CN114415172A - Vehicle-mounted distributed radar detection system, control method and data fusion processing method - Google Patents
Vehicle-mounted distributed radar detection system, control method and data fusion processing method Download PDFInfo
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- CN114415172A CN114415172A CN202111505827.4A CN202111505827A CN114415172A CN 114415172 A CN114415172 A CN 114415172A CN 202111505827 A CN202111505827 A CN 202111505827A CN 114415172 A CN114415172 A CN 114415172A
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- G—PHYSICS
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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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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- B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
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Abstract
The system comprises mounting supports, phased array radars and a cooperative control module, wherein the two groups of mounting supports are respectively mounted on the front side and the rear side of a vehicle body, the phased array radars are fixedly mounted on the mounting supports, the phased array radars are used for detecting targets and outputting detection information of the targets based on self position references, and the cooperative control module is used for realizing networking cooperative work of the two phased array radars. The application has the following expected technical effects: install two array radars respectively in both sides around the automobile body, set up silence area, the form of network deployment collaborative work through two radars, realize the full coverage to 360 degrees azimuths, this kind of distributed radar's structural style can install the radar under photoelectric detection equipment's the visual field, effectively avoids radar, photoelectric detection equipment to survey the interference in airspace each other, satisfies the application demand of on-vehicle equipment to radar/photoelectric composite detection.
Description
Technical Field
The application relates to the technical field of low-altitude target early warning detection, in particular to a vehicle-mounted distributed radar detection system, a control method and a data fusion processing method.
Background
Radar detection and photoelectric detection are important detection means in vehicle-mounted anti-unmanned aerial vehicle equipment, effectively combine two detection modes, realize the compound detection of integration, and through advantage complementation, discovery probability, detection precision and complex environment adaptability that can effectively promote the system.
In the application of actual vehicle-mounted equipment, a radar and a photoelectric detection device are required to cover a 360-degree azimuth airspace and a larger pitching airspace, and in order to avoid the problem that the photoelectric detection device and the radar detection airspace are shielded from each other, the conventional photoelectric/radar composite detection system is installed in a common frame mode.
With respect to the related art among the above, the inventors consider that the following drawbacks exist: the common frame type installation form has larger volume and weight, can not be completely collected into the vehicle body, and has certain influence on the trafficability of the vehicle; meanwhile, the photoelectric detection equipment is generally high in installation accuracy requirement and sensitive to vibration conditions, and mutual interference between the radar and the photoelectric detection equipment to a certain degree can be caused by the common structural form, so that improvement is needed.
Disclosure of Invention
The application provides a vehicle-mounted distributed radar detection system, a control method and a data fusion processing method, which aim to improve the following technical problems: the conventional vehicle-mounted radar and the photoelectric detection equipment are mounted in a common mode, are large in size and weight, cannot be completely collected into a vehicle body, and can cause mutual interference between the radar and the photoelectric detection equipment to a certain degree.
In a first aspect, the present application provides a vehicle-mounted distributed radar detection system, which adopts the following technical scheme:
the utility model provides a vehicle-mounted distributed radar detection system, including two sets of installing supports, two phased array radars and cooperative control module, both sides around the automobile body are installed respectively to two sets of installing supports, phased array radar fixed mounting just can the free rotation work on the installing support, the phased array radar is used for the target to survey and output the target based on the detection information of self position benchmark, detection information includes but not limited to the azimuth, the pitch angle, the distance, speed, cooperative control module is used for realizing the network deployment cooperative work of two phased array radars, the mounted position of phased array radar is located under photoelectric detection equipment's the field of view.
Furthermore, a rotary table is arranged on the body of the phased array radar, and the phased array radar is fixedly installed on the installation support through an installation interface on the rotary table.
Furthermore, the cooperative control module controls the azimuth wave beams at the same moment to be same in direction, and the cooperative control module calculates the time difference of sending a starting working instruction to the two phased array radars according to the zero azimuth angle difference and the time of starting the rotary table and the rotating speed.
Furthermore, the phased array radar realizes 360-degree scanning in the horizontal direction through the rotary motion of the rotary table, and the phased array radar realizes the scanning of radar beams in the pitching direction through controlling the phase and the amplitude of array elements of the radar array surface.
Further, the phased array radar is a one-dimensional phase scanning radar.
Furthermore, the initial direction of the array surfaces of the two phased array radars points to the vehicle head, the initial direction of the array surfaces of the phased array radars is defined to be 0-degree direction, and the scanning of the two phased array radars ensures that the azimuth angle range which is larger than 180 degrees is covered.
