CN113109804B - Working mode of target tracking of phased array radar group - Google Patents
Working mode of target tracking of phased array radar group Download PDFInfo
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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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
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- 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
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- 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
- G01S13/883—Radar or analogous systems specially adapted for specific applications for missile homing, autodirectors
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Abstract
On the basis of defining the concept of a working mode of target tracking of a phased array radar group, the invention comprises the following steps: classification of group targets; a scanning area forming method for group target tracking; a scanning area following mode of group target tracking; a narrow-sense group target tracking mode, a generalized group target tracking mode, and a mixed group target tracking mode. The method is characterized in that a scanning area moves along with the movement of a group target, the size of the scanning area changes along with the change of the scale of the group target, and the method has the characteristics of insensitivity to target maneuvering, comprehensive coverage on group target members, integration of target tracking and situation cognition and capability of measuring the number of the targets. The method is suitable for tracking single and multiple groups of targets by a single radar and also suitable for tracking single and multiple groups of targets by multiple radars; the method is suitable for both narrow-band phased array radars and broadband phased array radars; the method is suitable for multi-target radars and optical systems. The method is an independent and brand-new working mode of the phased array radar, and has revolutionary significance for the design and development of the phased array radar.
Description
Technical Field
The invention relates to the field of information processing, in particular to the field of group target tracking of radars and optical systems.
Background
In the early development stage of phased array radar, a target formation formed by more than three targets is tracked, and formation target tracking is realized by adopting a mode of respectively irradiating two edge targets on the left and the right of the formation and a formation central target by using three beams, so that radar resources are saved. With the increase of the density among multiple targets and the diversity of target characteristics, the concept of the group target appears on the basis of developing and enriching the intension of the formation target. Group goals, also known as target groups or blob goals, are concepts developed from formation goals. However, the currently defined group targets do not unify the density among multiple targets and the diversity of target characteristics, and are not classified, and the basic idea of group target tracking under the definition is to distinguish a single target as much as possible, rather than treat a group target as a class target. As the probing and anti-probing confrontation is increased, the group targets are presented with more and more types, the scenes are more and more complex, and the group target members are more and more diverse, so that the concept of the group targets needs to be redefined and reasonably classified to be adapted to the development of the group targets.
The phased array radar has the outstanding characteristic of rapid scanning due to the antenna beam, so that the phased array radar has the capability of completing various detection tasks, and the various detection tasks naturally require various working modes. The existing phased array radar has three or five working modes, wherein the first mode is a basic mode and comprises two working modes of tracking and searching; the second type is a transition mode, which refers to a working mode of switching from search to tracking; the third type is a derivative mode, which comprises two working modes of TWS and TAS, wherein TWS is an English abbreviation of a working mode of scanning and tracking at the same time, and refers to a working mode of tracking a single or a plurality of targets at the same time of scanning and searching a space by a radar, wherein the working mode refers to a working mode adopted when the phased array radar detects the targets, and does not comprise a testing mode of the phased array radar; the TAS is an english abbreviation of a tracking and scanning working mode, is a working mode specific to the phased array radar and capable of fully exerting the multi-beam capability of the phased array radar, and means that a radar search task and a tracking task are independently completed in a time-alternative or simultaneous multi-beam mode by utilizing the multi-beam capability of the phased array radar. The working modes are used independently or in combination to complete the detection tasks of single targets and multiple targets with different distances, heights and directions. However, the current phased array radar does not have an operation mode corresponding to group target tracking.
For group targets such as space fragment groups, low-small slow drone groups and distributed ammunition typical targets, phased array radars will face the task of probing single group targets and multi-group targets with different densities, different distribution areas and different occupied spaces. The above-described operation of the phased array radar is not directly applicable to group target tracking, since all or some of the group targets may be present in the same beam or within the same range gate. Therefore, what kind of operation mode the phased array radar adopts to complete the group target tracking becomes a new problem that needs to be solved.
Disclosure of Invention
Group detection, track initiation, data association, track maintenance, group target merging and separation detection, and group track cancellation techniques related to group target tracking have achieved great results, however, what kind of working way is adopted by a radar or other system for tracking group targets, and no discussion of the systems is found yet. Therefore, in order to solve the problem that the target tracking of the phased array radar group is lack of a working mode, the invention provides a working mode for the target tracking of the phased array radar group.
