to be raised. And (4) performing FFT (fast Fourier transform) on the contrast-removed time domain interference signals to transform the contrast-removed time domain interference signals into a frequency domain, wherein the bottom noise is reduced by 10-20dB as shown in figures 6a and 6 b. When burst interference occurs in the acquisition length of an intermediate frequency signal, as can be seen from the figure, the burst interference signal is also a linear frequency modulation signal (LFM), the frequency of the burst interference signal changes with the interference moment and is a typical non-stationary signal, and if the FFT analysis is performed on an echo containing the burst interference signal, serious errors are generated, so that the detection is abnormal and invalid, and the safe operation of the movable platform is further influenced.

For example, when a plurality of aircraft are present in a certain location area, especially when a plurality of aircraft equipped with radars fly in a dense area, interference between the radars, such as synchronous interference and burst interference, is likely to occur, which seriously affects the operation and flight safety of the aircraft. There is therefore a need to improve the interference immunity between the radars of aircraft.

Referring to fig. 7, fig. 7 is a flowchart illustrating steps of an anti-jamming method for radar according to an embodiment of the present application. The method can be applied to a server and used for carrying out parameter configuration on the radar of the movable platform so as to improve the anti-interference capability of the radar.

The anti-jamming method of the radar will be described in detail below with reference to the control system of fig. 1. It is to be understood that the control system of fig. 1 also constitutes a definition of the application scenario of the anti-jamming method of the radar.

As shown in fig. 7, the radar-based interference rejection method includes steps S101 to S104.

S101, acquiring a plurality of motion information of a plurality of movable platforms.

Wherein the motion information comprises: direction of motion, attitude of motion, speed of motion, and/or position information, among others. Of course, the motion information may also include other information, such as identification information of the movable platform, for distinguishing between different movable platforms.

It will be appreciated that if the movable platform is an aircraft, the motion information also includes the altitude of flight. The motion attitude is a flight attitude angle, and specifically comprises a course angle, a pitch angle and a roll angle. The location information includes longitude information and latitude information.

The specific process of the server for acquiring the motion information of the movable platforms is as follows: the movable platform acquires the motion information of the movable platform, sends the motion information to the corresponding remote controller, and sends the motion information to the server through the remote controller.

And S102, determining at least one target movable platform from the plurality of movable platforms according to the plurality of motion information.

Wherein the at least one target movable platform is a movable platform that may present radar interference. Specifically, the method determines which movable platforms may have radar interference according to the motion information, and the movable platform with the radar interference is the target movable platform.

In some embodiments, a movable platform in which radar interference exists is quickly determined to improve radar immunity of the movable platform. The method for determining the target movable platform according to the motion information specifically comprises the following steps: and determining the at least one target movable platform from the plurality of movable platforms according to the position information and the preset area range in the plurality of motion information.

For example, a preset area range is set for a target object, whether a movable platform corresponding to motion information is in the preset area range is judged according to position information in the motion information, and if the movable platform corresponding to the motion information is in the preset area range, the movable platform is determined to be a target movable platform.

For example, a certain iron tower is used as a target object, and a movable platform within a range of 5km from the target object can be considered to have radar interference, that is, the movable platform within the range of 5km from the target object is determined as a target movable platform.

Illustratively, a central position is determined from position information in a plurality of pieces of motion information, and a preset area range is determined according to the central position; and judging whether the movable platform corresponding to the motion information is in a preset area range or not according to the position information in the motion information, and if the movable platform corresponding to the motion information is in the preset area range, determining that the movable platform is a target movable platform.

For example, if a plurality of agricultural plant protection machines perform spraying operations in the same field, a field may be represented by a predetermined area range to determine the target aircraft.

In some embodiments, a movable platform in the presence of radar interference is determined quickly and accurately. Determining a mode of the target movable platform according to the motion information, specifically: determining the at least one target movable platform from the plurality of movable platforms according to the moving direction, the moving speed and the position information in the plurality of moving information.

For example, whether the corresponding multiple movable platforms are located in a preset range area at the current moment or whether a certain moment is located in the preset range area in the motion process is determined according to the motion direction, the motion speed and the position information in the multiple pieces of motion information; and if the plurality of movable platforms are located in the preset range area at the current moment or located in the preset range area at a certain moment in the motion process, determining that the movable platforms are the target movable platforms.

For example, when a plurality of aircrafts perform cooperative work, the flight trajectories of the aircrafts may be preset, for example, an unmanned aerial vehicle performs cruise performance or agricultural spraying and other works, and whether radar interference may exist in the plurality of aircrafts at the current moment and at a future moment or not can be determined according to the flight trajectories, so that the radar anti-interference capability of the aircrafts can be further improved, and the flight safety of the aircrafts is ensured.

It will be appreciated that for an aircraft, in order to accurately determine the aircraft in the presence of radar interference, reference may be made to the attitude of the aircraft, or a combination of different motion information.

It should be noted that, in the embodiment of the present application, the preset area range may be divided according to a honeycomb shape, specifically, as shown in fig. 8. Other dividing shapes, such as squares, rectangles or other types of polygons, may of course be used.

S103, reconfiguring radar configuration parameters of the at least one target movable platform according to the motion information.

The reconfigured radar configuration parameters include polarization, frequency band bandwidth, and/or modulation waveform. The polarization mode comprises the following steps: positive 45 polarization, negative 45 polarization, horizontal polarization, and/or vertical polarization.