Further, defining the clockwise direction as the direction of increasing azimuth angle,
the working azimuth angle range of the phased array radar positioned at the locomotive is 280-110 degrees, and the rest angle ranges are silent areas of the phased array radar positioned at the locomotive;
the working azimuth angle range of the phased array radar positioned at the tail of the vehicle is 95-305 degrees, and the rest angle ranges are silent areas of the phased array radar positioned at the tail of the vehicle.
Furthermore, the reference coordinate system of target fusion and target association of the two phased array radars is the radar coordinate system of the phased array radar located at the vehicle head, the phased array radar located at the vehicle tail converts the detected target track into the phased array radar located at the vehicle head according to the relative position relation of the two phased array radars, and the cooperative control module receives the target track information output by the two phased array radars in a unified coordinate system and then performs fusion and association to form target track information centering on the phased array radar located at the vehicle head.
In a second aspect, the present application provides a control method for a vehicle-mounted distributed radar detection system, which adopts the following technical scheme:
a control method of the vehicle-mounted distributed radar detection system comprises the following steps:
the phased array radar has the following two working modes: the method comprises a search mode and a tracking mode, wherein in the search mode, two phased array radars perform rotary scanning in a clockwise direction and detect the airspace covered by each phased array radar; in a tracking mode, the two phased array radars are controlled by an instruction of the cooperative control module, continuously detect a certain specified azimuth angle and output a detection result of a target;
after the two phased array radars complete system electrification, connection establishment and normal self-checking, the cooperative control module issues a search instruction, the two phased array radars start to rotate and scan clockwise after receiving the instruction, at the moment, the phased array radar located at the head of the vehicle is in a transmitting state, the phased array radar located at the tail of the vehicle is in a silent state, the two phased array radars are in an alternate working state according to the silent angle setting of the two phased array radars, and clockwise scanning coverage of 360-degree azimuth angles is completed through cooperative work;
after an effective target is detected and batched, the two phased array radars output target track information, wherein the track information comprises but is not limited to speed, angle, distance and height, the cooperative control module issues a target tracking instruction according to the spatial position of the actual target, controls the phased array radars with a larger trackable range to execute a target tracking task, and selects whether the other phased array radar synchronously enters a tracking mode or not and executes the tracking task according to the actual airspace detection condition and the target flight condition;
if the cooperative control module selects another phased array radar to synchronously execute the tracking task, the two phased array radars simultaneously carry out the tracking mode on the target and continuously output the relevant information of the target track; if the other phased array radar does not execute the tracking task, the search and detection task of the current airspace is continuously executed;
according to the actual task execution condition, if the vehicle-mounted equipment finishes the treatment of the tracking target, the control module issues the tracking task of finishing the target, and at the moment, the radar executing the tracking task can be selected by the cooperative control module to be switched into a search mode again or not;
if the search mode is switched to again, the cooperative control module sends an instruction, and the two phased array radars enter the cooperative search state again; if the detection task is finished, sending an instruction by the cooperative control module, enabling the two phased array radars to enter a standby mode, and ending the working process;
when the two phased array radars are used for collaborative search, each target track in a 360-degree azimuth range can be formed, a user can select a certain suspicious target track on a collaborative control module software interface to perform tracking, and then a forwarding tracking instruction is issued;
after receiving a turn-tracking instruction, the phased array radar can select whether to execute cooperative tracking, if the cooperative tracking mode of the two phased array radars is determined, the cooperative control module sends an instruction down, the two phased array radar array surfaces are simultaneously turned to a target direction, the coverage range of the current two phased array radars to the target trackable direction can be respectively calculated according to the current azimuth angle and the motion direction of the target and the directions of the current two phased array radars, the phased array radar with the large coverage range is selected to execute tracking, and meanwhile, the other phased array radar also points to the target direction in real time but does not transmit beams in a silent state;
in the subsequent tracking process, the two phased array radars point to the target direction, the tracking azimuth range which can be covered by the two phased array radars is calculated in real time, when the tracking range of the other phased array radar is larger, the other phased array radar is switched to transmit a beam to execute a tracking task, and the beam receiving and transmitting states of the two phased array radars are switched, namely the original silent phased array radar starts to transmit and the original phased array radar starts to silence, so that the full airspace tracking of the target is realized;
if a certain phased array radar is selected to independently execute a target tracking task, a cooperative control module issues a control instruction, the phased array radar with a large tracking range is selected to execute the tracking task, the other phased array radar continues to execute a current search task, the phased array radar executing the tracking task turns to the target direction, the radar direction is adjusted in real time according to a tracking result, meanwhile, the cooperative control module calculates the coverage range of the two current phased array radars to the target trackable direction in real time according to the current azimuth angle and the motion direction of the target, and when the tracking range of the other phased array radar is larger, the other phased array radar is switched to the transmitting beam of the other phased array radar to execute the tracking task;
judging whether another phased array radar is switched to execute a tracking task or not by the cooperative control module, and if the phased array radar is not switched, continuing the current tracking task; if the switching is carried out, whether the cooperative tracking is executed or not can be selected according to the actual task situation after the switching, and the independent tracking of a single phased array radar or the cooperative tracking of two phased array radars is reselected.