The working mode of phased array radar group target tracking is defined as a general name of an antenna beam scanning area forming method, a scanning area following mode and a tracking mode adopted by a phased array radar for completing a group target tracking task in a scanning area, is one of independent working modes of the phased array radar, is called the working mode of group target tracking for short, and is essentially to track the equivalent measurement of group targets and scan the space area occupied by a group target scale predicted value; the significant characteristics of the working mode of the group target tracking include that firstly, the beam scanning area of the phased array radar is aimed at the equivalent measurement of the group target, the whole beam scanning area of the phased array radar moves along with the movement of the group target, and secondly, the size of the beam scanning area of the phased array radar antenna is changed along with the change of the size of the group target; the working mode of target tracking of the phased array radar group is a fourth working mode following the basic working mode, the transition working mode and the derivative working mode of the phased array radar, namely the working mode of group target tracking. The flow of the working mode of phased array radar group target tracking is shown in fig. 1, and the schematic diagram of the two-dimensional scanning process under the rectangular coordinate system of the working mode of group target tracking is shown in fig. 2.
S1, concept and type of group target
The group targets are multi-target sets, wherein states of the multi-targets in a phased array radar beam scanning area meet a certain constraint condition, all targets are kept stable in the whole within a long enough time, and the multi-target sets are divided into three types, namely narrow group targets, generalized group targets and mixed group targets with the narrow and generalized group targets, wherein single targets are special cases of the group targets; all the multiple targets forming the group target are called group target members; the group target scale refers to the size of a space area occupied by all members of the group target; the state among multiple targets refers to the distance between group target members, the speed, the radar scattering cross section area of the targets, the identity attribute and the target shape, the state among the multiple targets meets a certain constraint condition refers to a group target forming criterion, wherein the condition that the state meets the certain constraint condition can be one or all of the states or a combination of several of the states, and the group target forming criterion supports target measurement of different data rates to form the group target.
The narrow-sense group target is one of the types of group targets, also called as a dense group target, and refers to a multi-target set in which the overall state of all targets remains relatively stable for a long enough time in a radar beam scanning area, but the states of different targets are difficult to distinguish, wherein an expanded single target is a special case of the narrow-sense group target; the generalized group target is one of the types of the group targets, also called as a sparse group target, and refers to a multi-target set in which the respective states of all targets can be distinguished in a radar beam scanning area, but the overall state remains relatively stable for a long enough time; the mixed group target is a multi-target set which has a narrow group target and a generalized group target in a radar beam scanning area; the narrow sense group target is obviously different from the broad sense group target in whether states among group target members are distinguishable, and the mixed group target is a special case of the broad sense group target.
S2, scanning area forming method for target tracking of phased array radar group
A scanning area forming method for tracking a group target includes the steps of firstly obtaining the group target scale of the previous radar period, extracting the measurement corresponding to the maximum value and the minimum value of the three dimensions of the azimuth, the pitch and the distance of the group target scale of the period, and carrying out one-step prediction on the three sets of measurement to obtain the predicted value of the maximum value and the minimum value of the three dimensions of the azimuth, the pitch and the distance, so that an area surrounded by the predicted values is the scanning area of the period.
If the phased array radar obtains M effective echoes at the time k-1, the ith measurement is expressed as
Y i (k-1)＝(R i ，α i ，β i )(i＝1，2，…，M) (1)
In formula (1): r is i 、α i 、β i The distance, the azimuth and the pitch value of the ith measurement are respectively. Order:
in the formulae (2), (3) and (4), R max (k-1)、α max (k-1)、β max (k-1) represents the maximum values of the distance, the azimuth and the pitch at the moment k-1 respectively; r is min (k-1)、α min (k-1)、β min And (k-1) represents the minimum values of the distance, the azimuth and the pitch at the moment k-1 respectively.
And (3) extracting the corresponding measurement of the maximum value and the minimum value of the azimuth, the pitch and the distance, and setting that the maximum and minimum corresponding measurements of the azimuth, the pitch and the distance are not overlapped to obtain:
and predicting the six groups of measurements at the k-1 moment in one step by using a filter to obtain k moment predicted measurements as follows:
respectively extracting the maximum value and the minimum value of six groups of pre-measurement distances, directions and pitches at the moment k to obtain:
in the formula (7)
Respectively representing the predicted values of the k moment distance, the azimuth and the pitching maximum value;
respectively representing the predicted values of the distance, the direction and the pitch minimum value at the moment k. The scan region size D (k) at time k is then:
D(k)＝ΔR(k)×ΔA(k)×ΔE(k) (8)
wherein, the azimuth and pitch angle scanning range is:
ΔA(k)×ΔE(k) (9)
Δ R (k) is the range search range, giving a more accurate range for range direction scanning.
