CN114814748A - STK-based high-precision satellite target radar echo signal generation method - Google Patents

STK-based high-precision satellite target radar echo signal generation method Download PDF

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CN114814748A
CN114814748A CN202210280976.3A CN202210280976A CN114814748A CN 114814748 A CN114814748 A CN 114814748A CN 202210280976 A CN202210280976 A CN 202210280976A CN 114814748 A CN114814748 A CN 114814748A
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satellite
radar
time
stk
echo signal
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陈秀玲
夏双志
耿虎军
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CETC 54 Research Institute
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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
    • 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
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/04—Constraint-based CAD

Abstract

The invention discloses a high-precision satellite target radar echo signal generation method based on STK (space time keying), which mainly solves the problem of high-precision simulation of a target echo signal of a space target detection scene. The implementation process comprises the following steps: 1. building a simulation scene; 2. determining a plurality of satellite visibility periods in which a satellite is visible to both a transmitting radar and a receiving radar; 3. determining a receiving period and a transmitting period of a valid echo signal; 4. determining a sampling time sequence of the received effective echo signals; 5. acquiring satellite position data at all times in the emission period of the effective echo signal; 6. calculating a transmitting time and a target time; 7. calculating effective echo signals of the signals; 8. simulating a noise portion in the received signal; 9. obtaining a simulation result of the radar echo signal; the method for generating the radar echo signal data suitable for the actual engineering requirement is designed by means of the accurate reduction of the STK to the space target detection scene and the provided high-precision satellite position data.

Description

STK-based high-precision satellite target radar echo signal generation method
Technical Field
The invention relates to a radar echo signal generation method of a high-precision satellite target based on STK, which is particularly suitable for target echo signal simulation of a space target detection scene.
Background
The existing radar echo signal generation method is mostly based on the set target track parameter to generate time-varying position data, and is suitable for low-altitude slow-speed flight scenes. For a satellite detection scene, the method has obvious limitations in the processes of echo data generation, data processing and radar system planning and design guidance: 1) the scene scale is small, and the influence of factors such as earth curvature, atmospheric perturbation and orbital decay generated by a resistance model on a received signal is generally not considered; 2) the difficulty of obtaining a mathematical closed expression of the irregular elliptical orbit of the satellite motion trajectory is high, and approximation processing is generally needed, so that the simulation precision is influenced. Therefore, the method cannot be well used for solving the problem of radar echo signal generation of the high-precision satellite target.
Disclosure of Invention
The invention aims to avoid the defects in the background technology and provides a radar echo signal generation method of a high-precision satellite target based on STK. The method fully considers the feasibility of radar echo signal generation of the high-precision satellite target, and can meet the actual engineering requirement of echo data generation in the space target detection scene by means of accurate reduction of the STK to the space target detection scene and the provided high-precision satellite position data.
In order to achieve the purpose, the invention adopts the technical scheme that:
a high-precision satellite target radar echo signal generation method based on STK comprises the following steps:
step one, calculating the time interval delta t of STK feedback satellite position data according to the phase precision requirement of echo signals STK Then, an STK simulation scene containing all transmitting radars, receiving radars and satellites to be observed is built in the STK, and the time interval of feedback satellite position data in the STK simulation scene is set to delta t STK ；
Step two, determining a plurality of satellite visible time periods of the satellite which are visible for both the transmitting radar and the receiving radar for any echo signal transmission path according to the STK and the signal transmission model;
step three, respectively calculating the distance from the satellite to the transmitting radar and the receiving radar at the starting time and the ending time of each satellite visible time interval, dividing the distance by the light speed to obtain transmitting transmission time delay and receiving transmission time delay, and determining the receiving time interval of the effective echo signal
Figure BDA0003557808070000021
And a transmission period
Figure BDA0003557808070000022
Step four, according to the sequence of the sampling time of the receiving radar
Figure BDA0003557808070000023
And a reception period of a valid echo signal
Figure BDA0003557808070000024
Obtaining the intersection of the two
Figure BDA0003557808070000025
Is a subset of
Figure BDA0003557808070000026
I.e. the sequence of sampling instants at which a valid echo signal is received,