In a third aspect, the present application provides a data fusion processing method for a vehicle-mounted distributed radar detection system, which adopts the following technical scheme:
a data fusion processing method of the vehicle-mounted distributed radar detection system comprises the following steps:
after the system is powered on, the two phased array radars are respectively connected with the cooperative control module software through a network, the cooperative control module issues a self-calibration instruction and waveform parameters, then the control software starts a data receiving and processing thread and starts to analyze the state data of the two phased array radars;
a user operation cooperative control module sends a work starting instruction, control software starts to receive target data of two phased array radars and sequentially carries out original target data analysis, illegal target data filtering, target data fusion in wave positions, target data fusion between wave positions, target association, target batching and target track display processes;
the precondition for the data fusion of the two phased array radars is that the two phased array radars complete calibration based on the same zero position, and simultaneously guarantee that the two phased array radars work at the same wave position in a search mode at the same time, and the radar state information includes but is not limited to: power-up, self-test, and working mode state information;
target parameters for raw target data parsing include, but are not limited to: target distance, speed, pitch angle, azimuth angle, altitude, time;
filtering the illegal target data, namely filtering all detection results by limiting values through a distance threshold, a speed threshold, a pitch angle threshold, an azimuth angle threshold and an altitude threshold according to the actual target detection requirement, judging the target which does not meet the threshold requirement as the illegal target, filtering the illegal target, and judging the target data in the threshold as valid target data for the next processing;
target data fusion in a wave position mainly classifies all related data of two phased array radars in the same wave position according to a range gate and performs fusion processing on the related target data;
the inter-wave position target data fusion is to perform fusion association processing on similar data of two adjacent phased array radars between the front and the back wave positions according to acceptable errors of distance, speed, altitude threshold, pitch angle and azimuth angle, wherein the wave position data comprises intra-wave position data and inter-wave position data, and trace point data can be formed on each effective target after the wave position data fusion processing is completed;
the target data association processing is to screen and judge the distance error, pitch angle error, azimuth angle error and velocity vector consistency among multi-frame point track data of the same target according to a track association algorithm and to give a point track association result of the target;
the target track batching processing is mainly to judge the multiple correlation results of the same target, and after the target batching is finished, the cooperative control module sends target track data to a superior system in real time to finish the processing flow.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the two phased array radars are respectively arranged at the front and rear parts of the vehicle body, then the networking cooperative work of the two phased array radars is realized through the cooperative control module, the actual installation positions of the phased array radars can be adjusted to be below the lowest view field of the photoelectric detector on the basis of split arrangement, and the structural installation requirements of vehicle-mounted equipment on radar/photoelectric composite detection can be met;
2. the control method of the vehicle-mounted distributed radar detection system can realize cooperative work control of the two radars;
3. according to the data fusion processing method of the vehicle-mounted distributed radar detection system, target information output by two phased arrays can be fused, a uniform target detection result is formed, and space-time consistency in actual work of the two phased arrays is guaranteed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic top view of an onboard distributed radar detection system according to an embodiment of the present application.
Fig. 2 is a schematic side view of an on-vehicle distributed radar detection system according to an embodiment of the present application.
Fig. 3 is a schematic diagram of initial pointing setting of the phased array radar in the embodiment of the present application.
Fig. 4 is a schematic diagram of the overall control flow of the cooperative work of two phased array radars in the embodiment of the present application.
Fig. 5 is a schematic flow chart of the control process of cooperatively tracking the target by two phased array radars in the embodiment of the present application.
Fig. 6 is a schematic flow chart of a data fusion process of cooperative work of two phased array radars in the embodiment of the present application.
Description of reference numerals:
101. a vehicle body; 102. a phased array radar; 21. a turntable; 103. and (7) mounting a bracket.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
The present application is described in further detail below with reference to figures 1-6.
