CN112162277B - Airplane target height estimation method based on hybrid propagation high-frequency ground wave radar - Google Patents

Airplane target height estimation method based on hybrid propagation high-frequency ground wave radar Download PDF

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CN112162277B
CN112162277B CN202011054301.4A CN202011054301A CN112162277B CN 112162277 B CN112162277 B CN 112162277B CN 202011054301 A CN202011054301 A CN 202011054301A CN 112162277 B CN112162277 B CN 112162277B
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杨强
张佳智
鉴福升
王永军
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Harbin Institute of Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/882—Radar or analogous systems specially adapted for specific applications for altimeters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/005—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels altimeters for aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

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Abstract

An aircraft target altitude estimation method based on a hybrid propagation high-frequency ground wave radar relates to an aircraft target altitude estimation method. Carrying out range, Doppler and digital beam forming processing on an echo signal of the high-frequency ground wave radar to obtain a range-speed-angle three-dimensional data block; obtaining the echo information of the ground wave path of the airplane target from the high-frequency ground wave radar echo signal; matching the echo target set by using a hybrid propagation high-frequency ground wave radar propagation model to obtain sky wave path echo information of the same airplane target matched with the ground wave path information of the airplane target; and calculating to obtain an estimated value of the corresponding flight altitude information of the aircraft target through a mixed propagation mode propagation model by using the two propagation path information of the same aircraft target obtained through matching. The method is used for the single-station high-frequency ground wave radar to achieve the acquisition of the flight altitude information of the airplane target, accurately position the airplane target and provide effective altitude parameter estimation.

Description

Airplane target height estimation method based on hybrid propagation high-frequency ground wave radar
Technical Field
The invention relates to an aircraft target height estimation method, in particular to an aircraft target height estimation method based on a hybrid propagation high-frequency ground wave radar, and belongs to the field of high-frequency ground wave radar aircraft target positioning.
Background
The high-frequency ground wave radar works at 3-30MHz, the maximum detection range can cover 300-500 kilometers, which is enough to cover 200 kilometers of exclusive economic area and can realize over-the-horizon detection to sea surface ships and low-altitude flying targets, so as to achieve the monitoring and early warning functions. The high-frequency ground wave radar is a favorable weapon for monitoring a special economic area, providing remote guarantee for ships and realizing over-the-horizon early warning and detection of targets by virtue of the advantages of large detection distance, wide range, over-the-horizon, all-weather working and the like. The traditional high-frequency ground wave radar mainly realizes the detection of a low-speed ship target and a high-speed airplane target, but due to the single-station system and the difficulty in controlling the beam width in the vertical direction, the targets are difficult to distinguish directly in the vertical direction, the flying height of the airplane target is difficult to estimate, and only distance, speed and azimuth information can be provided.
Currently, the estimation of the aircraft target flight altitude is mainly based on the relationship between the target echo intensity and the flight altitude, and the value of the flight altitude is derived through the variation of the received target echo intensity. The method comprises two main methods, one is that Farrell.D C calculates the ground wave propagation attenuation based on the relation of the fitting airplane target echo intensity along with the ground wave propagation distance, and then obtains the estimated value of the airplane target flight height. The other method is an extended Kalman filter based method proposed by Howland to make predictive estimation of the target altitude and the change of RCS with time. However, since the attitude angle of the aircraft target changes continuously, the RCS of the aircraft target changes, and therefore, it is difficult to accurately estimate the flying height of the target by using both methods. Meanwhile, the methods can only estimate the flying height of the low-altitude flying target, and when the target is in high altitude, the propagation attenuation of the high-frequency electromagnetic wave adopting vertical polarization basically does not change along with the change of the height, so that the two methods almost fail to be used for the high-altitude flying target. Therefore, how to estimate the flying height of the airplane target is a difficult point to be broken through urgently in the background of the single-station high-frequency ground wave radar.
Disclosure of Invention
In order to solve the problem of aircraft target flight height estimation under the background of a single-station high-frequency ground wave radar, the invention provides an aircraft target height estimation method based on a hybrid propagation high-frequency ground wave radar.