The positive 45 polarization is shown as A1 in FIG. 9a and the negative 45 polarization is shown as A2 in FIG. 9 a. In one embodiment, the polarization mode of the radar antenna adopts a combination of positive 45 ° polarization or negative 45 ° polarization; in another embodiment, the polarization of the radar antenna is a combination of horizontal polarization or vertical polarization. Such as radar configuration parameters that do not employ a combination of positive 45 polarization and horizontal polarization.

The band bandwidth refers to dividing the total bandwidth of radar operation into a plurality of sub-bandwidths, specifically, as shown in fig. 9B, dividing the total bandwidth B into three sub-bandwidths, which are Δ B1, Δ B2, and Δ B3, respectively.

In one embodiment, in order to improve the interference immunity of the radar, a polarization-changing mode of positive 45 ° polarization or negative 45 ° polarization is adopted, and if the bandwidth of the frequency band includes Δ B1, Δ B2, and Δ B3, the radar configuration parameter set includes up to 6 different sets of parameters, as shown in table 1:

TABLE 1 configuration parameters for different radars

A1、ΔB1	A1、ΔB2	A1、ΔB3
			A2、ΔB1	A2、ΔB2	A2、ΔB3

The radar anti-interference capability of the movable platform can be further improved by adopting a positive 45-degree polarization mode or a negative 45-degree polarization mode, for example, the radar configuration parameters of the two movable platforms are A1, delta B1, A1 and delta B2 respectively, electromagnetic waves are transmitted by adopting the positive 45-degree polarization (A1), for example, when the two aircrafts fly oppositely, the received electromagnetic waves adopt the positive 45-degree polarization, so that the echoes of the electromagnetic waves transmitted mutually are orthogonal and vertical, and the anti-interference capability of the aircrafts can be improved, but the horizontal polarization and the vertical polarization cannot achieve the effect.

Due to different polarization modes, frequency band bandwidths or modulation waveforms of different radar configuration parameters, mutual interference of different radars can be reduced, for example, synchronous interference or burst interference can be avoided.

In some embodiments, radar configuration parameters of a target movable platform are determined quickly. The reconfiguration of the radar configuration parameters specifically comprises: acquiring a preset radar configuration parameter set; configuring radar configuration parameters for each target movable platform from the set of radar configuration parameters according to the plurality of motion information.

The radar configuration parameter group includes a plurality of different radar configuration parameters, and the radar configuration parameter group includes a preset number of radar configuration parameters, specifically includes 6 different sets of radar configuration parameters as shown in table 1, that is, the preset number is 6 sets.

For example, the step of configuring the radar configuration parameter for each target movable platform from the radar configuration parameter set according to the plurality of pieces of motion information includes:

judging whether the quantity of the at least one target movable platform is greater than the preset quantity or not; if the number of the at least one target movable platform is larger than the preset number, partitioning the at least one target movable platform according to the plurality of motion information to obtain a task area corresponding to each target movable platform; and distributing radar configuration parameters for each target movable platform according to the radar configuration parameter set and the task area.

The radar configuration parameters of the target movable platform corresponding to each task area are different from those of the target movable platform corresponding to the adjacent task area.

For example, if the number of the target movable platforms is 7, it may be determined that the number of the target movable platforms is greater than the preset number, the 7 target movable platforms are partitioned according to the position information of the plurality of motion information to obtain task areas corresponding to each target movable platform, the task areas of the 7 target movable platforms are adjacent to each other, 6 sets of different radar configuration parameters are respectively allocated to the 7 target movable platforms, and it is ensured that the radar configuration parameters of the target movable platform corresponding to each task area are different from the radar configuration parameters of the target movable platform corresponding to the adjacent task area.

For example, if the number of the at least one target movable platform is less than or equal to the preset number, allocating a radar configuration parameter to each target movable platform according to the radar configuration parameter group.

For example, if the number of the target movable platforms is 5, it may be determined that the number of the target movable platforms is smaller than the preset number, and then 6 sets of radar configuration parameters may be respectively allocated to the 5 target movable platforms, and it is easy to ensure that the radar configuration parameters of each target movable platform are different.

S104, sending the radar configuration parameters to the at least one target movable platform for parameter configuration so as to improve the radar anti-interference capability of the at least one target movable platform.

The movable platform performs radar parameter configuration, that is, the movable platform sends the received radar configuration parameters to a radar mounted on the movable platform, so that the radar transmits electromagnetic waves according to the radar parameter configuration, for example, the electromagnetic waves are transmitted by using a positive 45 ° polarization (a1) mode and a sub-band Δ B1.

Specifically, the step of obtaining the motion information of the plurality of movable platforms is to obtain the motion information sent by the remote control device corresponding to the plurality of movable platforms. Correspondingly, the radar configuration parameters are sent to the remote control equipment corresponding to the at least one target movable platform, so that the radar configuration parameters are sent to the movable platform by the remote control equipment for radar parameter configuration.

The embodiment obtains a plurality of pieces of motion information of a plurality of movable platforms; determining at least one target movable platform from the plurality of movable platforms according to the plurality of motion information, wherein the at least one target movable platform is a movable platform which is possible to have radar interference, and the radar interference is interference between radars; reconfiguring radar configuration parameters of the at least one target movable platform according to the plurality of motion information; and sending the radar configuration parameters to the at least one target movable platform to perform parameter configuration on the radar carried by the at least one target movable platform, and detecting or ranging by using the configured radar.