Figure BDA0003557808070000027
in that
Figure BDA0003557808070000028
Complement of (3)
Figure BDA0003557808070000029
I.e. a sequence of receive sample times at which no valid echo signal is received,
Figure BDA00035578080700000210
at the same time are
Figure BDA00035578080700000211
A subset of (a);
step five, acquiring the emission time interval of the effective echo signal through the STK
Figure BDA00035578080700000212
Satellite position data for all time instants
Figure BDA00035578080700000213
Wherein the content of the first and second substances,
Figure BDA00035578080700000214
and is
Figure BDA00035578080700000215
Is Δ t STK Integer multiples of;
step six, according to the obtained in step five
Figure BDA00035578080700000216
Satellite position data within
Figure BDA00035578080700000217
To pair
Figure BDA00035578080700000218
Of any valid echo signal in the received sample time
Figure BDA00035578080700000219
Calculating the transmitting time one by linear interpolation method
Figure BDA00035578080700000220
And target time
Figure BDA00035578080700000221
Step seven, one by one
Figure BDA00035578080700000222
Receive sample time in
Figure BDA00035578080700000223
Calculating the effective echo signal of the signal if
Figure BDA00035578080700000224
Then order
Figure BDA00035578080700000225
By using
Figure BDA00035578080700000226
Corresponding transmission time
Figure BDA00035578080700000227
And target time
Figure BDA0003557808070000031
Computing
Figure BDA0003557808070000032
Effective echo signal of time
Figure BDA0003557808070000033
If it is
Figure BDA0003557808070000034
Effective echo signal
Figure BDA0003557808070000035
Step eight, sampling time sequence at a receiving end according to the received noise power
Figure BDA0003557808070000036
At any one time
Figure BDA0003557808070000037
Simulating noise portions in a received signal
Figure BDA0003557808070000038
Step nine, one by one
Figure BDA0003557808070000039
Inner received sample time
Figure BDA00035578080700000310
Effective echo signal of
Figure BDA00035578080700000311
And noise signal
Figure BDA00035578080700000312
And summing to obtain a simulation result of the radar echo signal.
Further, in the first step, the STK simulation scenario specifically includes:
determining basic parameters of a radar echo signal generation system of a high-precision satellite target based on STK, wherein the system comprises M transmitting radars, N receiving radars and S satellites to be observed in space on the ground, and ECEF coordinates of all the transmitting radars and the receiving radars and the orbital elements of the satellites to be observed are known; defining a global coordinate system of a system as an ECEF coordinate system, defining local coordinate systems of a transmitting radar and a receiving radar, and assuming that the positions, postures and directivities of signal radiation of the transmitting radar and the receiving radar are all kept constant; forming an echo signal transmission path for the signal transmission process among any transmitting radar, any satellite to be observed and any receiving radar; the RCS of all satellites is assumed to be constant and known in the time and angle domains.
Further, the STK feeds back the time interval Δ t of the satellite position data in the step one STK The constraint conditions of the values are as follows:
Figure BDA00035578080700000313
wherein R is e Is the radius of the earth, M e Is the earth mass, G is the gravitational constant, w e Is the angular velocity of rotation of the earth, H tar,min For waiting for observationMinimum orbital height of the star, f c Is the signal frequency and c is the speed of light.
Further, the signal transmission model in the step two is as follows:
the transmitted signal is denoted S tr (t)＝B(t)exp(jη)·exp(j2πf c t), b (t) is the baseband signal, η is the initial phase of the transmitted signal; transmitting radar at transmitting time
Figure BDA0003557808070000041
The transmitted signal, after propagation through free space, at the target instant
Figure BDA0003557808070000042
When the signal reaches the satellite to be observed, the signal is scattered by the satellite and is transmitted in free space at the receiving moment
Figure BDA0003557808070000043
To a receiving radar in
Figure BDA0003557808070000044
The signal from the target received at any moment is obtained after down-conversion
Figure BDA0003557808070000045
Comprises the following steps:
Figure BDA0003557808070000046
wherein the content of the first and second substances,
Figure BDA0003557808070000047
is the power of the baseband signal and is,
Figure BDA0003557808070000048
is a normalized baseband signal, λ ═ c/f c Is the signal wavelength;
Figure BDA0003557808070000049
in order to transmit the antenna gain term,
Figure BDA00035578080700000410
and
Figure BDA00035578080700000411
are respectively shown in
Figure BDA00035578080700000412
Azimuth and elevation angles of the satellite target position in the local coordinate system of the transmitting radar at the moment,
Figure BDA00035578080700000413
in order to receive the antenna gain term,
Figure BDA00035578080700000414
and
Figure BDA00035578080700000415
are respectively shown in
Figure BDA00035578080700000416
The azimuth angle and the pitch angle of the satellite target position at the moment in the local coordinate system of the receiving radar,
Figure BDA00035578080700000417
and
Figure BDA00035578080700000418
are respectively
Figure BDA00035578080700000419
The length of the transmission path from the satellite to the transmitting radar and the receiving radar at the moment, and sigma is the RCS of the satellite to be observed.