In order to realize the purpose, the invention adopts the following technical scheme: an aircraft target altitude estimation method based on a hybrid propagation high-frequency ground wave radar comprises the following steps:
the method comprises the following steps: carrying out range, Doppler and digital beam forming processing on echo signals of the high-frequency ground wave radar, wherein the range dimension of data is R, the speed dimension of the data is D, and the angle dimension of the data is A, so as to obtain a range-speed-angle three-dimensional data block { data }, wherein the dimension is R multiplied by D multiplied by A;
step two: in echo signals of a high-frequency ground wave radar, ground wave path echo information of an airplane target is obtained, target detection processing is carried out on a distance-speed-angle three-dimensional data block { data }, and the echo information of the airplane target is obtained
Figure BDA0002710468210000021
Wherein N is the nth aircraft target obtained after target detection, N is 1.. and N, which represents that N aircraft targets are detected in the batch of data, k is an observation data batch,
Figure BDA0002710468210000022
For the set of distance information for the kth observation of the nth aircraft target,
Figure BDA0002710468210000023
for the kth observed doppler information set for the nth aircraft target,
Figure BDA0002710468210000024
for the kth observed angle information set for the nth aircraft target,
Figure BDA0002710468210000025
a set of amplitude information for the kth observation of the nth aircraft target;
step three: matching the echo target set by using a hybrid propagation high-frequency ground wave radar propagation model to obtain sky wave path echo information of the same airplane target matched with the ground wave path echo information of the airplane target i;
step four: calculating to obtain an estimated value of the corresponding flight altitude information of the aircraft target i through a mixed propagation mode propagation model by using the two propagation path echo information of the same aircraft target obtained by matching
Figure BDA0002710468210000031
Finally, averaging k times of estimation results of the flight altitude information of the airplane target i to obtain an altitude estimation value of the airplane target i
Figure BDA0002710468210000032
Compared with the prior art, the invention has the beneficial effects that: the method can accurately estimate the flight height information of the airplane target by using the ground wave path echo information and the sky wave path echo information obtained in the mixed propagation mode under the layout of the single-station high-frequency ground wave radar, provides the flight height information of the target on the basis of providing target distance, speed and angle information by the traditional high-frequency ground wave radar, improves the positioning precision of the target, is beneficial to target detection and track tracking, and has the characteristics of simple system layout, convenient method implementation, high precision of height estimation values and the like.
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FIG. 1 is a flow chart of the present invention;
FIG. 2 is a diagram of a rectangular planar coordinate system model in accordance with an exemplary embodiment;
FIG. 3 is a schematic diagram of an earth surface coordinate system model in an embodiment.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art without any creative work based on the embodiments of the present invention belong to the protection scope of the present invention.
Referring to fig. 1, the invention discloses an aircraft target altitude estimation method based on a hybrid propagation high-frequency ground wave radar, which comprises the following steps:
the method comprises the following steps: the method comprises the following steps of performing range, Doppler and digital beam forming processing on echo signals of the high-frequency ground wave radar to obtain a range-speed-angle three-dimensional data block, and specifically comprises the following steps:
echo signals of the high-frequency ground wave radar are subjected to distance processing, the distance dimension of data is R, the speed dimension of the data is D after Doppler processing, the angle dimension of the data is A after digital beam forming processing, and an obtained distance-speed-angle three-dimensional data block is { data }, wherein the dimension of the data block is R multiplied by D multiplied by A;
Step two: in the echo signal of the high-frequency ground wave radar, the ground wave path echo information of the airplane target is obtained, which specifically comprises the following steps:
the distance-speed-angle three-dimensional data block { data } after the distance, Doppler and digital beam forming processing is subjected to target detection processing, and the echo information of the airplane target is obtained
Figure BDA0002710468210000041
Wherein N is the nth aircraft target obtained after target detection, N is 1.. and N, which represents that N aircraft targets are detected in the batch of data, k is an observation data batch,
Figure BDA0002710468210000042
for the set of distance information for the kth observation of the nth aircraft target,
Figure BDA0002710468210000043
for the set of doppler information for the kth observation of the nth aircraft target,
Figure BDA0002710468210000044
for the set of angle information for the kth observation of the nth aircraft target,
Figure BDA0002710468210000045
a set of amplitude information for the kth observation of the nth aircraft target;