It should be noted that the phased array radar scanning area covers six aspects of the upper and lower, left and right, front and back of the group target scale, and when the number of group target members is less than 6, the conditions of the maximum azimuth, the maximum pitching and the maximum distance or the minimum azimuth and the minimum pitching and the minimum distance are measured in the same way; when the number of group target members is greater than or equal to 6, the same measurement may be performed for the maximum azimuth, the maximum pitch and the maximum distance, or the minimum azimuth, the minimum pitch and the minimum distance, or different measurements may be performed.
S3, scanning area following mode for target tracking of phased array radar group
The scanning area following mode for tracking the group target means that the phased array radar takes equivalent measurement of the group target as measurement, the scanning area and the equivalent measurement are kept in a continuous, stable and linked relation according to a group target forming rule, and the beam scanning area of the phased array radar antenna integrally moves in real time along with the movement of the equivalent measurement of the group target by tracking the equivalent measurement of the group target. The scanning area following method for group target tracking is also referred to as a scanning area following method for group target tracking.
The TAS operation mode and TWS operation mode of the phased array radar have been introduced in the background art, and then the two operation modes are directly applied to what problem exists in group target tracking?
One is that there is no group target tracking specific function. Neither the TAS operation mode nor the TWS operation mode has the equivalent measurement formation function of the group target, nor the grouping detection, the grouping target combination and the separation detection function, and there is neither the formation of the group target nor the group tracking. The schematic diagrams of the scanning process of the operation modes of the phased array radar TWS and TAS are shown in fig. 3 and 4, respectively.
Secondly, the scanning data rate of TAS is reduced. The target tracking in the scanning area can be performed only by stopping the antenna beam scanning in the TAS following mode, namely, the tracking beam is inserted in the antenna beam scanning process, so that the scanning data rate is reduced; the following mode of the group target tracking tracks virtual equivalent measurement generated by calculation, and does not need a separate beam to irradiate any target. Therefore, the scan data rate is not lowered.
Thirdly, the purpose of following is different. The scanning area of the TAS follows the main target to find other targets that are newly present around the main target, and the scanning area following equivalent measurement of the group target tracking is to cover all group target members. The target point followed by the TAS scanning area is not internally connected with the scanning area, and is manually set according to experience or the requirement of detecting a target, or automatically set by the phased array radar.
Fourthly, the stability of the following is different. When multiple targets appear in the beam irradiating the main target in the TAS working mode and are difficult to distinguish, the following of the scanning area is unstable under the condition, even the main target is lost due to continuous error tracking, and the scanning area loses the following capability at the moment; under the condition of group target tracking, multiple targets which are difficult to distinguish in the same beam are also treated as group targets, and the equivalent measurement is always aligned with the aiming point, so that the problems of unstable tracking or equivalent measurement loss do not exist.
Fifthly, the scanning area settings are different. The scanning area of the TAS is manually set to be the largest or automatically set to be the largest, and the scanning area tracked by the group target follows the scale of the group target in real time, so that the situation that the radar resource is wasted due to too large setting of the scanning area, the situation that the target is missed due to too small setting of the scanning area and the distance scanning range can be accurately given is avoided. The following method of the swarm target tracking is the most different from the TAS following method in whether there is an intrinsic connection between the aiming point and the scanning area, where the intrinsic connection refers to the participation of all swarm target members together to form a swarm target equivalent measurement, the position of the equivalent measurement in the swarm target scale depends on the contribution of each swarm target member to the equivalent measurement, i.e. the constraint of each swarm target member on the equivalent measurement, so there is an intrinsic connection between the equivalent measurement and the swarm target scale, and the connection is continuous and stable. The main target of the tracking aiming point of the TAS and the scanning area only show the relationship in the artificial spatial sense, and other targets in the scanning area do not have any constraint on the main target.
Therefore, the existing TAS and TWS operation methods cannot be directly applied to group target tracking.