The embodiment of the application discloses a vehicle-mounted distributed radar detection system. Referring to fig. 1 and 2, the vehicle-mounted distributed radar detection system includes two sets of mounting brackets 103, two phased array radars 102 and a cooperative control module, the two sets of mounting brackets 103 are respectively mounted on the front and rear sides of the vehicle body 101, the phased array radars 102 are fixedly mounted on the mounting brackets 103 and can freely rotate to work, the phased array radars 102 are used for detecting targets and outputting detection information of the targets based on self position references, the detection information includes but is not limited to azimuth angles, pitch angles, distances and speeds, the cooperative control module is used for realizing networking cooperative work of the two phased array radars 102, and the mounting positions of the phased array radars 102 are located under the view field of the photoelectric detection equipment.
The phased array radar 102 can be installed at any fixed position in the front and back of the vehicle body 101 according to the actual installation conditions of the vehicle body 101 and the layout requirements of the vehicle body 101, and sufficient rotating envelope space needs to be reserved to guarantee that the phased array radar 102 can normally work.
The vehicle-mounted distributed radar detection system is configured on a vehicle-mounted platform, wherein the vehicle-mounted platform can be a wheeled vehicle, a tracked vehicle, a rail train and the like, the vehicle-mounted platform is provided with a mounting surface for mounting the mounting bracket 103, and the vehicle-mounted platform is a carriage, a container, a square cabin and the like.
The body of the phased array radar 102 is provided with a rotary table 21, and the phased array radar 102 is fixedly installed on the installation support 103 through an installation interface on the rotary table 21.
In order to ensure that the two phased array radars 102 normally and simultaneously operate and synchronously work, the cooperative control module controls the azimuth beam directions to be the same at the same moment, and the cooperative control module calculates the time difference of sending the starting work instruction to the two phased array radars 102 through the zero position azimuth angle difference and the time of starting and rotating the rotary table 21.
In order to simplify the control method of the system and reduce the cost of the system, the phased array radar 102 realizes 360-degree scanning in the horizontal direction through the rotation motion of the rotary table 21, and the phased array radar 102 realizes the scanning of radar beams in the pitching direction through controlling the phase and the amplitude of array elements of a radar array surface. Specifically, the phased array radar 102 is a one-dimensional phase-scanning radar.
Referring to fig. 3, the initial directions of the wavefront of the two phased array radars 102 both point to the vehicle head, the initial pointing direction of the wavefront of the phased array radar 102 is defined as the 0-degree direction, and the two phased array radars 102 both ensure that the azimuth angle range larger than 180 degrees is covered by scanning.
According to the collaborative coverage airspace specified in the application, the phased array radar 102 needs to set the respective azimuth working area and the silence angle area before formal work, the specific angle value needs to be measured according to the actual installation position, and according to the installation position relationship described in the example, the angular ranges of the phased array radar 102 located at the vehicle head, the phased array radar 102 located at the vehicle tail and the silence area are shown in the following table:
| serial number | Azimuth angle | Working conditions of two phased array radars |
| 1 | 280°-95° | The phased array radar at the head of the vehicle transmits, and the phased array radar at the tail of the vehicle does not transmit |
| 2 | 95°-110° | Two phased array radars transmit simultaneously |
| 3 | 110°-280° | The phased array radar at the tail of the vehicle transmits, and the phased array radar at the head of the vehicle does not transmit |
| 4 | 280°-305° | Two phased array radars transmit simultaneously |
Defining the clockwise direction as the direction of increasing azimuth angles, the working azimuth angle range of the phased array radar 102 positioned at the locomotive is 280-110 degrees, and the rest angle ranges are silent areas of the phased array radar 102 positioned at the locomotive; the working azimuth angle range of the phased array radar 102 at the tail of the vehicle is 95-305 degrees, and the rest angle ranges are silent areas of the phased array radar 102 at the tail of the vehicle.
In other embodiments, the azimuth angle ranges of the two phased array radars 102 may be set according to the actual placement areas of the phased array radars 102, as long as the two phased array radars 102 can cover 360 degrees of azimuth together.
The target fusion and target association reference coordinate system of the two phased array radars 102 is the radar coordinate system of the phased array radar 102 located at the vehicle head, the phased array radar 102 located at the vehicle tail converts the detected target trace into the phased array radar 102 located at the vehicle head according to the relative position relation of the two phased array radars 102, and the cooperative control module receives the target trace information output by the two phased array radars 102 through the unified coordinate system, performs fusion and association, and forms target trace information centering on the phased array radar 102 located at the vehicle head.