Further, in the second step, the satellite visibility periods in which the satellite is visible to both the transmitting radar and the receiving radar are as follows:
the visible time periods of the STK simulation scene output satellite pair transmitting radar and receiving radar are respectively recorded as
Figure BDA00035578080700000420
And
Figure BDA00035578080700000421
wherein, I tr Is the number of times that the satellite is visible to the transmitting radar,
Figure BDA00035578080700000422
is the ith tr A time-continuous satellite visible time interval for transmitting radar, the starting time is
Figure BDA00035578080700000423
The termination time is
Figure BDA00035578080700000424
I re Is the number of satellite-to-receive radar visibility periods,
Figure BDA00035578080700000425
is the ith re The visible time interval of the satellite to the receiving radar is continuous in time, and the starting time is
Figure BDA0003557808070000051
The termination time is
Figure BDA0003557808070000052
Several satellite visibility periods during which the satellite is visible to both the transmitting and receiving radar are recorded as:
Figure BDA0003557808070000053
wherein, I vs Is the number of the satellite to the periods of visibility of both the transmitting radar and the receiving radar, i vs Is the number of any one of the time periods.
Further, the third step is specifically as follows:
associating several satellite visibility periods T vs Will be remembered again
Figure BDA0003557808070000054
For the
Figure BDA0003557808070000055
Each of which is a continuous period
Figure BDA0003557808070000056
Acquisition with STK
Figure BDA0003557808070000057
Distance of time satellite in local coordinate system of transmitting radar
Figure BDA0003557808070000058
And
Figure BDA0003557808070000059
and calculates a target time
Figure BDA00035578080700000510
Corresponding transmission time
Figure BDA00035578080700000511
Figure BDA00035578080700000512
Figure BDA00035578080700000513
Thereby obtaining
Figure BDA00035578080700000514
Is that
Figure BDA00035578080700000515
A corresponding signal emission period, i.e. the emission period of the effective echo signal; wherein the content of the first and second substances,
Figure BDA00035578080700000516
distance data of satellite in local coordinate system of receiving radar acquired by STK
Figure BDA00035578080700000517
And
Figure BDA00035578080700000518
calculating a target time
Figure BDA00035578080700000519
Corresponding receiving time
Figure BDA00035578080700000520
Figure BDA00035578080700000521
Figure BDA00035578080700000522
Thereby obtaining
Figure BDA00035578080700000523
Is that
Figure BDA00035578080700000524
A corresponding signal reception period, i.e. a reception period of a valid echo signal; wherein
Figure BDA0003557808070000061
Further, the fourth step is specifically:
defining the sampling sequence number of the receiving end as set N S ＝{n|0≤n≤N sample -1} and then recording the sequence of receiver sample times as the sequence of receiver sample times
Figure BDA0003557808070000062
Wherein N is sample Is the total number of sampling points at the receiving end;
will be provided with
Figure BDA0003557808070000063
And
Figure BDA0003557808070000064
each subset of
Figure BDA0003557808070000065
Respectively solving the intersection to obtain the ith vs Set of receive sampling instants for each visibility period
Figure BDA0003557808070000066
Union of these sets
Figure BDA0003557808070000067
Is a sequence of receiving sampling moments corresponding to all visible periods and a sequence of receiving sampling moments when no effective echo signal is received
Figure BDA0003557808070000068
And exist
Figure BDA0003557808070000069
The mathematical relationship of (a).
Therefore, the method for generating the radar echo signal of the high-precision satellite target based on the STK is completed.
Compared with the background technology, the invention has the following beneficial effects:
the method comprehensively considers the requirements of satellite position precision and signal phase precision generated by radar echo signals, and designs the radar echo signal data generation method of the high-precision satellite target suitable for the actual engineering requirement by means of the accurate reduction of the STK to the space target detection scene and the provided high-precision satellite position data.
The invention has high satellite position precision, obtains high-precision target position data by means of the STK platform, and can be accurate to 10 at most -9 The meter-level is adopted, so that the precision of simulation data is greatly improved;
the invention has high simulation phase precision of the echo signal, makes quantitative analysis on the mathematical relationship between the phase error of effective echo signal simulation and system parameters and STK data parameters, and provides clear constraint conditions for the STK data parameters under the condition of setting the phase precision;
the invention has wide applicability and engineering realizability, and the STK software has better interactive characteristic and can be suitable for different programming platforms.
Drawings
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a diagram illustrating a scenario when the single path length estimation error of the ground station-satellite is the largest.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
Referring to fig. 1 and 2, the generation of the echo signal of the single-transmitting single-receiving radar system to a single satellite is completed according to the following process.