In some embodiments, radar configuration parameters are better assigned to a plurality of movable platforms, improving radar immunity of the movable platforms. The preset configuration rule can be determined first, and then the radar configuration parameters are reconfigured according to the determined preset configuration rule. As shown in fig. 10, the method specifically includes the following steps:

s201, determining whether radar configuration parameters of the at least one target movable platform need to be reconfigured according to the motion information;

s202, if the radar configuration parameters of the at least one target movable platform need to be reconfigured, the radar configuration parameters of the at least one target movable platform are reconfigured according to preset configuration rules.

For example, determining whether the radar configuration parameters of the at least one target movable platform need to be reconfigured includes: determining whether the number of the at least one target movable platform located within a preset area range is smaller than a first preset number; if the number of the at least one target movable platform located in the preset area range is smaller than the first preset number, determining that the radar configuration parameters of the at least one target movable platform do not need to be reconfigured; and if the number of the at least one target movable platform located in the preset area range is equal to or larger than the first preset number, determining that the radar configuration parameters of the at least one target movable platform need to be reconfigured.

The first preset number is used for judging whether radar interference exists in the movable platform within a preset area range, and the preset area range is within 10km for example. If the number of the movable platforms is less than the first preset number, the radar interference problem among the plurality of movable platforms does not need to be considered.

Therefore, after determining that the number of the at least one target movable platform located within the preset area is smaller than the first preset number, it is determined that there is no need to reconfigure the radar configuration parameters of the at least one target movable platform, and instead, transmission of the electromagnetic waves is performed using default radar configuration parameters.

For example, reconfiguring the radar configuration parameters of the at least one target movable platform according to a preset configuration rule, specifically: determining whether the number of the at least one target movable platform located within the preset area is greater than a second preset number.

The second predetermined number is the maximum number of assignable and non-repeating radar configuration parameters. The number of target movable platforms is less than or equal to the second preset number, which indicates that each target movable platform can be assigned with no repeated radar configuration parameters. The number of target movable platforms is greater than the second predetermined number, indicating that a portion of the target movable platforms are assigned to duplicate radar configuration parameters.

If the number of the at least one target movable platform located in the preset area range is smaller than or equal to the second preset number, reconfiguring radar configuration parameters for each target movable platform located in the preset area range, wherein the reconfigured radar configuration parameters of each target movable platform are different from each other.

If the number of the at least one target movable platform located in the preset area range is larger than the second preset number, reconfiguring radar configuration parameters for the at least one target movable platform according to a preset allocation algorithm, wherein the radar configuration parameters of the at least two first target movable platforms are the same.

For example, the second preset number is 6 sets, and the number of target movable platforms is 8, which are the movable platform a, the movable platform B, the movable platform C, the movable platform D, the movable platform E, the movable platform F, the movable platform G, and the movable platform H, respectively.

Reconfiguring the radar configuration parameters of the at least one target movable platform according to preset allocation, wherein the distributed radar configuration parameters of the at least two first target movable platforms are the same. For example, the radar configuration parameters of the movable platform a and the movable platform H are the same, and the radar configuration parameters of the movable platform B and the movable platform G are the same.

Reconfiguring radar configuration parameters of the at least one target movable platform according to a preset allocation algorithm, specifically: reconfiguring radar configuration parameters for the at least one target movable platform and determining a plurality of interference impact factors between the at least one target movable platform according to the reconfigured radar configuration parameters to minimize interference impact between the at least one target movable platform; calculating an interference impact factor sum from the plurality of interference impact factors between the at least one target movable platform; optimizing the radar configuration parameters of the at least one target movable platform according to the interference influence factor sum to determine the radar configuration parameters of each of the at least one target movable platform.

In one embodiment, the determining a plurality of interference impact factors between the at least one target movable platform includes: determining a first interference influence factor corresponding to a frequency band bandwidth of radar work between the at least one target movable platform and a second interference influence factor corresponding to a polarization mode; determining the interference impact factor according to the first interference impact factor and the second interference impact factor.

In one embodiment, the interference impact factor is expressed as:

p_mn＝α*p_{B_mn}+β*p_{p_mn}

wherein p is_{B_mn}Representing the interference impact factor between bandwidths, p_{p_mn}Representing different polarization interference influence factors between antennas, alpha, beta representing different weighting factors, and alpha + beta being 1. p is a radical of_{B_mn}A first interference impact factor, p, corresponding to the bandwidth of the first frequency band_{p_mn}The second interference influence factor corresponding to the polarization mode.

Exemplarily, the first interference impact factor is determined, specifically: determining the distance between two radars of the target movable platform and the distance between two mutually noninterference radars and a plurality of Euclidean distances; determining a plurality of overlapping bandwidths of frequency band bandwidths working between the radars of every two target movable platforms and a total bandwidth of the radars; and determining the first interference influence factor according to the mutual non-interference distance, the Euclidean distances, the overlapped bandwidths and the total radar bandwidth.

In one embodiment, the first interference impact factor is expressed as:

in the above formula, dis _ max represents the maximum distance between two radars without interference, B represents the total bandwidth, and B represents the total bandwidth_m∩B_nDenotes an overlapping bandwidth (i.e., an overlapping area) of the operating bandwidths of the radar m and the radar n, and dis _ mn denotes a euclidean distance between the radar m and the radar n.