S4, tracking mode of target tracking of phased array radar group
The tracking mode of phased array radar group target tracking refers to a mode that a phased array radar adopts a scanning area forming method and a scanning area following mode for group target tracking, group targets are formed by finishing scanning of the scanning area and the group target tracking is realized, and the tracking mode comprises a narrow group target tracking mode of phased array radar group target tracking, a generalized group target tracking mode of phased array radar group target tracking, and a mixed group target tracking mode in which the narrow sense of phased array radar group target tracking and the generalized group target coexist, and is respectively referred to as the narrow group target tracking mode, the generalized group target tracking mode and the mixed group target tracking mode for short; the tracking method of the group target tracking is essentially a method of scanning while tracking, that is, a spatial region occupied by the group target scale prediction region is scanned while tracking the equivalent measurement of the group target.
S4.1, narrow sense group target tracking mode
The narrow-sense group target tracking mode refers to a tracking mode adopted by a phased array radar to complete a dense group target tracking task; the narrow sense group target tracking mode only carries out integral tracking on a dense group target and does not carry out tracking on group target members, namely after group target members in a scanning area are detected by a group target forming criterion, equivalent measurement is directly generated, equivalent measurement tracking is completed and a group target track is sent out, but data association and filtering processing are not carried out on the group target member measurement in the scanning area; under the condition that the single target is expanded to serve as the narrow-sense group target, the broadband phased array radar has the capability of identifying and measuring the quantity of the intensive multiple targets by adopting a narrow-sense group target working mode.
S4.2, generalized group target tracking mode
The generalized group target tracking mode refers to a tracking mode adopted by a phased array radar to complete a sparse group target tracking task; the generalized group target tracking mode can only carry out group target integral tracking on the sparse group target, and can also carry out group target integral and group target member simultaneous tracking on the sparse group target, the group target integral and group target member simultaneous tracking mode not only generates generalized group target equivalent measurement after group target formation criterion detection on the group target members in a scanning area, but also carries out data association and filtering processing on the group target member measurement in the scanning area, and completes the generalized group target equivalent measurement tracking and sends out a group target track, and simultaneously completes the group target member measurement tracking and sends out the target tracks; the tracking mode of the sparse group target members is the same as the TWS tracking mode, but the size of a TWS working mode scanning area of the phased array radar does not automatically change along with the change of the size of an area occupied by multiple targets, and only a single target or multiple targets are tracked without group tracking. The generalized group target working mode has the characteristic of integrating target tracking and situation cognition.
S4.3, hybrid group target tracking mode
The mixed group target tracking mode is a tracking mode which is adopted by a phased array radar to complete a tracking task of coexistence of a narrow group target and a generalized group target in a scanning area, the narrow group target and the generalized group target are treated differently and tracked simultaneously, in this case, equivalent measurement of the narrow group target is treated the same as single target measurement in the generalized group target, only group tracking is carried out on the narrow group target part, and integral tracking and group target member tracking are carried out on the generalized group target part; if the equivalent measure of the narrow-sense group target and the measure of the generalized group target member satisfy the group target formation criteria, the narrow-sense group target is also treated as one of the members of the generalized group target according to the generalized group target member.
The invention has the following beneficial effects:
(1) Strong capability of resisting target maneuvering
The working mode of group target tracking is that a phased array radar antenna beam scanning area covers a group target instead of an actual phased array radar beam to cover the group target, and under the condition of not widening the actual beam width of the phased array radar, a larger virtual wide beam is formed equivalently, so that the space coverage is enlarged, the time for a group target member to pass through the virtual wide beam is longer than the actual beam, and the group target tracking has the characteristic of being insensitive to target maneuvering.
(2) Covering all group target members
The scanning area moves in real time along with the movement of the group target, and the size of the scanning area changes along with the change of the scale of the group target, so that the phenomenon of where and how much the beam irradiates the group target in the actual beam tracking of the phased array radar is overcome, and the problems that only a certain part of the group target is tracked and only part of the target is tracked in the actual beam tracking of the group target are solved, so that the phased array radar has the characteristic of comprehensively covering all group target members in the area where the group target is located, wherein the certain part of the group target refers to the head, the tail, the edge or the center of the group target and is local to the group target. Even if the TAS operation mode is adopted, since the scanning area moves along with the main target in the TAS operation mode and the main target is not in intrinsic connection with the scanning area, the problem of incomplete target coverage still exists.