Step one, calculating the time interval delta t of STK feedback satellite position data according to the phase precision requirement of echo signals STK Then, an STK simulation scene containing a transmitting radar, a receiving radar and a satellite to be observed is built in the STK, and the time interval of feedback satellite position data in the STK simulation scene is set to delta t STK 。
First, basic parameters of a radar echo signal generation system of an STK-based high-precision satellite target are determined. Known earth mass M e Earth radius R e And an attractive constant G. The definition system is provided with a transmitting radar and a receiving radar, and the height from the ground is 0. The target to be observed is a satellite target. Orbit altitude range of the satellite is H tar ∈[H tar,min ,H tar,max ]The orbital radius of the satellite is denoted as R tar ＝R e +H tar 。
The global coordinate system defining the system is the ECEF coordinate system (Earth-Centered Earth-Fixed, Earth Fixed). Local coordinate systems of the transmitting radar and the receiving radar are defined, and the positions, postures and directivities of signal radiation of the transmitting radar and the receiving radar are assumed to be kept constant, namely: in the global coordinate system, the origin of the local coordinate system of the transmitting radar and the receiving radar and the global coordinates of the coordinate axes are constant. Wherein the global seat of the transmitting radarIs marked as
Figure BDA0003557808070000081
Global coordinate of receiving radar is
Figure BDA0003557808070000082
Global coordinates of satellite at any time t
Figure BDA0003557808070000083
Will follow the rotation of the earth, the true value of which can be determined by the number of orbits, etc., in the method
Figure BDA0003557808070000084
The sampling results of (a) are all provided by the STK software. The RCS of the satellite is σ in time domain and each of the observation azimuth and the pitch angle.
Secondly, determining the simulation precision requirements of the transmitting parameters, the receiving parameters and the received signals:
1) transmitting a signal:
the baseband signal transmitted by the transmitting radar is denoted as
Figure BDA0003557808070000085
Wherein S is B (t) is the normalized baseband signal, P tr (t) is the power of the transmitted signal. Carrier frequency f c And an initial phase η. The transmitted signal of the transmitting radar is recorded as:
S tr (t)＝B(t)exp(jη)·exp(j2πf c t) (1)
2) receiving signals:
the transmitted signal is transmitted in free space, received and reflected by satellite, and then transmitted in free space again to radar, and the received continuous signal is marked as S rx，pre (t) of (d). Down-converting the signal to obtain S rx (t) at a sampling frequency F s (sampling period T) s ＝1/F s ) Sampling is carried out, and the received signal sequence is S re [n]：
Figure BDA0003557808070000086
Will S re [n]The effective echo signal and the noise signal in (1) are respectively denoted as S rx (nT s ) And S N (nT s )。
Figure BDA0003557808070000087
Wherein the content of the first and second substances,
Figure BDA0003557808070000088
is to S re [n]Is estimated by the estimation of (a) a,
Figure BDA0003557808070000089
is to S rx (nT s ) Is estimated. N is a radical of sample Is the total number of sample points for the receiving radar.
Define Boltzmann constant k, system noise temperature T system And loop bandwidth B system 。
3) Received signal simulation accuracy requirement
Defining the system precision: requiring an estimate of the effective echo signal over the observation period
Figure BDA0003557808070000091
With its true value S rx (nT s ) Does not exceed delta phi e Delay error not exceeding
Figure BDA0003557808070000092
Total path length estimation error not exceeding transmitting and receiving
Figure BDA0003557808070000093
And c is the speed of light.
Again, determining the phase accuracy of the echo signals requires calculating the time interval Δ t of the STK feedback satellite position data STK 。
The STK can provide two types of typical satellite data:
class I data: the satellite visibility period to the radar.
Setting visibility constraint conditions of the transmitting radar and the receiving radar, the STK can provide a visibility period of the satellite to the transmitting radar and the receiving radar respectively, and a polar coordinate (alpha) of the satellite in a local coordinate system of the transmitting radar in the visibility period tr ,β tr ,L tr ) The meaning of the method is azimuth angle, pitch angle and distance of the satellite in a local coordinate system of the transmitting radar respectively. The polar coordinates (alpha) of the satellite in the local coordinate system of the receiving radar are also obtained re ,β re ,L re )。
Class II data: global coordinates of the satellite.