step three: matching processing is carried out on the echo target set by utilizing a hybrid propagation high-frequency ground wave radar propagation model to obtain sky wave path echo information of the same airplane target matched with ground wave path echo information of the airplane target, and the method specifically comprises the following steps:
echo information at aircraft targetsIn the set, an aircraft target i is selected, the echo information of which is
Figure BDA0002710468210000046
And in all the aircraft target echo information sets, other target echo information sets excluding the selected aircraft target i are expressed as
Figure BDA0002710468210000047
Using a hybrid propagation high-frequency ground wave radar propagation model to point the set
Figure BDA0002710468210000048
And set
Figure BDA0002710468210000049
The sky wave path distance information of the airplane target i in the mixed propagation mode is found through matching the target information in the step (2)
Figure BDA00027104682100000410
The method comprises the following steps:
first, distance matching is performed on the set
Figure BDA00027104682100000411
Excluding the airplane target echo information point set which does not meet the distance matching relation criterion, and recording as a distance matching airplane target echo information set
Figure BDA00027104682100000412
m1E m, the distance matching relationship criterion is represented by:
Figure BDA0002710468210000051
wherein h is the virtual height of ionospheric reflection corresponding to the observed marine space emission frequency, and R is0Is the radius of the earth, ar is the distance matching decision threshold,
then, speed matching is performed, in sets
Figure BDA0002710468210000052
Further excluding the airplane target echo information point set which does not meet the speed matching relation criterion and recording as a distance-speed matching airplane target echo information set
Figure BDA0002710468210000053
m2∈m1The velocity matching relationship criterion is represented by:
Figure BDA0002710468210000054
wherein,
Figure BDA0002710468210000055
is the incident angle of the sky wave path echo signal, Deltav is the velocity matching decision threshold,
then, angle matching is performed to assemble
Figure BDA0002710468210000056
Further excluding the airplane target echo information point set which does not meet the angle matching relation criterion and recording as a distance-speed-angle matching airplane target echo information set
Figure BDA0002710468210000057
m3∈m2The angle matching relationship criterion is represented by:
Figure BDA0002710468210000058
wherein, Delta theta is an angle matching judgment threshold,
finally, amplitude matching is performed on the sets
Figure BDA0002710468210000059
Further excluding the set of aircraft target echo information points which do not satisfy the amplitude matching relationship criterion,finally, a sky wave path echo information point set of the same airplane target i matched with the ground wave path echo information of the airplane target i is obtained
Figure BDA00027104682100000510
j∈m3The amplitude matching relationship criterion is represented by:
Figure BDA00027104682100000511
wherein, Delta a is an amplitude matching judgment threshold,
therefore, a ground wave path echo information point set corresponding to the airplane target i is obtained
Figure BDA00027104682100000512
Information point set of sum sky wave path
Figure BDA00027104682100000513
Step four: calculating to obtain an estimated value of the corresponding flight altitude information of the aircraft target by using the two propagation path echo information of the same aircraft target obtained by matching through a mixed propagation mode propagation model, specifically: according to the obtained ground wave path distance observed value r of the airplane target ii kAnd sky wave path distance observed value
Figure BDA0002710468210000061
Calculating to obtain an estimated value of the flight height information of the airplane target i by using a hybrid propagation high-frequency ground wave radar propagation model
Figure BDA0002710468210000062
When considering the rectangular plane coordinate system model and neglecting the influence of the curvature radius of the earth, referring to the schematic diagram of the rectangular plane coordinate system model shown in FIG. 2, the estimated value of the flight altitude information of the airplane target i
Figure BDA0002710468210000063
Can be calculated from the following equation:
Figure BDA0002710468210000064
the raw materials are solved to obtain the compound fertilizer,
Figure BDA0002710468210000065
when considering the earth surface coordinate system model and the condition that the target is in the sight distance range, referring to the schematic diagram of the earth surface coordinate system model shown in FIG. 3, the estimated value of the flight height information of the airplane target i
Figure BDA0002710468210000066
Can be calculated from the following equation:
Figure BDA0002710468210000067
the solution is obtained by dissolving the raw materials,
Figure BDA0002710468210000071
wherein the coefficient term
Figure BDA0002710468210000072
R1Is obtained by solving the following one-dimensional quintic equation,
Figure BDA0002710468210000073
finally, averaging k times of estimation results of the flight altitude information of the airplane target i to obtain an altitude estimation value of the airplane target i
Figure BDA0002710468210000074
Figure BDA0002710468210000075
Example (b):