The implementation principle of the vehicle-mounted distributed radar detection system in the embodiment of the application is as follows: the two phased array radars 102 are respectively arranged on the front side and the rear side of the vehicle body 101, and the full coverage of the azimuth angle of 360 degrees is realized through the form that the two phased array radars 102 are provided with silent areas and are in cooperative work with a network; meanwhile, the phased array radar 102 is arranged in a separated structural form, so that two phased array radars 102 can be arranged under the field of view of photoelectric detection equipment, the interference of a detection airspace between the radar and the photoelectric equipment is avoided, and the application requirement of vehicle-mounted equipment on radar/photoelectric composite detection is met.
The embodiment of the application also discloses a control method of the vehicle-mounted distributed radar detection system. Referring to fig. 1, 4 and 5, the control method of the vehicle-mounted distributed radar detection system includes the steps of:
the phased array radar 102 has two modes of operation: the method comprises a search mode and a tracking mode, wherein in the search mode, two phased array radars 102 perform rotary scanning in a clockwise direction and detect the airspace covered by each phased array radar 102; in the tracking mode, the two phased array radars 102 are controlled by the instruction of the cooperative control module, continuously detect a specified azimuth angle and output the detection result of the target.
After the two phased array radars 102 complete system electrification, connection establishment and normal self-checking, the cooperative control module issues a search instruction, the two phased array radars 102 start rotary scanning in the clockwise direction after receiving the instruction, the phased array radars 102 located at the head of the vehicle are in a transmitting state, the phased array radars 102 located at the tail of the vehicle are in a silent state, the two phased array radars 102 are in an alternate working state according to the silent angle setting of the two phased array radars 102, and clockwise scanning coverage of 360-degree azimuth angles is completed through cooperative work.
The method improves the utilization rate of the beam emitting time of the system, simultaneously enables the data throughput rate of the system to be relatively uniform, reduces the pressure of data receiving and processing of the radar upper computer, and improves the reliability and robustness of software.
After effective targets are detected and batched, the two phased array radars 102 output target track information, wherein the track information comprises but is not limited to speed, angle, distance and height, the cooperative control module issues a target tracking instruction according to the spatial position of the actual target, controls the phased array radar 102 with a larger tracking range to execute a target tracking task, and selects whether the other phased array radar 102 synchronously enters a tracking mode and executes the tracking task according to the actual airspace detection condition and the target flight condition.
If the cooperative control module selects another phased array radar 102 to synchronously execute the tracking task, the two phased array radars 102 simultaneously perform a target tracking mode and continuously output target track related information; and if the other phased array radar 102 does not execute the tracking task, continuing to execute the search and detection task of the current airspace.
According to the actual task execution situation, if the vehicle-mounted equipment finishes the treatment of the tracking target, the control module issues the tracking task of finishing the target, and at the moment, the cooperative control module can select whether to switch to the search mode again or not for the radar executing the tracking task.
If the search mode is switched to again, the cooperative control module sends an instruction, and the two phased array radars 102 enter the cooperative search state again; if the detection task is completed, the cooperative control module issues an instruction, the two phased array radars 102 enter a standby mode, the working process is ended, and the flowchart specifically refers to fig. 4.
When the two phased array radars 102 are cooperatively searched, each target track in a 360-degree azimuth range can be formed, and a user can select a certain suspicious target track on a cooperative control module software interface to perform tracking, namely, a forwarding tracking instruction is issued;
after receiving the turn-tracking instruction, the phased array radar 102 can select whether to execute cooperative tracking, if the cooperative tracking mode of the two phased array radars 102 is determined, the cooperative control module sends an instruction down, the two phased array radars 102 are turned to the target direction at the same time, the coverage range of the two current phased array radars 102 to the target trackable direction can be calculated respectively according to the current azimuth angle and the movement direction of the target and the directions of the two current phased array radars 102, the phased array radar 102 with the large coverage range is selected to transmit a beam to execute tracking, and the other phased array radar 102 also points to the target direction in real time but does not transmit a beam in a silent state;
in the subsequent tracking process, the two phased array radars 102 point to the target direction, the tracking azimuth range which can be covered by the two phased array radars 102 is calculated in real time, when the tracking range of the other phased array radar 102 is larger, the other phased array radar 102 is switched to transmit a beam to execute a tracking task, and the beam receiving and transmitting states of the two phased array radars 102 are switched, namely the original silent phased array radar 102 starts to transmit and the original phased array radar 102 starts to silence, so that the full-airspace tracking of the target is realized;
if a certain phased array radar 102 is selected to independently execute a target tracking task, a cooperative control module issues a control instruction, the phased array radar 102 with a large tracking range is selected to execute the tracking task, the other phased array radar 102 continues to execute a current search task, the phased array radar 102 executing the tracking task turns to the target direction, the radar direction is adjusted in real time according to a tracking result, meanwhile, the cooperative control module calculates the coverage range of the two current phased array radars 102 to the target trackable direction in real time according to the current azimuth angle and the movement direction of the target, and when the tracking range of the other phased array radar 102 is larger, the other phased array radar 102 is switched to transmit a beam to execute the tracking task;
judging whether another phased array radar 102 is switched to execute a tracking task or not by the cooperative control module, and if the phased array radar is not switched, continuing the current tracking task; if the switching is performed, whether to perform cooperative tracking can be selected according to the actual task situation after the switching, and independent tracking of a single phased array radar 102 or cooperative tracking of two phased array radars 102 is reselected.