Due to the influence of non-spherical gravitational perturbation, atmospheric resistance perturbation and the like, the actual motion trajectory of the satellite is not a regular ellipse, and a closed-form solution of a satellite position function in a global coordinate system with time as an independent variable is difficult to obtain. The above two types of position data of the STK are high in accuracy and can provide global coordinates and local coordinates of the satellite. However, both types of data are "discrete at equal time intervals" rather than being continuous in time. Here, "discrete at equal time intervals" means position data of adjacent time points provided by the STK, and the time interval Δ t thereof STK Is constant and can be set as desired. In the STK version 11.2, the minimum value of the time interval is Δ t STK ＝10 -5 And s. Fig. 2 shows a case where the one-way path length estimation error between the ground station and the satellite is the largest when the satellite position is estimated by the linear interpolation method. In fig. 2, 1-earth 2-satellite orbit 3-ground station 4-interpolation start time satellite position 5-interpolation end time satellite position 6-interpolation calculates intermediate time satellite position 7-intermediate time satellite actual position when the satellite is at the ground station zenith; the orbital plane of the satellite is coplanar with the equatorial plane of the earth, with the station at the equator. The satellite rotates in the longitudinal direction with any point on the equator, but in the opposite direction. At this time, the angular velocity of the satellite relative to the radar station is maximum, and the same Δ t STK The path estimation error is largest in the case.
By STK, accurate acquisition of satellites at intervals of Δ t STK Two times t b And t d Global of (2)Coordinates of the object
Figure BDA0003557808070000101
And
Figure BDA0003557808070000102
at intermediate time
Figure BDA0003557808070000103
The true value of the global coordinate of the satellite at this time is
Figure BDA0003557808070000104
The geocentric, the ground station and the satellite are collinear. For t m The estimated value of the global coordinate of the time satellite is
Figure BDA0003557808070000105
Calculating the real path length and the estimated path length under the scene:
L tar ＝H tar (4)
Figure BDA0003557808070000106
wherein L is tar Is t m The true path length from the satellite to the ground station at the time,
Figure BDA0003557808070000107
is estimated by using a linear interpolation function m The path length from the satellite to the ground station at time. w is a e Is the angular velocity of the earth's rotation, w tar Is the angular velocity of the satellite around the earth, and the following relationship exists:
Figure BDA0003557808070000108
thus, the transmit or receive path estimation error is present in the upper bound:
Figure BDA0003557808070000111
the total path estimation error for transmission and reception is present in the upper bound:
Figure BDA0003557808070000112
on the right side of the inequality is Δ t STK Is a monotonically increasing function of.
System accuracy requirement Δ L t.r ≤ΔL e If Δ L can be ensured t.r Is lower than Δ L e Namely, the method meets the requirements:
Figure BDA0003557808070000113
by derivation, we can obtain:
Figure BDA0003557808070000114
r on the right side of the unequal numbers in the formula (10) tar Is a monotonically increasing function of.
If the eccentricity of the satellite orbit is large, the distance between the satellite and the earth is large, and Delta L t.r In the case of the minimum satellite-to-earth distance, the above equation is modified to:
Figure BDA0003557808070000115
to this end, an upper bound on the interval between STK providing two types of data is determined
Figure BDA0003557808070000116
Time interval Δ t required for acquiring STK data STK Not exceeding
Figure BDA0003557808070000117
In this embodiment, theCalculating the required delta phi according to the equation (11) e Not higher than 0.5 degree, under the combination of different track heights and working frequencies
Figure BDA0003557808070000118
As shown in table 1:
TABLE 1
Figure BDA0003557808070000121
It can be seen that the requirement for the minimum time interval of the STK position data is far greater than the minimum time interval 10 of the STK software settable position data in any combination -5 s and are all no lower than STK default configuration value 10 -3 s, indicating that the present embodiment has broad applicability.
And finally, building an STK simulation scene containing a transmitting radar, a receiving radar and a satellite to be observed in the STK software according to the step one, and setting the time interval of STK feedback satellite position data as delta t STK 。
And step two, determining a plurality of satellite visible time periods in which the satellite is visible for both the transmitting radar and the receiving radar for the echo signal transmission path according to the STK and the signal transmission model.
Firstly, a signal transmission model is determined and constructed, and a mathematical expression of a received signal is determined. For any echo signal transmission path, the model mainly comprises: and transmitting a radar transmitting signal, transmitting the signal to the satellite to be observed on the path after the signal is propagated through the free space, scattering the signal by the satellite immediately, and transmitting the signal to the receiving radar after the signal is propagated through the free space.
According to step one, the transmitted signal is marked as S tr (t)＝B(t)exp(jη)·exp(j2πf c t)。
Transmission of the transmitted signal from the transmitting radar to the satellite target:
1) in that
Figure BDA0003557808070000122
Time of day, transmitting signal
Figure BDA0003557808070000123
2) The signal is transmitted in space;
3) in that
Figure BDA0003557808070000124
The time at which the signal arrives at the satellite is recorded as
Figure BDA0003557808070000125
Combined balance
Figure BDA0003557808070000126
Is the "satellite time".
The transmission path length in this process is to transmit radar to
Figure BDA0003557808070000131
Distance of the location of the object at the moment, i.e.
