CN113850338A - Passive beyond visual range radar data and electronic reconnaissance satellite data asynchronous fusion method - Google Patents

Passive beyond visual range radar data and electronic reconnaissance satellite data asynchronous fusion method Download PDF

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CN113850338A
CN113850338A CN202111157966.2A CN202111157966A CN113850338A CN 113850338 A CN113850338 A CN 113850338A CN 202111157966 A CN202111157966 A CN 202111157966A CN 113850338 A CN113850338 A CN 113850338A
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fusion
horizon radar
electronic reconnaissance
passive
reconnaissance satellite
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张卓伟
朱润
沈凡
杨鸣冬
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724th Research Institute of CSIC
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/25—Fusion techniques
    • G06F18/251—Fusion techniques of input or preprocessed data
    • 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

Abstract

The invention relates to an asynchronous fusion method of passive over-the-horizon radar data and electronic reconnaissance satellite data, which comprises the following steps: the passive over-the-horizon radar and the electronic reconnaissance satellite respectively carry out continuous detection on the radiation source target; the azimuth angle of a radiation source target relative to the passive over-the-horizon radar is calculated through radiation source parameters detected by the passive over-the-horizon radar and the electronic reconnaissance satellite respectively; taking the least common multiple of the sampling period of the passive over-the-horizon radar and the sampling period of the electronic reconnaissance satellite as the fusion period T of the system; taking the sampling time of the fusion center as a reference, and sequencing the direction finding results of the passive beyond-the-horizon radar and the electronic reconnaissance satellite in the Mth fusion period according to the sequence of the sampling time; and fusing A azimuth measurement values sequentially obtained in the fusion period, wherein the fusion result is used as the direction finding result of the Mth fusion moment. The invention can effectively solve the asynchronous fusion problem of passive over-the-horizon radar data and electronic reconnaissance satellite data.