Exemplarily, the second interference impact factor is determined, specifically: determining the distance between two radars of the target movable platform and the distance between two mutually noninterference radars and a plurality of Euclidean distances; determining a polarization factor corresponding to a polarization mode between the radars of each two target movable platforms; and determining the second interference influence factor according to the mutual noninterference distance, the Euclidean distances and the polarization factor.

In one embodiment, the first interference impact factor is expressed as:

in the above formula, dis _ max represents the maximum distance between two radars without mutual interference, dis _ mn represents the euclidean distance between radar m and radar n, and γ is the polarization factor.

In one embodiment, if the two movable platforms have the same polarization, γ is 0; if the polarization modes of the radars of the two movable platforms are different, γ is 0.7. Of course, other values may be set, and are not limited herein.

It should be noted that, in order to quickly calculate the euclidean distance between the radars, the distance between each two target movable platforms may be calculated according to the position information in the motion information of each two target movable platforms; and taking the distance between every two target movable platforms as the Euclidean distance between the radars of every two target movable platforms.

Specifically, the distance between two target movable platforms can be calculated using a distance formula between two points according to longitude information, latitude information, and altitude information of the two target movable platforms, and the distance is taken as the euclidean distance between the radars of the two target movable platforms.

TABLE 2 interference impact factors between different mobile platform equipped radars

In table 2, No. n denotes number information of the movable platform, P_n-1，nRepresenting the interference impact factor of the movable platform n-1 on the movable platform n.

From the interference impact factors in table 2, an interference impact factor sum may be calculated for optimizing radar configuration parameters of the at least one target movable platform according to the interference impact factor sum.

Specifically, the expression of the interference impact factor sum is:

by continuously optimising allocation p_ijAnd minimizing the sum p of the interference influence factors, wherein the preset allocation algorithm comprises an auction algorithm or an exhaustive algorithm.

Determining a radar configuration parameter for each of the at least one target movable platform when the interference impact factor sum p is minimal. In practical application, in multiple optimization, if the interference influence factor sum p does not change any more or the change difference is within a preset range, that is, the requirement can be met, the interference influence factor sum p is determined to be minimum.

Referring to fig. 11, fig. 11 is a schematic flowchart illustrating steps of another radar anti-jamming method according to an embodiment of the present application. The method can be applied to remote control equipment and is used for carrying out parameter configuration on the radar of the movable platform so as to improve the anti-interference capability of the radar.

As shown in fig. 11, the method for resisting interference of the radar includes the following steps:

s301, sending motion information of a first target movable platform;

s302, receiving radar configuration parameters and sending the radar configuration parameters to the first target movable platform, so that the at least first target movable platform can perform parameter configuration according to the radar configuration parameters, and the radar anti-jamming capability of the first target movable platform is improved.

It should be noted that the first target movable platform is one of the plurality of movable platforms determined by the server according to the plurality of motion information in the above embodiment. The specific determination is made with reference to the above embodiments and will not be described in detail herein.

Wherein, the radar configuration parameters comprise: polarization, bandwidth of the frequency band, and/or modulation waveform. I.e. may comprise one or more combinations thereof.

For example, only the polarization mode is limited, and the operating band bandwidth may be the total bandwidth or a sub-bandwidth in the total bandwidth by using the positive 45 ° polarization mode.

Wherein the polarization mode comprises: positive 45 polarization, negative 45 polarization, horizontal polarization, and/or vertical polarization.

In some embodiments, the polarization variation mode of positive 45-degree polarization and negative 45-degree polarization is used for distinguishing, so that the interference resistance between the movable platform radars can be improved better.

In some embodiments, the motion information comprises: one or more combinations of motion direction, motion attitude, motion speed and position information.

If the movable platform is an aircraft, the motion information comprises: flight direction, flight attitude, flight speed, flight altitude, and/or position information.

The method of the embodiment can optimize the configuration of the movable platforms with radar interference, further improve the radar anti-interference capability between the movable platforms and ensure the safe operation of the movable platforms.

Referring to fig. 12, fig. 12 is a schematic block diagram of a movable platform according to an embodiment of the present application. The movable platform 11 includes a beat processor 111, a memory 112, and a radar 113, and the processor 111, the memory 112, and the radar 113 are connected via a bus, such as an I2C (Inter-integrated Circuit) bus, or the radar 113 and the processor 111 are connected via a CAN bus.

Wherein the movable platform comprises an aircraft, a robot or an automated unmanned vehicle, etc.

Specifically, the Processor 111 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.

Specifically, the Memory 112 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.

Specifically, the radar 113 is used to transmit electromagnetic waves for measurement or detection.

Wherein the processor is configured to run a computer program stored in the memory and to implement the following steps when executing the computer program:

Referring to fig. 13, fig. 13 is a schematic block diagram of a remote control device according to an embodiment of the present application. The remote control device 12 includes a processor 121 and a memory 122, and the processor 121 and the memory 122 are connected by a bus, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the Processor 121 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.

Specifically, the Memory 122 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.

sending motion information of a first target movable platform; receiving radar configuration parameters, and sending the radar configuration parameters to the first target movable platform, so that the at least first target movable platform can perform parameter configuration according to the radar configuration parameters, and the radar anti-jamming capability of the first target movable platform can be improved;

In some embodiments, the radar configuration parameters include: polarization, bandwidth of the frequency band, and/or modulation waveform.

In some embodiments, the polarization mode comprises: positive 45 polarization, negative 45 polarization, horizontal polarization, and/or vertical polarization.