Figure BDA0003557808070000132
Thus, the transmission delay has:
Figure BDA0003557808070000133
wherein, under the condition of transmitting radar position and determining satellite motion trail, a target time is given
Figure BDA0003557808070000134
Corresponding to a unique transmission moment
Figure BDA0003557808070000135
Comparing signals
Figure BDA0003557808070000136
And
Figure BDA0003557808070000137
peak work of bothThe rate normalized waveform is the same, but the peak power is different. On the basis of this, the method is suitable for the production,
Figure BDA0003557808070000138
can be expressed as
Figure BDA0003557808070000139
Wherein the content of the first and second substances,
Figure BDA00035578080700001310
to represent
Figure BDA00035578080700001311
Power of time-of-day signal, particularly expressed as
Figure BDA00035578080700001312
In the formula (I), the compound is shown in the specification,
Figure BDA00035578080700001313
in order to transmit the antenna gain term,
Figure BDA00035578080700001314
and
Figure BDA00035578080700001315
respectively representing objects
Figure BDA00035578080700001316
Azimuth and elevation angles of the time position in the local coordinate system of the transmitting radar.
Based on the above analysis, the satellite is
Figure BDA00035578080700001317
The time of reception from the transmitting radar is represented as
Figure BDA00035578080700001318
The process of signal transmission from satellite to receiving radar:
1) in that
Figure BDA00035578080700001319
At the moment, the satellite receives a signal from the transmitting radar as
Figure BDA00035578080700001320
2) The signal is transmitted in space;
3) in that
Figure BDA00035578080700001321
At the moment the signal arrives at the receiving radar and is received, it is recorded as
Figure BDA00035578080700001322
The length of the transmission path in this process is from the receiving radar to
Figure BDA00035578080700001323
The distance of the location of the target at the moment, i.e.
Figure BDA00035578080700001324
The transmission delay of this process is then
Figure BDA0003557808070000141
Accordingly have
Figure BDA0003557808070000142
Wherein, under the condition of determining the coordinates of the receiving radar and the motion track of the target, the time when a signal reaches the receiving radar is given
Figure BDA0003557808070000143
Corresponding to a unique satellite received signal time
Figure BDA0003557808070000144
Comparing signals
Figure BDA0003557808070000145
And
Figure BDA0003557808070000146
the waveforms after peak value normalization are the same, but the peak power of the two waveforms is different. On the basis of this, the method is suitable for the production,
Figure BDA0003557808070000147
can be expressed as
Figure BDA0003557808070000148
Wherein the content of the first and second substances,
Figure BDA0003557808070000149
is a signal
Figure BDA00035578080700001410
And
Figure BDA00035578080700001411
the value of which is determined by the radar equation.
According to the radar equation,
Figure BDA00035578080700001412
can be expressed as
Figure BDA00035578080700001413
Wherein, the first and the second end of the pipe are connected with each other,
Figure BDA00035578080700001414
in order to receive the antenna gain term,
Figure BDA00035578080700001415
and
Figure BDA00035578080700001416
respectively representing satellites
Figure BDA00035578080700001417
The coordinate position of the moment is the azimuth angle and the pitch angle of the local coordinate system of the receiving radar.
By combining the above analysis, the receiving radar is
Figure BDA00035578080700001418
Signals from the target received at a time
Figure BDA00035578080700001419
Is composed of
Figure BDA00035578080700001420
Wherein the content of the first and second substances,
Figure BDA00035578080700001421
combined type (15), (20) and (21), and
Figure BDA0003557808070000151
the down-conversion treatment is carried out on the mixture,
Figure BDA0003557808070000152
the effective echo signals at the moment are:
Figure BDA0003557808070000153
then, a plurality of satellite visibility periods in which the satellite is visible to both the transmitting radar and the receiving radar are obtained from the STK simulation scene.
The visible time periods of the STK simulation scene output satellite pair transmitting radar and receiving radar are respectively recorded as
Figure BDA0003557808070000154
And
Figure BDA0003557808070000155
wherein, I tr Is the number of times that the satellite is visible to the transmitting radar,
Figure BDA0003557808070000156
is the ith tr A time-continuous satellite visible period for transmitting radar, the starting time being
Figure BDA0003557808070000157
The termination time is
Figure BDA0003557808070000158
I re Is the number of satellite-to-receive radar visibility periods,
Figure BDA0003557808070000159
is the ith re The visible time interval of the satellite to the receiving radar is continuous in time, and the starting time is
Figure BDA00035578080700001510
The termination time is
Figure BDA00035578080700001511
Several satellite visibility periods during which the satellite is visible to both the transmitting and receiving radar are recorded as:
Figure BDA00035578080700001512
wherein, I vs Is the number of the satellite to the visible time periods of both the transmitting radar and the receiving radar, i vs Is the number of any one of the time periods.