Description

Passive beyond visual range radar data and electronic reconnaissance satellite data asynchronous fusion method
Technical Field
The invention relates to the field of probe data fusion.
Background
With the accelerated development of war forms, the detection of radiation source targets by means of only a single detection system to obtain parameter information thereof has failed to meet the battle requirements. To this end, the concept of multi-source information fusion is proposed. Multi-source information fusion, also known as multi-sensor data fusion, was first proposed in the 70's of the 20 th century. The multi-source information fusion is an information processing technology which is adopted for integrating useful information given by a plurality of information sources under certain criteria to complete a desired task. In the actual military and civil fields, the asynchronous information fusion problem is the most common. Asynchronous information fusion is caused by different sampling rates of adopted sensors, different delays in transmission and the like.
The passive over-the-horizon radar mainly utilizes the propagation characteristic of troposphere scattering to conceal and receive the information of target radiation sources outside the horizon and realize over-the-horizon detection and positioning of active radiation sources. At present, a method of cross positioning of two observation stations is mostly adopted, and passive over-the-horizon positioning is carried out on a radiation source under the conditions that the respective positions of the observation stations, the distances between the observation stations and the direction finding results of the observation stations on the radiation source target are known. It follows that an important prerequisite for achieving accurate positioning of the radiation source target is accurate direction finding of the radiation source target. However, due to the influence of factors such as troposphere fluctuation and beam scanning, the result of the passive over-the-horizon radar when the direction of a radiation source target is measured often has certain errors, and the direction measurement precision is low. The electronic reconnaissance satellite can reconnaissance the radiation source target from the sea and the land, obtain information including radiation source parameters, radiation source positions and the like, and has high direction finding precision.
In the prior art, the data continuity of passive over-the-horizon radar data is good, but the direction finding precision is low, so that the requirement of high-precision target tracking cannot be met; the direction finding precision of the electronic reconnaissance satellite is high, but the data loss is serious, and the data continuity is poor. How to combine the passive over-the-horizon radar data with the data of the electronic satellite reconnaissance satellite and give consideration to both the data continuity and the direction finding precision is an important problem to be solved.
Disclosure of Invention
Aiming at the problems, the invention provides an asynchronous fusion method of passive over-the-horizon radar data and electronic reconnaissance satellite data, which fuses the passive over-the-horizon radar data and the detection data of an electronic reconnaissance satellite, obtains higher direction-finding precision while ensuring the continuity of the data and meets the requirement of real-time direction-finding of a radiation source target.
The invention provides an asynchronous fusion method of passive over-the-horizon radar data and electronic reconnaissance satellite data, which comprises the following steps:
the passive over-the-horizon radar and the electronic reconnaissance satellite respectively carry out continuous detection on the radiation source target; the azimuth angle of a radiation source target relative to the passive over-the-horizon radar is calculated through radiation source parameters detected by the passive over-the-horizon radar and the electronic reconnaissance satellite respectively;
taking the least common multiple of the sampling period of the passive over-the-horizon radar and the sampling period of the electronic reconnaissance satellite as the fusion period T of the system; taking the sampling time of the fusion center as a reference, sequencing direction finding results of the passive over-the-horizon radar and the electronic reconnaissance satellite in the Mth fusion period according to the sequence of the sampling time, and obtaining A sequentially arranged azimuth measurement values; and fusing A azimuth measurement values sequentially obtained in the fusion period, wherein the fusion result is used as the direction finding result of the Mth fusion moment.
The passive over-the-horizon radar direction-finding method has the advantages that the passive over-the-horizon radar data with different sampling data rates and the electronic satellite reconnaissance data are asynchronously fused, the advantages of good data continuity of the passive over-the-horizon radar and high direction-finding precision of the electronic reconnaissance satellite data are taken into consideration, the direction-finding precision of the passive over-the-horizon radar is improved, the requirement for real-time direction finding of a radiation source target is met, and the passive over-the-horizon radar direction-finding method has certain engineering application value.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a schematic illustration of a mapped sample;