In some embodiments, the motion information comprises: direction of motion, attitude of motion, speed of motion, and/or position information.

Referring to fig. 14, fig. 14 is a schematic block diagram of a server according to an embodiment of the present application. The server 13 includes a processor 131 and a memory 132, and the processor 131 and the memory 132 are connected by a bus, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the Processor 131 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.

Specifically, the Memory 132 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.

acquiring a plurality of motion information of a plurality of movable platforms; determining at least one target movable platform from the plurality of movable platforms according to the plurality of motion information, the at least one target movable platform being a movable platform with radar interference; reconfiguring radar configuration parameters of the at least one target movable platform according to the plurality of motion information; and sending the radar configuration parameters to the at least one target movable platform for parameter configuration so as to improve the radar anti-interference capability of the at least one target movable platform.

In some embodiments, the processor performs the step of determining at least one target movable platform from the plurality of movable platforms based on the plurality of motion information, comprising:

and determining the at least one target movable platform from the plurality of movable platforms according to the position information and the preset area range in the plurality of motion information.

In some embodiments, the processor implementing the step of reconfiguring the radar configuration parameters of the at least one target movable platform in accordance with the plurality of motion information comprises:

determining whether radar configuration parameters of the at least one target movable platform need to be reconfigured according to the plurality of motion information; and if the radar configuration parameters of the at least one target movable platform need to be reconfigured, reconfiguring the radar configuration parameters of the at least one target movable platform according to a preset configuration rule.

In some embodiments, the processor implementing the step of determining whether radar configuration parameters of the at least one target movable platform need to be reconfigured based on the plurality of motion information comprises:

determining whether the number of the at least one target movable platform located within a preset area range is smaller than a first preset number; if the number of the at least one target movable platform located in the preset area range is smaller than the first preset number, determining that the radar configuration parameters of the at least one target movable platform do not need to be reconfigured; and if the number of the at least one target movable platform located in the preset area range is equal to or larger than the first preset number, determining that the radar configuration parameters of the at least one target movable platform need to be reconfigured.

In some embodiments, the processor implements the step of reconfiguring the radar configuration parameters of the at least one target movable platform according to preset configuration rules, including:

determining whether the number of the at least one target movable platform located within a preset area is greater than a second preset number; if the number of the at least one target movable platform located in the preset area range is larger than the second preset number, reconfiguring radar configuration parameters for the at least one target movable platform according to a preset allocation algorithm, wherein the radar configuration parameters of at least two first target movable platforms are the same; if the number of the at least one target movable platform located in the preset area range is smaller than or equal to the second preset number, reconfiguring radar configuration parameters for each target movable platform located in the preset area range, wherein the reconfigured radar configuration parameters of each target movable platform are different from each other.

In some embodiments, the processor implements the step of reconfiguring radar configuration parameters for the at least one target movable platform according to a preset allocation algorithm, comprising:

reconfiguring radar configuration parameters for the at least one target movable platform and determining a plurality of interference impact factors between the at least one target movable platform according to the reconfigured radar configuration parameters to minimize interference impact between the at least one target movable platform; calculating an interference impact factor sum from the plurality of interference impact factors between the at least one target movable platform; optimizing the radar configuration parameters of the at least one target movable platform according to the interference influence factor sum to determine the radar configuration parameters of each of the at least one target movable platform.

In some embodiments, the preset allocation algorithm comprises an auction algorithm or an exhaustive algorithm.

In some embodiments, the processor implements the step of determining a plurality of interference impact factors between the at least one target movable platform from the reconfigured radar configuration parameters, comprising:

determining a first interference influence factor corresponding to a frequency band bandwidth of radar work between the at least one target movable platform and a second interference influence factor corresponding to a polarization mode; determining the interference impact factor according to the first interference impact factor and the second interference impact factor.

In some embodiments, the processor implements the step of determining a first interference impact factor corresponding to a frequency band bandwidth of radar operation between the at least one target movable platform, comprising:

determining the distance between two radars of the target movable platform and the distance between two mutually noninterference radars and a plurality of Euclidean distances; determining a plurality of overlapping bandwidths of frequency band bandwidths working between the radars of every two target movable platforms and a total bandwidth of the radars; and determining the first interference influence factor according to the mutual non-interference distance, the Euclidean distances, the overlapped bandwidths and the total radar bandwidth.

In some embodiments, the processor implements the step of determining a second interference impact factor corresponding to a polarization mode of radar operation between the at least one target movable platform, comprising:

determining the distance between two radars of the target movable platform and the distance between two mutually noninterference radars and a plurality of Euclidean distances; determining a polarization factor corresponding to a polarization mode between the radars of each two target movable platforms; and determining the second interference influence factor according to the mutual noninterference distance, the Euclidean distances and the polarization factor.

In some embodiments, the processor implements the step of determining the plurality of euclidean distances between the radars of each two target movable platforms comprising:

calculating the distance between every two target movable platforms according to the position information in the motion information of every two target movable platforms; the distance between every two target movable platforms is taken as the euclidean distance between the radars of every two target movable platforms.

acquiring a preset radar configuration parameter set, wherein the radar configuration parameter set comprises a plurality of different radar configuration parameters; configuring radar configuration parameters for each target movable platform from the set of radar configuration parameters according to the plurality of motion information.