Step three, respectively calculating the starting time and the ending time of each satellite visible time interval from the satellite to the transmitting radar and the receiving radarDividing the distance by the speed of light to obtain the transmission delay and the reception delay, and determining the reception period of the effective echo signal
Figure BDA00035578080700001513
And a transmission period
Figure BDA00035578080700001514
Associating several satellite visibility periods T vs Will be remembered again
Figure BDA00035578080700001515
For the
Figure BDA00035578080700001516
Each of which is a continuous period
Figure BDA00035578080700001517
Acquisition with STK
Figure BDA00035578080700001518
Distance of time satellite in local coordinate system of transmitting radar
Figure BDA00035578080700001519
And
Figure BDA00035578080700001520
and calculates a target time
Figure BDA0003557808070000161
Corresponding transmission time
Figure BDA0003557808070000162
Figure BDA0003557808070000163
Figure BDA0003557808070000164
Thereby obtaining
Figure BDA0003557808070000165
Is that
Figure BDA0003557808070000166
A corresponding signal emission period, i.e. the emission period of the effective echo signal; wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003557808070000167
distance data of satellite in local coordinate system of receiving radar acquired by STK
Figure BDA0003557808070000168
And
Figure BDA0003557808070000169
calculating a target time
Figure BDA00035578080700001610
Corresponding receiving time
Figure BDA00035578080700001611
Figure BDA00035578080700001612
Figure BDA00035578080700001613
Thereby obtaining
Figure BDA00035578080700001614
Is that
Figure BDA00035578080700001615
A corresponding signal reception period, i.e. a reception period of a valid echo signal; wherein
Figure BDA00035578080700001616
Step four, according to the sequence of the sampling time of the receiving end
Figure BDA00035578080700001617
And a reception period of the effective echo signal
Figure BDA00035578080700001618
Determining a sequence of sampling instants at which a valid echo signal is received
Figure BDA00035578080700001619
And a sequence of receive sampling instants at which no valid echo signal is received
Figure BDA00035578080700001620
Defining the sampling sequence number of the receiving end as a set N S ＝{n|0≤n≤N sample -1} and then recording the set of receiver-side sample instants as the set of receiver-side sample instants
Figure BDA00035578080700001621
Will be provided with
Figure BDA00035578080700001622
And
Figure BDA00035578080700001623
each subset of
Figure BDA00035578080700001624
Respectively obtaining intersection sets to respectively obtain the ith vs Set of receive sampling instants within a visibility period
Figure BDA00035578080700001625
Union of them
Figure BDA00035578080700001626
Is the set of all globally visible receive sample times. Is not receivedThe set of reception sampling instants of the useful echo signals is recorded as
Figure BDA0003557808070000171
And exist
Figure BDA0003557808070000172
The mathematical relationship of (a).
Step five, acquiring the emission time interval of the effective echo signal through the STK
Figure BDA0003557808070000173
Satellite position data for all time instants
Figure BDA0003557808070000174
Wherein the content of the first and second substances,
Figure BDA0003557808070000175
and is
Figure BDA0003557808070000176
Is Δ t STK Integer multiples of.
Step six, in all the satellite visible time periods, obtaining the satellite visible time periods according to the step five
Figure BDA0003557808070000177
Internal satellite position data
Figure BDA0003557808070000178
To pair
Figure BDA0003557808070000179
The transmitting time and the target time are calculated one by one at the receiving sampling time of any effective echo signal by a linear interpolation method.
Specifically, for
Figure BDA00035578080700001710
Of (2)
Figure BDA00035578080700001711
Obtained according to the following methodWherein the elements, i.e. the sampling instants
Figure BDA00035578080700001712
Corresponding transmission time
Figure BDA00035578080700001713
And satellite time
Figure BDA00035578080700001714
The main process comprises the following steps:
1) constructing a function:
Figure BDA00035578080700001715
for any sampling instant t 3 Its corresponding target time t ═ t 2 Must satisfy f (t) 2 ) 0. At t ═ t 2 In the adjacent neighborhood, f (t) is a monotonous increasing function, and the satellite time of each sampling point under the precision constraint condition can be estimated by using the monotonicity of the function and adopting a dichotomy.
Due to L re (t) cannot be accurately obtained, and subsequent calculations are all performed
Figure BDA00035578080700001716
As an alternative to this, the device may,
Figure BDA00035578080700001717
is a pair L obtained by combining STK data and using a linear interpolation function re (t) high precision estimates.