(3) Integration of target tracking and situation cognition
The method comprises the steps of processing multiple targets with similar target scattering cross-sectional areas, identical identity attribute signals and identical target shapes as group targets according to a group target forming criterion, finishing tracking of the group targets, obtaining situations among different group targets with different sizes, different identities and different types, and integrating target tracking and situation cognition.
(4) Capable of measuring the number of dense multiple targets
According to the size of signal bandwidth, phased array radars are divided into narrow-band phased array radars and wide-band phased array radars, dense multiple targets are difficult to distinguish due to the fact that the narrow-band phased array radars are not enough in resolution, but single targets in the dense multiple targets become extended single targets due to the fact that the wide-band phased array radars are used, the extended single targets serve as narrow-sense group targets to be processed and equivalent measurement is generated, the number of the narrow-sense group targets is the number of the single targets in the dense multiple-target scene, and therefore the method has the characteristic of measuring the number of the multiple targets in the dense multiple-target scene.
(5) The number of monitoring targets is more
The number of multiple targets tracked by any phased array radar is limited, the working distance of the phased array radar is a parameter closely related to the number of targets, the number of the targets is expected to be set to be consistent with task requirements as much as possible, once the number of the targets appearing in an actual task is larger than the number of the targets set before the phased array radar task or longer targets are known to be detected, the problem that phased array radar resources are not matched with the tasks can occur, but the working mode of group target tracking has three tracking modes of a narrow group target, a generalized group target and a mixed group target, part of the multiple targets can be treated as the group targets, the problem can be relieved and even solved, and the searching distance range is given by the group target scale, so that the characteristics that the phased array radar resources are saved, the number of the targets can be detected is more, and the targets are distributed more widely are achieved.
In summary, the working mode of group target tracking is suitable for both single group target and multi-group target tracking by a single phased array radar and single group target and multi-group target tracking by a multi-phased array radar; the method is suitable for both narrow-band phased array radars and broadband phased array radars; the method is suitable for tracking both a narrow-sense group target and an extended single target, a generalized group target and a single target, and a mixed group target with the coexistence of the narrow-sense group target and the generalized group target; the method is suitable for a multi-target radar system and an optical tracking system.
The working mode is used as a precondition for phased array radar resource scheduling, the working mode for target tracking of the phased array radar group is a completely new working mode for phased array radars, and has revolutionary significance for design, application and development of the phased array radars.
Drawings
Figure 1 is a schematic flow chart of the working mode of group target tracking,
FIG. 2 is a schematic diagram of a two-dimensional scanning process under a rectangular coordinate system of a working mode of group target tracking,
figure 3 is a schematic diagram of a phased array radar TWS mode of operation scanning process,
figure 4 is a schematic diagram of the scanning process of the TAS operation of the phased array radar,
figure 5 is a schematic diagram of 5 target theoretical trajectories,
figure 6 is a graphical representation of the isobaric effectiveness of 2 group targets,
FIG. 7 is a graph of 2 group target trajectories obtained using a standard Kalman filter.
Detailed Description
Taking a three-coordinate phased array radar as an example, the invention is further explained by taking the target distance as a target state and utilizing narrow-sense group target tracking with the most typical meaning.
The group target scene is designed into 5 targets which fly in parallel in a two-dimensional plane, and the initial value under the rectangular coordinate system is set as:
X1(0)＝[-22000，100，23000，-100，10000，0]；
X2(0)＝[-22050，100，23000，-100，10000，0]；
X3(0)＝[-22070，100，23000，-100，10000，0]；
X4(0)＝[-22150，100，23000，-100，10000，0]；
X5(0)＝[-22200，100，23000，-100，10000，0]。
according to the above condition setting, a schematic diagram of the set 5 target theoretical tracks is shown in fig. 5.
1) Computing group target equivalent metrics
Assuming that the phased array radar obtains M effective echoes at the time k-1, the i-th measurement is expressed as
Y i (k-1)＝(R i ，α i ，β i )(i＝1，2，…，5) (1)
In formula (1): r i 、α i 、β i The distance, direction and pitch value of the ith measurement are respectively. Equivalent measurement at time k-1:
in the formula beta i (k-1) is the weight of the ith measurement, i.e. the contribution to the equivalent measurement. Fig. 6 shows the local equivalent measurement diagrams of the group targets in the 2 rectangular coordinate systems measured by the equivalent measurement.