the method comprises the following steps: setting the echo signal of a high-frequency ground wave radar to be subjected to distance processing, wherein the distance dimension of data is 200, the speed dimension of the data is 309 after Doppler processing, the angle dimension of the data is 31 after digital beam forming processing, and the obtained distance-speed-angle three-dimensional data block is { data }, and the dimension of the data block is 200 multiplied by 309 multiplied by 31;
step two: carrying out target detection processing on the distance-speed-angle three-dimensional data block { data } after the distance, Doppler and digital beam forming processing to obtain three airplane targets in total, and recording the echo information of the three airplane targets as
Figure BDA0002710468210000076
And
Figure BDA0002710468210000077
step three: in the set of echo information of the aircraft target, an aircraft target 1 is selected, the echo information of which is
Figure BDA0002710468210000078
And in all the aircraft target echo information sets, other target echo information sets excluding the selected aircraft target 1 are expressed as
Figure BDA0002710468210000081
m∈{2,3}，
Using a hybrid propagation high-frequency ground wave radar propagation model to point the set
Figure BDA0002710468210000082
And set
Figure BDA0002710468210000083
The target information in (2) is matched,
first, distance matching is performed, and the distance matching relationship criterion is expressed as:
Figure BDA0002710468210000084
taking h as 110km, and R06371km, Δ r 10km,
then, speed matching is performed, and the speed matching relation criterion is expressed as:
Figure BDA0002710468210000085
taking the value of delta v as 2Hz,
then, angle matching is carried out, and the angle matching relation criterion is expressed as:
Figure BDA0002710468210000086
Δ θ is 50.8℃/Df, c is the speed of light, and c is 3 × 108m/s, D is the array aperture, D is 116m, f is the transmit frequency, f is 4.13MHz, so Δ θ is 31.81 °,
finally, amplitude matching is carried out, and the amplitude matching relation criterion is expressed as:
Figure BDA0002710468210000087
taking Δ a to be 8dB,
the echo information of the airplane target 3 obtained by the matching judgment accords with the matching criterion and the mixed propagation model, which shows that the airplane target 3 is a sky wave echo path point set corresponding to the airplane target 1,
thereby, a ground wave path echo information point set corresponding to the airplane target 1 is obtained
Figure BDA0002710468210000088
Information point set of sum sky wave path
Figure BDA0002710468210000089
Step four: according to the obtained ground wave path distance observed value r of the airplane target 1 1 kAnd sky wave path distance observed value
Figure BDA00027104682100000810
Calculating to obtain an estimated value of the flight height information of the aircraft target 1 by using a hybrid propagation high-frequency ground wave radar propagation model
Figure BDA0002710468210000091
When a plane rectangular coordinate system model is considered and the influence of the curvature radius of the earth is ignored, the estimated value of the flight height information of the airplane target 1
Figure BDA0002710468210000092
Can be calculated from the following equation:
Figure BDA0002710468210000093
the solution is obtained by dissolving the raw materials,
Figure BDA0002710468210000094
through the method, the ground wave path distance observed value r of the airplane target 1 is finally obtained1 kSky wave path distance observation value
Figure BDA0002710468210000095
And flight height estimate
Figure BDA0002710468210000096
As a result, as shown in Table 1 below,
TABLE 1
Figure BDA0002710468210000097
Finally, averaging the 4-time estimation results of the flight altitude information of the aircraft target 1 to obtain the altitude estimation value of the aircraft target 1
Figure BDA0002710468210000098
Figure BDA0002710468210000099
In summary, the invention provides an aircraft target height estimation method based on a hybrid propagation high-frequency ground wave radar, and the method can accurately estimate the flight height information of an aircraft target by using ground wave path echo information and sky wave path echo information obtained in a hybrid propagation mode under the layout of a single-station high-frequency ground wave radar, provide the flight height information of the target on the basis of providing target distance, speed and angle information by the traditional high-frequency ground wave radar, improve the target positioning accuracy, facilitate target detection and track tracking, and has the characteristics of simple system layout, convenient method implementation, high height estimation value accuracy and the like.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (1)

1. An aircraft target height estimation method based on a hybrid propagation high-frequency ground wave radar is characterized by comprising the following steps: the estimation method comprises the following steps:
The method comprises the following steps: carrying out range, Doppler and digital beam forming processing on echo signals of the high-frequency ground wave radar, wherein the range dimension of data is R, the speed dimension of the data is D, and the angle dimension of the data is A, so as to obtain a range-speed-angle three-dimensional data block { data }, wherein the dimension is R multiplied by D multiplied by A;
step two: in echo signals of a high-frequency ground wave radar, ground wave path echo information of an airplane target is obtained, target detection processing is carried out on a distance-speed-angle three-dimensional data block { data }, and the echo information of the airplane target is obtained
Figure FDA0003592214710000011