The embodiment of the application also discloses a control method of the vehicle-mounted distributed radar detection system. Referring to fig. 1 and 6, the data fusion processing method of the vehicle-mounted distributed radar detection system includes the following steps:
after the system is powered on, the two phased array radars 102 are respectively in network connection with the cooperative control module software, the cooperative control module issues a self-calibration instruction and waveform parameters, then the control software starts a data receiving and processing thread and starts to analyze the state data of the two phased array radars 102.
And the user operation cooperative control module sends a work starting instruction, the control software starts to receive the target data of the two phased array radars 102 and sequentially carries out the flows of original target data analysis, illegal target data filtering, target data fusion in wave positions, target data fusion between wave positions, target association, target batching and target track display.
The precondition for the data fusion of the two phased array radars 102 is that the two phased array radars 102 complete calibration based on the same zero position, and simultaneously guarantee that the two phased array radars 102 work at the same wave position in the search mode at the same time, and the radar state information includes but is not limited to: power-up, self-test, operating mode status information.
Target parameters for raw target data parsing include, but are not limited to: target distance, velocity, pitch angle, azimuth, altitude, time.
The illegal target data are filtered mainly according to the actual target detection requirement, the detection results are filtered through limiting values of a distance threshold, a speed threshold, a pitch angle threshold, an azimuth angle threshold and an altitude threshold, the targets which do not meet the threshold requirement are judged as illegal targets, the illegal targets are filtered, and the target data in the threshold are judged as valid target data for further processing.
The target data fusion in the wave position mainly classifies all related data of the two phased array radars 102 in the same wave position according to the range gate and performs fusion processing on the related target data.
The inter-wave position target data fusion is to perform fusion association processing on similar data of two adjacent phased array radars 102 between the front and the back wave positions according to acceptable errors of distance, speed, altitude threshold, pitch angle and azimuth angle, wherein the wave position data comprises intra-wave position data and inter-wave position data, and after the wave position data fusion processing is completed, trace point data can be formed on each effective target.
The target data association processing is to screen and judge the distance error, pitch angle error, azimuth angle error and velocity vector consistency among multi-frame point track data of the same target according to a track association algorithm, and to give a point track association result of the target.
The target track batching processing is mainly used for judging multiple association results of the same target, in the embodiment of the invention, the track batching association times of the target are 3, and for the same target, the track batching can be carried out if the default processing is continuous 3 times of track point association success; and manually batching the determined target effective point traces through interface operation.
After the target batching is completed, the cooperative control module sends the target track data to the superior system in real time to complete the processing flow.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A vehicle-mounted distributed radar detection system is characterized in that: including two sets of installing supports, two phased array radars and cooperative control module, both sides around the automobile body are installed respectively to two sets of installing supports, phased array radar fixed mounting just can the free rotation work on the installing support, the phased array radar is used for the target to survey and output the target based on the detection information of self position benchmark, detection information includes but not limited to azimuth, the angle of pitch, the distance, speed, cooperative control module is used for realizing the network deployment cooperative work of two phased array radars, the mounted position of phased array radar is located under photoelectric detection equipment's the field of view.
2. The vehicle-mounted distributed radar detection system of claim 1, wherein: the body of the phased array radar is provided with a rotary table, and the phased array radar is fixedly installed on the installation support through an installation interface on the rotary table.
3. The vehicle-mounted distributed radar detection system of claim 2, wherein: the cooperative control module controls the azimuth wave beams at the same moment to be same in direction, and calculates the time difference of sending a starting working instruction to the two phased array radars according to the zero azimuth angle difference and the time of starting the rotary table and the rotating speed.
4. The vehicle-mounted distributed radar detection system of claim 2, wherein: the phased array radar realizes 360-degree scanning in the horizontal direction through the rotary motion of the rotary table, and the phased array radar realizes the scanning of radar wave beams in the pitching direction through controlling the phase and the amplitude of array elements of a radar array surface.