In some embodiments, the set of radar configuration parameters includes a preset number of radar configuration parameters; the processor implementing the step of configuring radar configuration parameters for each target movable platform from the set of radar configuration parameters according to the plurality of motion information, comprising:

judging whether the quantity of the at least one target movable platform is greater than the preset quantity or not; if the number of the at least one target movable platform is larger than the preset number, partitioning the at least one target movable platform according to the plurality of motion information to obtain a task area corresponding to each target movable platform;

and distributing radar configuration parameters for each target movable platform according to the radar configuration parameter set and the task areas, wherein the radar configuration parameters of the target movable platform corresponding to each task area are different from the radar configuration parameters of the target movable platform corresponding to the adjacent task area.

In some embodiments, after the step of determining whether the number of the at least one target movable platform is greater than the preset number, the processor further includes:

and if the quantity of the at least one target movable platform is less than or equal to the preset quantity, distributing radar configuration parameters for each target movable platform according to the radar configuration parameter group.

In some embodiments, the processor implements the step of obtaining motion information for a plurality of movable platforms comprising:

and acquiring motion information sent by the remote control equipment corresponding to the plurality of movable platforms.

In some embodiments, the processor implements the step of sending the radar configuration parameters to the at least one target movable platform for parameter configuration, including:

and sending the radar configuration parameters to remote control equipment corresponding to the at least one movable platform, so that the remote control equipment sends the radar configuration parameters to the movable platform for radar parameter configuration.

Embodiments of the present application also provide a control system, which may be, for example, the flight control system shown in fig. 1, the control system including a server, a plurality of movable platforms, and corresponding remote control devices, the remote control devices being communicatively connected to the server and the movable platforms;

In some embodiments, the step of determining at least one target movable platform from the plurality of movable platforms based on the plurality of motion information comprises:

In some embodiments, the step of reconfiguring radar configuration parameters of the at least one target movable platform in accordance with the plurality of motion information comprises:

In some embodiments, the step of determining whether radar configuration parameters of the at least one target movable platform need to be reconfigured based on the plurality of motion information comprises:

In some embodiments, the step of reconfiguring the radar configuration parameters of the at least one target movable platform according to preset configuration rules comprises:

In some embodiments, the step of reconfiguring radar configuration parameters for the at least one target movable platform according to a preset allocation algorithm comprises:

In some embodiments, the step of determining a plurality of interference impact factors between the at least one target movable platform from the reconfigured radar configuration parameters comprises:

In some embodiments, the step of determining a first interference impact factor corresponding to a frequency band bandwidth of radar operation between the at least one target movable platform comprises:

In some embodiments, the step of determining a second interference impact factor corresponding to a polarization mode of radar operation between the at least one target movable platform comprises:

In some embodiments, the step of determining the plurality of euclidean distances between the radars of each two target movable platforms comprises:

In some embodiments, the set of radar configuration parameters includes a preset number of radar configuration parameters; the step of configuring radar configuration parameters for each target movable platform from the set of radar configuration parameters according to the plurality of motion information includes:

In some embodiments, after the step of determining whether the number of the at least one target movable platform is greater than the preset number, the method further includes:

In some embodiments, the step of obtaining motion information for a plurality of movable platforms comprises:

In some embodiments, the step of sending the radar configuration parameters to the at least one target movable platform for parameter configuration includes:

In an embodiment of the present application, a computer-readable storage medium is further provided, where a computer program is stored in the computer-readable storage medium, where the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the radar anti-interference method provided in the foregoing embodiment.

The computer readable storage medium may be an internal storage unit of the removable platform, the remote control device, or the server according to any of the foregoing embodiments, for example, a hard disk or a memory of the server. The computer readable storage medium may also be an external storage device of the server, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the server.

While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An anti-jamming method for a radar, wherein the radar is applied to a movable platform, the method comprising:

2. The method of claim 1, wherein the step of determining at least one target movable platform from the plurality of movable platforms based on the plurality of motion information comprises:

3. The method of claim 1, wherein the step of reconfiguring radar configuration parameters of the at least one target movable platform based on the plurality of motion information comprises:

determining whether radar configuration parameters of the at least one target movable platform need to be reconfigured according to the plurality of motion information;

and if the radar configuration parameters of the at least one target movable platform need to be reconfigured, reconfiguring the radar configuration parameters of the at least one target movable platform according to a preset configuration rule.

4. The method of claim 3, wherein the step of determining whether the radar configuration parameters of the at least one target movable platform need to be reconfigured based on the plurality of motion information comprises:

determining whether the number of the at least one target movable platform located within a preset area range is smaller than a first preset number;

if the number of the at least one target movable platform located in the preset area range is smaller than the first preset number, determining that the radar configuration parameters of the at least one target movable platform do not need to be reconfigured;

and if the number of the at least one target movable platform located in the preset area range is equal to or larger than the first preset number, determining that the radar configuration parameters of the at least one target movable platform need to be reconfigured.

5. The method of claim 3, wherein the step of reconfiguring the radar configuration parameters of the at least one target movable platform according to preset configuration rules comprises:

determining whether the number of the at least one target movable platform located within a preset area is greater than a second preset number;

if the number of the at least one target movable platform located in the preset area range is larger than the second preset number, reconfiguring radar configuration parameters for the at least one target movable platform according to a preset allocation algorithm, wherein the radar configuration parameters of at least two first target movable platforms are the same;

6. The method of claim 5, wherein the step of reconfiguring radar configuration parameters for the at least one target movable platform according to a preset allocation algorithm comprises:

reconfiguring radar configuration parameters for the at least one target movable platform and determining a plurality of interference impact factors between the at least one target movable platform according to the reconfigured radar configuration parameters to minimize interference impact between the at least one target movable platform;

wherein a disturbance impact factor sum is calculated from the plurality of disturbance impact factors between the at least one target movable platform;

optimizing the radar configuration parameters of the at least one target movable platform according to the interference influence factor sum to determine the radar configuration parameters of each of the at least one target movable platform.