fig. 3 is a flow chart of a fusion algorithm.
Detailed Description
The invention will be further explained with reference to the following examples and the accompanying drawings.
The implementation process and the software flow of the invention are shown in figure 1, and the specific steps are as follows:
step 1: the passive over-the-horizon radar and the electronic reconnaissance satellite respectively detect the radiation source target at different sampling rates;
step 2: the azimuth angle of a radiation source target relative to a platform where the passive over-the-horizon radar is located is calculated through radiation source parameters detected by the passive over-the-horizon radar and the electronic reconnaissance satellite respectively, and the detected radiation source parameters specifically comprise: receiving time, longitude of a radiation source detected by the passive over-the-horizon radar, latitude of a radiation source detected by the passive over-the-horizon radar, longitude of a radiation source detected by the electronic reconnaissance satellite, latitude of a radiation source detected by the electronic reconnaissance satellite, longitude of a platform where the passive over-the-horizon radar is located, and latitude of a platform where the passive over-the-horizon radar is located, wherein the calculated azimuth is obtained by calling a distance function in matlab;
and step 3: taking the least common multiple of the sampling period R of the passive over-the-horizon radar and the sampling period S of the electronic reconnaissance satellite as the fusion period T of the system;
and 4, step 4: taking the sampling time of the fusion center as a reference, sequencing direction finding results of the passive over-the-horizon radar and the electronic reconnaissance satellite in the Mth fusion period according to the sequence of the sampling time to obtain A sequentially arranged azimuth measurement values, mapping the A sequentially arranged azimuth measurement values to a reference axis taking the sampling time of the fusion center as a reference, wherein the mapping effect is shown in figure 2, tM-1、tMThe fusion time is respectively the M-1 th fusion time and the M-th fusion time; ma(a is 1,2, …, a) is the a-th sampling point in the mth fusion period, and the corresponding sampling time is ta(a ═ 1,2, …, a), the chronological order of the sampling instants in the mth fusion cycle is: t is tM-1≤t1≤…≤ta≤ta+1≤…≤tA≤tM；
And 5: fusing A azimuth measurement values sequentially obtained in a fusion period, taking a fusion result as a direction finding result of the Mth fusion moment, and the step 5 comprises the following substeps:
(5a) modeling the states of two adjacent sampling moments, wherein the established state equation and observation equation are as follows:
Figure BDA0003289015260000031
wherein x (a) represents the state at the a-th sampling instant; z (a) represents the azimuth observation at the a-th sampling time; f is a state transition matrix; h is an observation matrix; ω (a) and v (a) are process noise and observation noise, respectively, both being white gaussian noise with a mean value of zero;
(5b) referring to FIG. 3, the orientation posteriori estimation at the M-1 fusion time instant
Figure BDA0003289015260000032
And on the basis of the error covariance posterior estimation p (M-1| M-1), performing one-step prediction on the P (M-1| M-1) to obtain an azimuth prior estimation and an error covariance prior estimation at the Mth fusion moment, wherein the azimuth prior estimation and the error covariance prior estimation are respectively as follows:
Figure BDA0003289015260000033
p(M|M-1)＝Fp(M-1|M-1)FT+Q
wherein FTDenotes the transpose of F, Q is the variance of the process noise;
(5c) and sequentially and gradually updating the prior estimation of the state and the prior estimation of the error covariance forward by utilizing each azimuth measurement value which arrives in sequence in the Mth fusion period, and firstly predicting the state and the error covariance in one step when updating once:
Figure BDA0003289015260000034
wherein
Figure BDA0003289015260000035
Is the state posterior estimation of the (a-1) th sampling point of the Mth fusion period;
Figure BDA0003289015260000036
state prior estimation is carried out on the a sampling point of the Mth fusion period; p (M)a-1|Ma-1) Is the a-1 th sample of the Mth fusion periodError covariance posteriori estimation of the points; p (M)a|Ma-1) The method comprises the steps of firstly, carrying out error covariance prior estimation on an a-th sampling point of an Mth fusion period; and then calculating Kalman gain, wherein the calculation formula of the Kalman gain is as follows:
K(Ma)＝p(Ma|Ma-1)HT[Hp(Ma|Ma-1)HT+R]-1
finally, updating the state prior estimation and the error covariance prior estimation to obtain the state posterior estimation and the error covariance posterior estimation of the a-th sampling point of the M-th fusion period as follows:
Figure BDA0003289015260000037
wherein z (M)a) Is the azimuth observation value of the a-th sampling point of the M-th fusion period; r is the variance of the process noise, I is the identity matrix;
(5d) and estimating the state posterior of the a sampling point of the Mth fusion period as the direction finding result of the Mth fusion moment.