2) Obtaining a predicted value of the equivalent measurement of the group target, and determining a following mode of the scanning area and the predicted value of the equivalent measurement from the aiming point k-1 moment to the k moment of the scanning area
Comprises the following steps:
wherein H (k) is an observation matrix of the measurement space,
the predicted value of the state of the group target from the moment k-1 to the moment k, phi (k/k-1) is a state transition matrix from the moment k-1 to the moment k, and X (k-1) is the state at the moment k-1.
As a result of this, the number of the first and second,
namely the aiming point followed by the scanning area tracked by the phased array radar group target.
3) Scanning area formation for group target tracking
Taking according to formula (1):
in the formulae (5), (6) and (7), R max (k-1)、α max (k-1)、β max (k-1) represents the maximum values of the distance, the azimuth and the pitch at the moment k-1 respectively; r is min (k-1)、α min (k-1)、β min And (k-1) represents the minimum values of the distance, the azimuth and the pitch at the moment k-1 respectively.
The corresponding measurement of the maximum value and the minimum value of the azimuth, the pitch and the distance is extracted, and the following can be obtained:
and predicting the six groups of measurements at the k-1 moment in one step by using a filter to obtain k moment predicted measurements as follows:
respectively extracting the maximum value and the minimum value of six groups of pre-measurement distances, directions and pitches at the moment k to obtain:
in formula (10)
Respectively representing the predicted values of the k moment distance, the azimuth and the pitching maximum value;
respectively representing the predicted values of the distance, the direction and the pitch minimum value at the moment k. The scan region size D (k) at time k is then:
D(k)＝ΔR(k)×ΔA(k)×ΔE(k) (11)
wherein, the azimuth and pitch angle scanning range is:
ΔA(k)×ΔE(k) (12)
Δ R (k) is the range search range, giving a more accurate range for range direction scanning. In the implementation process, the phased array radar parameter measurement is in a polar coordinate system, and the tracking is in a rectangular coordinate system.
4) Group target tracking mode determination
Phased array radar beam width is 1 degree, range error sigma R = +/-20 m, and the angular error azimuth and pitching are sigma θ = 0.1rad. The target spacing criterion was chosen to be 50 meters and the correlation gate was quadrupled in variance, i.e. 80m. Therefore, the group targets under the above constraint conditions are two narrowly defined group targets. Then, the tracking mode is determined to be a narrow-sense group target tracking mode. A schematic diagram of 2 group target trajectories obtained using a standard kalman filter is shown in fig. 7. Wherein objects No. 1, 2, 3 form a group object and objects No. 1,4, 5 form a group object 2.
Claims (1)
1. The working mode of phased array radar group target tracking refers to a general name of an antenna beam scanning area forming method adopted by phased array radars to complete a group target tracking task, a scanning area following mode of an antenna beam scanning area moving along with a group target and a tracking mode of group target tracking, and is one of independent working modes of phased array radars, which is referred to as a group target tracking working mode for short; the method has the remarkable characteristics that firstly, the phased array radar tracks equivalent measurement of a group target, and a beam scanning area of an antenna of the phased array radar moves along with the movement of the equivalent measurement of the group target, so that a continuous and stable relationship with an internal relation exists between a target point tracked by the group target and the edge of the scanning area; secondly, the size of a phased array radar beam scanning area changes in real time along with the change of the size of a group target; all the multiple targets forming the group target are called group target members, the size of a space area occupied by all the group target members is called group target scale, and virtual measurement which is formed by all the group target members and used for describing the overall state of the group target is called equivalent measurement of the group target and is called equivalent measurement for short;
the group targets are multi-target sets, wherein states of multiple targets in a beam scanning area of the phased array radar antenna meet a certain constraint condition, all targets are kept stable in a long enough time, and the multi-target sets are divided into three types, namely narrow group targets, generalized group targets and mixed group targets with the narrow and generalized group targets coexisting, wherein single targets are special cases of the group targets; the narrow-sense group target is one of the types of the group targets, also called as a dense group target, and refers to a multi-target set in which the overall state of all targets remains relatively stable in an antenna beam scanning area, but the states of different targets are difficult to distinguish, wherein the expanded single target is a special case of the narrow-sense group target; the generalized group target is one of the types of the group targets, also called as a sparse group target, and refers to a multi-target set in which the respective states of all targets can be distinguished in an antenna beam scanning area, but the overall state remains relatively stable; the mixed group target refers to a multi-target set in which a narrow-sense group target and a generalized group target coexist in an antenna beam scanning area, wherein the mixed group target is a special case of the generalized group target; the state among multiple targets refers to the distance, the speed, the radar scattering cross section area of the targets, the identity attribute and the target shape among the group target members, the state among the multiple targets meets a certain constraint condition refers to a group target forming criterion, wherein the condition that the certain constraint condition is met can be that one or all constraint conditions of the state form the group target forming criterion, or the combination of several constraint conditions form the group target forming criterion, and the group target forming criterion supports the measurement of the group target members with different data rates to form the group target;