7. The method of claim 6, wherein the preset allocation algorithm comprises an auction algorithm or an exhaustive algorithm.

8. The method of claim 1, further comprising:

determining a first interference influence factor corresponding to a frequency band bandwidth of radar work between the at least one target movable platform and a second interference influence factor corresponding to a polarization mode;

determining an interference impact factor from the first interference impact factor and the second interference impact factor for determining radar configuration parameters of the at least one target movable platform.

9. The method of claim 8, wherein the step of determining a first interference impact factor corresponding to a frequency band bandwidth of radar operation between the at least one target movable platform comprises:

determining the distance between two radars of the target movable platform and the distance between two mutually noninterference radars and a plurality of Euclidean distances;

determining a plurality of overlapping bandwidths of frequency band bandwidths working between the radars of every two target movable platforms and a total bandwidth of the radars;

and determining the first interference influence factor according to the mutual non-interference distance, the Euclidean distances, the overlapped bandwidths and the total radar bandwidth.

10. The method of claim 8, wherein the step of determining a second interference impact factor corresponding to a polarization mode of radar operation between the at least one target movable platform comprises:

determining a polarization factor corresponding to a polarization mode between the radars of each two target movable platforms;

and determining the second interference influence factor according to the mutual noninterference distance, the Euclidean distances and the polarization factor.

11. The method of claim 10, wherein the step of determining the plurality of euclidean distances between the radars of each two target movable platforms comprises:

calculating the distance between every two target movable platforms according to the position information in the motion information of every two target movable platforms;

the distance between every two target movable platforms is taken as the euclidean distance between the radars of every two target movable platforms.

12. The method of claim 1, wherein the step of reconfiguring radar configuration parameters of the at least one target movable platform based on the plurality of motion information comprises:

acquiring a preset radar configuration parameter set, wherein the radar configuration parameter set comprises a plurality of different radar configuration parameters;

configuring radar configuration parameters for each target movable platform from the set of radar configuration parameters according to the plurality of motion information.

13. The method of claim 12, wherein the set of radar configuration parameters includes a preset number of radar configuration parameters; the step of configuring radar configuration parameters for each target movable platform from the set of radar configuration parameters according to the plurality of motion information includes:

judging whether the quantity of the at least one target movable platform is greater than the preset quantity or not;

if the number of the at least one target movable platform is larger than the preset number, partitioning the at least one target movable platform according to the plurality of motion information to obtain a task area corresponding to each target movable platform;

14. The method of claim 13, further comprising, after the step of determining whether the number of the at least one target movable platform is greater than the preset number:

15. The method of any one of claims 1 to 14, wherein the step of obtaining motion information for a plurality of movable platforms comprises:

16. The method of any one of claims 1 to 14, wherein the step of sending the radar configuration parameters to the at least one target movable platform for parameter configuration comprises:

and sending the radar configuration parameters to remote control equipment corresponding to the at least one target movable platform, so that the remote control equipment sends the radar configuration parameters to the target movable platform for radar parameter configuration.

17. The method of any of claims 1 to 14, wherein the radar configuration parameters comprise: polarization, bandwidth of the frequency band, and/or modulation waveform.

18. The method of claim 17, wherein the polarization mode comprises: positive 45 polarization, negative 45 polarization, horizontal polarization, and/or vertical polarization.

19. The method of claim 1, wherein the motion information comprises: direction of motion, attitude of motion, speed of motion, and/or position information.

20. An anti-jamming method for a radar, comprising:

sending motion information of a first target movable platform;

21. The method of claim 20, wherein the radar configuration parameters comprise: polarization, bandwidth of the frequency band, and/or modulation waveform.

22. The method of claim 21, wherein the polarization mode comprises: positive 45 polarization, negative 45 polarization, horizontal polarization, and/or vertical polarization.

23. The method of claim 20, wherein the motion information comprises: direction of motion, attitude of motion, speed of motion, and/or position information.

24. A server, comprising a memory and a processor;

the memory is used for storing a computer program;

25. The server according to claim 24, wherein the processor performs the step of determining at least one target movable platform from the plurality of movable platforms based on the plurality of motion information, comprising:

26. The server according to claim 24, wherein the processor performs the step of reconfiguring the radar configuration parameters of the at least one target movable platform based on the plurality of motion information comprises:

27. The server according to claim 26, wherein the processor performs the step of determining whether the radar configuration parameters of the at least one target movable platform need to be reconfigured based on the plurality of motion information, comprising:

28. The server according to claim 26, wherein the processor performs the step of reconfiguring the radar configuration parameters of the at least one target movable platform according to preset configuration rules, comprising:

29. The server according to claim 28, wherein the processor performs the step of reconfiguring radar configuration parameters for the at least one target movable platform according to a preset allocation algorithm, comprising:

30. The server of claim 29, wherein the pre-set allocation algorithm comprises an auction algorithm or an exhaustive algorithm.