Wherein N is the nth aircraft target obtained after target detection, N is 1.. and N, which represents that N aircraft targets are detected in the batch of data, k is an observation data batch,
Figure FDA0003592214710000012
for the set of distance information for the kth observation of the nth aircraft target,
Figure FDA0003592214710000013
for the kth observed doppler information set for the nth aircraft target,
Figure FDA0003592214710000014
for the set of angle information for the kth observation of the nth aircraft target,
Figure FDA0003592214710000015
a set of amplitude information for the kth observation of the nth aircraft target;
step three: matching the echo target set by using a hybrid propagation high-frequency ground wave radar propagation model,acquiring sky wave path echo information of the same airplane target matched with the ground wave path echo information of the airplane target i, and selecting a certain airplane target i from an airplane target echo information set, wherein the echo information is
Figure FDA0003592214710000016
And in all the aircraft target echo information sets, other target echo information sets excluding the selected aircraft target i are expressed as
Figure FDA0003592214710000017
Using a hybrid propagation high-frequency ground wave radar propagation model to point the set
Figure FDA0003592214710000018
And set
Figure FDA0003592214710000019
The target information in the step (1) is matched to find the sky wave path distance information of the airplane target i in the mixed propagation mode
Figure FDA00035922147100000110
The method comprises the following steps:
first, distance matching is performed on the set
Figure FDA00035922147100000111
Excluding the airplane target echo information point set which does not meet the distance matching relation criterion, and recording as a distance matching airplane target echo information set
Figure FDA00035922147100000112
m1E m, the distance matching relationship criterion is represented by:
Figure FDA0003592214710000021
wherein h is the virtual height of ionospheric reflection corresponding to the observed marine space emission frequency, and R is0Is the radius of the earth, ar is the distance matching decision threshold,
then, speed matching is performed, in sets
Figure FDA0003592214710000022
Further excluding the airplane target echo information point set which does not meet the speed matching relation criterion and recording as a distance-speed matching airplane target echo information set
Figure FDA0003592214710000023
m2∈m1The velocity matching relationship criterion is represented by:
Figure FDA0003592214710000024
wherein,
Figure FDA0003592214710000025
is the incident angle of the sky wave path echo signal, Deltav is the velocity matching decision threshold,
then, angle matching is performed to assemble
Figure FDA0003592214710000026
Further excluding the airplane target echo information point set which does not meet the angle matching relation criterion and recording as a distance-speed-angle matching airplane target echo information set
Figure FDA0003592214710000027
m3∈m2The angle matching relationship criterion is represented by:
Figure FDA0003592214710000028
wherein, Delta theta is an angle matching judgment threshold,
finally, amplitude matching is performed, in sets
Figure FDA0003592214710000029
Further eliminating the airplane target echo information point set which does not meet the amplitude matching relation criterion, and finally obtaining the sky wave path echo information point set of the same airplane target i matched with the ground wave path echo information of the airplane target i
Figure FDA00035922147100000210
j∈m3The amplitude matching relationship criterion is represented by:
Figure FDA00035922147100000211
wherein, Delta a is an amplitude matching judgment threshold,
therefore, a ground wave path echo information point set corresponding to the airplane target i is obtained
Figure FDA00035922147100000212
Information point set of sum sky wave path
Figure FDA00035922147100000213
Step four: calculating to obtain an estimated value of the corresponding flight altitude information of the aircraft target i through a mixed propagation mode propagation model by using the two propagation path echo information of the same aircraft target obtained by matching
Figure FDA0003592214710000031
When considering the rectangular plane coordinate system model and neglecting the influence of the curvature radius of the earth, referring to the schematic diagram of the rectangular plane coordinate system model shown in FIG. 2, the estimated value of the flight altitude information of the airplane target i
Figure FDA0003592214710000032
Can be calculated from the following equation:
Figure FDA0003592214710000033
the solution is obtained by dissolving the raw materials,
Figure FDA0003592214710000034
when considering the earth surface coordinate system model and the condition that the target is in the sight distance range, referring to the schematic diagram of the earth surface coordinate system model shown in FIG. 3, the estimated value of the flight height information of the airplane target i
Figure FDA0003592214710000037
Can be calculated from the following equation:
Figure FDA0003592214710000035
the solution is obtained by dissolving the raw materials,
Figure FDA0003592214710000036
wherein the coefficient term
Figure FDA0003592214710000041
R1Is obtained by solving the following quintic equation in one element,
Figure FDA0003592214710000042
finally, averaging k times of estimation results of the flight altitude information of the airplane target i to obtain an altitude estimation value of the airplane target i
Figure FDA0003592214710000043
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