the method for forming the scanning area for tracking the target of the phased array radar cluster is referred to as a cluster target tracking scanning area forming method, namely that the beam of a phased array radar antenna finishes scanning a preset area in the last radar period to generate a periodic cluster target scale, six measurements corresponding to the maximum value and the minimum value of the three dimensions of the azimuth, the elevation and the distance of the periodic cluster target scale are extracted, predicted values of the six measurements from the current period are obtained through one-step prediction by a filter, and the area surrounded by the maximum value and the minimum value of the azimuth, the elevation and the distance predicted values of the six measurements in the current period is a scanning area of the current period; the scanning of the phased array radar antenna beam on the scanning area can be single-beam scanning or multi-beam scanning, and the multi-beam can be multi-beam scanning of a single-phase phased array radar or multi-beam scanning of a plurality of phased array radars;
the method for tracking the scanning area of the antenna beam tracked by the phased array radar group target to follow the movement of the group target is referred to as the method for following the scanning area tracked by the group target, which means that the phased array radar takes the equivalent measurement of the group target as measurement, the equivalent measurement is kept continuous, stable and linked with the edge of the group target scale according to the group target forming criterion, and the antenna beam scanning area integrally follows the movement of the equivalent measurement of the group target to move by tracking the equivalent measurement of the group target;
the tracking mode of phased array radar group target tracking, referred to as group target tracking mode for short, means that phased array radar adopts a group target tracking scanning area forming method and a group target tracking scanning area following mode to realize group target integral tracking or group target integral and group target member simultaneous tracking, and includes three modes of phased array radar group target tracking narrow sense group target tracking mode, phased array radar group target tracking generalized group target tracking mode, phased array radar group target tracking narrow sense and generalized group target coexisting mixed group target tracking mode, referred to as narrow sense group target tracking mode, generalized group target tracking mode and mixed group target tracking mode for short respectively; the group target integral tracking is called group tracking for short, and the group target integral and group target member simultaneous tracking is called full tracking for short;
the narrow-sense group target tracking mode refers to a tracking mode adopted by a phased array radar to complete a dense group target tracking task; the narrow sense group target tracking mode only carries out group tracking on the dense group target and does not carry out tracking on group target members, namely after group target members in a scanning area are detected by a group target forming criterion, equivalent measurement is directly generated, equivalent measurement tracking is completed, and a group target track is sent out, but the group target members in the scanning area are not tracked; the high resolution capability of the broadband phased array radar is utilized, the extended single target is regarded as a narrow-sense group target, and the broadband phased array radar adopting the narrow-sense group target tracking mode has the capability of measuring the quantity of dense multiple targets;
the generalized group target tracking mode refers to a tracking mode adopted by a phased array radar to complete a sparse group target tracking task; the generalized group target tracking mode can only carry out group tracking on the sparse group target without tracking group target members, and can also track the group target members while carrying out group tracking; the generalized group target tracking mode has the characteristic of integrating target tracking and situation cognition;
the mixed group target tracking mode refers to a tracking mode which is adopted by the phased array radar to complete a tracking task of coexistence of a narrow group target and a generalized group target in a scanning area, and the narrow group target and the generalized group target are treated differently and tracked simultaneously; equivalent measurement of a narrow-sense group target is treated the same as single target measurement in a generalized group target, the narrow-sense group target part only carries out group tracking, and the generalized group target part can carry out group tracking or full tracking; if the equivalent measurement of the narrow-sense group target and the measurement of the generalized group target member satisfy the group target formation criterion, the narrow-sense group target is also treated as one of the members of the generalized group target according to the generalized group target member; the working mode of group target tracking is also applicable to optical systems.
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