Claims (5)

1. The passive over-the-horizon radar data and electronic reconnaissance satellite data asynchronous fusion method is characterized by comprising the following steps of:
step 1: the passive over-the-horizon radar and the electronic reconnaissance satellite respectively detect a radiation source target;
step 2: the azimuth angle of a radiation source target relative to a platform where the passive over-the-horizon radar is located is calculated through radiation source parameters detected by the passive over-the-horizon radar and the electronic reconnaissance satellite respectively;
and step 3: taking the least common multiple of the sampling period of the passive over-the-horizon radar and the sampling period of the electronic reconnaissance satellite as the fusion period T of the system;
and 4, step 4: taking the sampling time of the fusion center as a reference, sequencing direction finding results of the passive over-the-horizon radar and the electronic reconnaissance satellite in the Mth fusion period according to the sequence of the sampling time, and obtaining A sequentially arranged azimuth measurement values;
and 5: and fusing A azimuth measurement values sequentially obtained in the fusion period, wherein the fusion result is used as the direction finding result of the Mth fusion moment.
2. The asynchronous fusion method of passive over-the-horizon radar data and electronic reconnaissance satellite data of claim 1, characterized by: the radiation source parameters detected by the passive over-the-horizon radar and the electronic reconnaissance satellite in the step 2 comprise: the receiving time, the longitude of a radiation source detected by the passive over-the-horizon radar, the latitude of a radiation source detected by the passive over-the-horizon radar, the longitude of a radiation source detected by the electronic reconnaissance satellite, the latitude of a radiation source detected by the electronic reconnaissance satellite, the longitude of a platform where the passive over-the-horizon radar is located, and the latitude of a platform where the passive over-the-horizon radar is located.
3. The asynchronous fusion method of passive over-the-horizon radar data and electronic reconnaissance satellite data of claim 1, characterized by: the Mth fusion period in step 4 is tM-1≤t≤tMWherein t represents time, tM-1Is the M-1 fusion time, tMIs the mth fusion time.
4. The asynchronous fusion method of passive over-the-horizon radar data and electronic reconnaissance satellite data of claim 1, characterized by: when the passive over-the-horizon radar and the electronic reconnaissance satellite are arranged in time sequence in the step 4, if the sampling time of the passive over-the-horizon radar is consistent with that of the electronic reconnaissance satellite, the direction finding result of the passive over-the-horizon radar is arranged in front, the direction finding result of the electronic reconnaissance satellite is arranged behind, and the time sequence of each sampling moment in the Mth fusion period is as follows: t is tM-1≤t1≤…≤ta≤ta+1≤…≤tA≤tMWherein t isaThe a-th sampling instant after the sorting is shown, a being 1,2, …, a.
5. The asynchronous fusion method of passive over-the-horizon radar data and electronic reconnaissance satellite data of claim 1, characterized by: the fusion process in step 5 comprises the following steps:
(5a) modeling the states of two adjacent sampling moments, wherein the established state equation and observation equation are as follows:
Figure FDA0003289015250000011
wherein x (a) represents the state at the a-th sampling instant; z (a) represents the azimuth observation at the a-th sampling time; f is a state transition matrix; h is an observation matrix; ω (a) and v (a) are process noise and observation noise, respectively, both being white gaussian noise with a mean value of zero;
(5b) azimuth posterior estimation at fusion time M-1
Figure FDA0003289015250000021
And on the basis of the error covariance posterior estimation p (M-1| M-1), performing one-step prediction on the P (M-1| M-1) to obtain an azimuth prior estimation and an error covariance prior estimation at the Mth fusion moment, wherein the azimuth prior estimation and the error covariance prior estimation are respectively as follows:
Figure FDA0003289015250000022
p(M|M-1)＝Fp(M-1|M-1)FT+Q
wherein FTDenotes the transpose of F, Q is the variance of the process noise;
(5c) the prior estimation of the state and the prior estimation of the error covariance are sequentially updated step by utilizing the sequentially arrived azimuth measurement values in the Mth fusion period, the single update is carried out according to the process of 'state one-step prediction-error covariance one-step prediction-Kalman gain calculation-state update-error covariance update', and the formula for updating is as follows:
Figure FDA0003289015250000023
wherein
Figure FDA0003289015250000024
Is the state posterior estimation of the (a-1) th sampling point of the Mth fusion period;
Figure FDA0003289015250000025
state prior estimation is carried out on the a sampling point of the Mth fusion period; p (M)a-1|Ma-1) Is the error covariance posterior estimate of the (a-1) th sampling point of the Mth fusion period; p (M)a|Ma-1) The method comprises the steps of firstly, carrying out error covariance prior estimation on an a-th sampling point of an Mth fusion period; k (M)a) Is the kalman gain; z (M)a) Is the azimuth observation value of the a-th sampling point of the M-th fusion period; r is the variance of the process noise, I is the identity matrix;
(5d) and estimating the state posterior of the a sampling point of the Mth fusion period as the direction finding result of the Mth fusion moment.
CN202111157966.2A 2021-09-30 2021-09-30 Passive beyond visual range radar data and electronic reconnaissance satellite data asynchronous fusion method Pending CN113850338A (en)

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