31. The server according to claim 24, wherein the processor further implements:

32. The server according to claim 31, wherein the processor implements the step of determining a first interference impact factor corresponding to a frequency band bandwidth of radar operation between the at least one target movable platform, comprising:

33. The server according to claim 31, wherein the processor performs the step of determining a second interference impact factor corresponding to a polarization mode of radar operation between the at least one target movable platform, comprising:

34. The server of claim 33, wherein the processor implements the step of determining the plurality of euclidean distances between the radars of each two target movable platforms comprising:

35. The server according to claim 24, wherein the processor performs the step of reconfiguring the radar configuration parameters of the at least one target movable platform based on the plurality of motion information comprises:

36. The server of claim 35, wherein the set of radar configuration parameters includes a preset number of radar configuration parameters; the processor implementing the step of configuring radar configuration parameters for each target movable platform from the set of radar configuration parameters according to the plurality of motion information, comprising:

37. The server according to claim 36, wherein the processor, after the step of determining whether the number of the at least one target movable platform is greater than the preset number, further comprises:

38. The server according to any one of claims 24 to 37, wherein the processor performs the step of obtaining motion information for a plurality of movable platforms, comprising:

39. The server according to any one of claims 24 to 37, wherein the processor implements the step of sending the radar configuration parameters to the at least one target movable platform for parameter configuration, comprising:

40. The server according to any one of claims 24 to 37, wherein the radar configuration parameters comprise: polarization, bandwidth of the frequency band, and/or modulation waveform.

41. The server according to claim 40, wherein the polarization manner comprises: positive 45 polarization, negative 45 polarization, horizontal polarization, and/or vertical polarization.

42. The server of claim 24, wherein the motion information comprises: direction of motion, attitude of motion, speed of motion, and/or position information.

43. A remote control device, characterized in that the remote control device comprises a memory and a processor;

the memory is used for storing a computer program;

sending motion information of a first target movable platform;

44. The remote control device of claim 43, wherein the radar configuration parameters comprise: polarization, bandwidth of the frequency band, and/or modulation waveform.

45. A remote control device as recited in claim 44, wherein the polarization manner comprises: positive 45 polarization, negative 45 polarization, horizontal polarization, and/or vertical polarization.

46. The remote control device of claim 43, wherein the motion information comprises: direction of motion, attitude of motion, speed of motion, and/or position information.

47. A control system is characterized by comprising a server, a plurality of movable platforms and corresponding remote control equipment, wherein the remote control equipment is in communication connection with the server and the movable platforms;

48. The control system of claim 47, wherein the step of determining at least one target movable platform from the plurality of movable platforms based on the plurality of motion information comprises:

49. The control system of claim 47, wherein the step of reconfiguring radar configuration parameters of the at least one target movable platform based on the plurality of motion information comprises:

50. The control system of claim 49, wherein said step of determining whether radar configuration parameters of said at least one target movable platform need to be reconfigured based on said plurality of motion information comprises:

51. The control system of claim 49, wherein the step of reconfiguring the radar configuration parameters of the at least one target movable platform according to preset configuration rules comprises:

52. The control system of claim 51, wherein the step of reconfiguring radar configuration parameters for the at least one target movable platform according to a preset allocation algorithm comprises:

53. The control system of claim 52, wherein the preset allocation algorithm comprises an auction algorithm or an exhaustive algorithm.

54. The control system of claim 52, wherein the method further comprises:

determining the interference impact factor according to the first interference impact factor and the second interference impact factor.

55. The control system of claim 54, wherein said step of determining a first interference impact factor corresponding to a frequency band bandwidth of radar operation between said at least one target movable platform comprises:

56. The control system of claim 54, wherein said step of determining a second interference impact factor corresponding to a polarization mode of radar operation between said at least one target movable platform comprises:

57. The control system of claim 56, wherein the step of determining the plurality of Euclidean distances between the radars of each two target movable platforms comprises:

58. The control system of claim 47, wherein the step of reconfiguring radar configuration parameters of the at least one target movable platform based on the plurality of motion information comprises:

59. The control system of claim 58, wherein the set of radar configuration parameters includes a preset number of radar configuration parameters; the step of configuring radar configuration parameters for each target movable platform from the set of radar configuration parameters according to the plurality of motion information includes:

60. The control system of claim 59, further comprising, after the step of determining whether the number of the at least one target movable platform is greater than the preset number:

61. The control system of any one of claims 47 to 60, wherein the step of obtaining motion information for a plurality of movable platforms comprises:

62. The control system of any one of claims 47 to 60, wherein the step of sending the radar configuration parameters to the at least one target movable platform for parameter configuration comprises:

63. The control system of any one of claims 47 to 60, wherein the radar configuration parameters include: polarization, bandwidth of the frequency band, and/or modulation waveform.

64. The control system of claim 63, wherein the polarization regime comprises: positive 45 polarization, negative 45 polarization, horizontal polarization, and/or vertical polarization.

65. The control system of claim 47, wherein the motion information comprises: direction of motion, attitude of motion, speed of motion, and/or position information.

66. A movable platform, comprising a radar, a memory, and a processor;

the radar is used for sending electromagnetic waves to measure or detect;

the memory is used for storing a computer program;

67. The movable platform of claim 66, wherein the movable platform comprises an aircraft, a robot, or an autonomous vehicle.

68. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, causes the processor to implement the anti-jamming method for a radar according to any one of claims 1 to 19, or the anti-jamming method for a radar according to any one of claims 20 to 23.