5. The vehicle-mounted distributed radar detection system of claim 1, wherein: the phased array radar is a one-dimensional phase scanning radar.
6. The vehicle-mounted distributed radar detection system of claim 1, wherein: the initial directions of the array surfaces of the two phased array radars point to the vehicle head, the initial pointing directions of the array surfaces of the phased array radars are defined to be 0-degree directions, and the scanning of the two phased array radars ensures that the azimuth angle range larger than 180 degrees is covered.
7. The vehicle-mounted distributed radar detection system of claim 6, wherein: the clockwise direction is defined as the direction in which the azimuth angle increases,
the working azimuth angle range of the phased array radar positioned at the locomotive is 280-110 degrees, and the rest angle ranges are silent areas of the phased array radar positioned at the locomotive;
the working azimuth angle range of the phased array radar positioned at the tail of the vehicle is 95-305 degrees, and the rest angle ranges are silent areas of the phased array radar positioned at the tail of the vehicle.
8. The vehicle-mounted distributed radar detection system of claim 1, wherein: the target fusion and target association reference coordinate system of the two phased array radars is the radar coordinate system of the phased array radar located at the vehicle head, the phased array radar located at the vehicle tail converts the detected target track into the phased array radar located at the vehicle head according to the relative position relation of the two phased array radars, and the cooperative control module receives the target track information output by the two phased array radars in a unified coordinate system and then performs fusion and association to form target track information taking the phased array radar located at the vehicle head as the center.
9. A control method of the vehicle-mounted distributed radar detection system according to any one of claims 1 to 8, characterized by comprising the steps of:
the phased array radar has the following two working modes: the method comprises a search mode and a tracking mode, wherein in the search mode, two phased array radars perform rotary scanning in a clockwise direction and detect the airspace covered by each phased array radar; in a tracking mode, the two phased array radars are controlled by an instruction of the cooperative control module, continuously detect a certain specified azimuth angle and output a detection result of a target;
after the two phased array radars complete system electrification, connection establishment and normal self-checking, the cooperative control module issues a search instruction, the two phased array radars start to rotate and scan clockwise after receiving the instruction, at the moment, the phased array radar located at the head of the vehicle is in a transmitting state, the phased array radar located at the tail of the vehicle is in a silent state, the two phased array radars are in an alternate working state according to the silent angle setting of the two phased array radars, and clockwise scanning coverage of 360-degree azimuth angles is completed through cooperative work;
after an effective target is detected and batched, the two phased array radars output target track information, wherein the track information comprises but is not limited to speed, angle, distance and height, the cooperative control module issues a target tracking instruction according to the spatial position of the actual target, controls the phased array radars with a larger trackable range to execute a target tracking task, and selects whether the other phased array radar synchronously enters a tracking mode or not and executes the tracking task according to the actual airspace detection condition and the target flight condition;
if the cooperative control module selects another phased array radar to synchronously execute the tracking task, the two phased array radars simultaneously carry out the tracking mode on the target and continuously output the relevant information of the target track; if the other phased array radar does not execute the tracking task, the search and detection task of the current airspace is continuously executed;
according to the actual task execution condition, if the vehicle-mounted equipment finishes the treatment of the tracking target, the control module issues the tracking task of finishing the target, and at the moment, the radar executing the tracking task can be selected by the cooperative control module to be switched into a search mode again or not;
if the search mode is switched to again, the cooperative control module sends an instruction, and the two phased array radars enter the cooperative search state again; if the detection task is finished, sending an instruction by the cooperative control module, enabling the two phased array radars to enter a standby mode, and ending the working process;
when the two phased array radars are used for collaborative search, each target track in a 360-degree azimuth range can be formed, a user can select a certain suspicious target track on a collaborative control module software interface to perform tracking, and then a forwarding tracking instruction is issued;
after receiving a turn-tracking instruction, the phased array radar can select whether to execute cooperative tracking, if the cooperative tracking mode of the two phased array radars is determined, the cooperative control module sends an instruction down, the two phased array radar array surfaces are simultaneously turned to a target direction, the coverage range of the current two phased array radars to the target trackable direction can be respectively calculated according to the current azimuth angle and the motion direction of the target and the directions of the current two phased array radars, the phased array radar with the large coverage range is selected to execute tracking, and meanwhile, the other phased array radar also points to the target direction in real time but does not transmit beams in a silent state;
in the subsequent tracking process, the two phased array radars point to the target direction, the tracking azimuth range which can be covered by the two phased array radars is calculated in real time, when the tracking range of the other phased array radar is larger, the other phased array radar is switched to transmit a beam to execute a tracking task, and the beam receiving and transmitting states of the two phased array radars are switched, namely the original silent phased array radar starts to transmit and the original phased array radar starts to silence, so that the full airspace tracking of the target is realized;
if a certain phased array radar is selected to independently execute a target tracking task, a cooperative control module issues a control instruction, the phased array radar with a large tracking range is selected to execute the tracking task, the other phased array radar continues to execute a current search task, the phased array radar executing the tracking task turns to the target direction, the radar direction is adjusted in real time according to a tracking result, meanwhile, the cooperative control module calculates the coverage range of the two current phased array radars to the target trackable direction in real time according to the current azimuth angle and the motion direction of the target, and when the tracking range of the other phased array radar is larger, the other phased array radar is switched to the transmitting beam of the other phased array radar to execute the tracking task;
judging whether another phased array radar is switched to execute a tracking task or not by the cooperative control module, and if the phased array radar is not switched, continuing the current tracking task; if the switching is carried out, whether the cooperative tracking is executed or not can be selected according to the actual task situation after the switching, and the independent tracking of a single phased array radar or the cooperative tracking of two phased array radars is reselected.
10. A data fusion processing method for the vehicle-mounted distributed radar detection system according to any one of claims 1 to 8, comprising the following steps:
after the system is powered on, the two phased array radars are respectively connected with the cooperative control module software through a network, the cooperative control module issues a self-calibration instruction and waveform parameters, then the control software starts a data receiving and processing thread and starts to analyze the state data of the two phased array radars;
a user operation cooperative control module sends a work starting instruction, control software starts to receive target data of two phased array radars and sequentially carries out original target data analysis, illegal target data filtering, target data fusion in wave positions, target data fusion between wave positions, target association, target batching and target track display processes;
the precondition for the data fusion of the two phased array radars is that the two phased array radars complete calibration based on the same zero position, and simultaneously guarantee that the two phased array radars work at the same wave position in a search mode at the same time, and the radar state information includes but is not limited to: power-up, self-test, and working mode state information;
target parameters for raw target data parsing include, but are not limited to: target distance, speed, pitch angle, azimuth angle, altitude, time;
filtering the illegal target data, namely filtering all detection results by limiting values through a distance threshold, a speed threshold, a pitch angle threshold, an azimuth angle threshold and an altitude threshold according to the actual target detection requirement, judging the target which does not meet the threshold requirement as the illegal target, filtering the illegal target, and judging the target data in the threshold as valid target data for the next processing;
target data fusion in a wave position mainly classifies all related data of two phased array radars in the same wave position according to a range gate and performs fusion processing on the related target data;
the inter-wave position target data fusion is to perform fusion association processing on similar data of two adjacent phased array radars between the front and the back wave positions according to acceptable errors of distance, speed, altitude threshold, pitch angle and azimuth angle, wherein the wave position data comprises intra-wave position data and inter-wave position data, and trace point data can be formed on each effective target after the wave position data fusion processing is completed;
the target data association processing is to screen and judge the distance error, pitch angle error, azimuth angle error and velocity vector consistency among multi-frame point track data of the same target according to a track association algorithm and to give a point track association result of the target;
the target track batching processing is mainly to judge the multiple correlation results of the same target, and after the target batching is finished, the cooperative control module sends target track data to a superior system in real time to finish the processing flow.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116087900A (en) * | 2023-03-10 | 2023-05-09 | 中安锐达(北京)电子科技有限公司 | Inter-travel detection vehicle-mounted platform for one-dimensional phased array radar |
| CN117687018A (en) * | 2024-01-31 | 2024-03-12 | 四川省华盾防务科技股份有限公司 | Phased array beam tracking method, device, system and storage medium |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116087900A (en) * | 2023-03-10 | 2023-05-09 | 中安锐达(北京)电子科技有限公司 | Inter-travel detection vehicle-mounted platform for one-dimensional phased array radar |
| CN116087900B (en) * | 2023-03-10 | 2023-06-06 | 中安锐达(北京)电子科技有限公司 | Inter-travel detection vehicle-mounted platform for one-dimensional phased array radar |
| CN117687018A (en) * | 2024-01-31 | 2024-03-12 | 四川省华盾防务科技股份有限公司 | Phased array beam tracking method, device, system and storage medium |
| CN117687018B (en) * | 2024-01-31 | 2024-04-19 | 四川省华盾防务科技股份有限公司 | Phased array beam tracking method, device, system and storage medium |
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