2) Calculating the lengths of transmitting and receiving paths by an interpolation method:
the satellite can be acquired through the fifth step
Figure BDA00035578080700001718
Global coordinates within. Calculating an arbitrary time t arb The global coordinates of the satellite of (2) need to be interpolated by:
first, t is obtained arb The two most adjacent STK times:
Figure BDA0003557808070000181
Figure BDA0003557808070000182
secondly, get from STK at
Figure BDA0003557808070000183
Global coordinates of satellite within the two moments
Figure BDA0003557808070000184
And
Figure BDA0003557808070000185
then, t is obtained using a linear interpolation function arb Estimation value of global coordinates of time satellite:
Figure BDA0003557808070000186
finally, t is calculated arb Estimated path lengths from the satellite to the transmitting radar and the receiving radar at time:
Figure BDA0003557808070000187
Figure BDA0003557808070000188
3) computing
Figure BDA0003557808070000189
Corresponding to
Figure BDA00035578080700001810
And
Figure BDA00035578080700001811
Figure BDA00035578080700001812
and
Figure BDA00035578080700001813
there is a relationship:
Figure BDA00035578080700001814
Figure BDA00035578080700001815
(a) setting time of day
Figure BDA00035578080700001816
Eta is a positive real number, and f (t) is calculated a ) Adjusting eta to ensure f (t) a ) Less than 0; setting time of day
Figure BDA00035578080700001817
Calculating f (t) b ) And f (t) b )＞0；
(b) If t is b -t a ＜2Δt e Then output
Figure BDA00035578080700001818
And
Figure BDA00035578080700001819
otherwise, performing (c);
(c) computing
Figure BDA00035578080700001820
Of time of day
Figure BDA00035578080700001821
If it is not
Figure BDA00035578080700001822
Then t is updated b ＝t temp If, if
Figure BDA0003557808070000191
Then t is updated a ＝t temp And (b) is returned.
To this end, obtain
Figure BDA0003557808070000192
Corresponding to
Figure BDA0003557808070000193
And
Figure BDA0003557808070000194
and is calculated to obtain
Figure BDA0003557808070000195
Figure BDA0003557808070000196
4) Computing
Figure BDA0003557808070000197
Corresponding to
Figure BDA0003557808070000198
And
Figure BDA0003557808070000199
Figure BDA00035578080700001910
and
Figure BDA00035578080700001911
there is a relationship:
Figure BDA00035578080700001912
Figure BDA00035578080700001913
(a) setting time of day
Figure BDA00035578080700001914
Calculating f (t) a ) And guarantee f (t) a ) Less than 0; setting time of day
Figure BDA00035578080700001915
Calculating f (t) b ) And f (t) b )＞0；
(b) If t is b -t a ＜2Δt e Then output
Figure BDA00035578080700001916
And
Figure BDA00035578080700001917
otherwise, performing (c);
(c) computing
Figure BDA00035578080700001918
Of time of day
Figure BDA00035578080700001919
If it is not
Figure BDA00035578080700001920
Then t is updated b ＝t temp If, if
Figure BDA00035578080700001921
Then t is updated a ＝t temp And (b) is returned.
To this end, obtain
Figure BDA00035578080700001922
Corresponding to
Figure BDA00035578080700001923
And
Figure BDA00035578080700001924
and is calculated to obtain
Figure BDA00035578080700001925
Figure BDA00035578080700001926
Step seven, one by one
Figure BDA00035578080700001927
Receive sample time in
Figure BDA00035578080700001928
Calculating the effective echo signal of the signal if
Figure BDA00035578080700001929
Then order
Figure BDA00035578080700001930
By using
Figure BDA00035578080700001931
Corresponding transmission time
Figure BDA00035578080700001932
And target time
Figure BDA00035578080700001933
Computing
Figure BDA00035578080700001934
Effective echo signal of time
Figure BDA00035578080700001935
If it is
Figure BDA00035578080700001936
Effective echo signal
Figure BDA00035578080700001937
In particular, for
Figure BDA00035578080700001938
Is a subset of
Figure BDA00035578080700001939
Calculating the arbitrary sampling time instant therein
Figure BDA00035578080700001940
Effective echo signal in received signal
Figure BDA00035578080700001941
Amplitude and phase of (d):
will be provided with
Figure BDA0003557808070000201
Tape-in (22) to obtain:
Figure BDA0003557808070000202
step eight, sampling time sequence at a receiving end according to the received noise power
Figure BDA0003557808070000203
At any one time
Figure BDA0003557808070000204
Simulating noise portions in a received signal
Figure BDA0003557808070000205
Noise power of the receiving radar of the computing system:
P n ＝k·T system ·B system (40)
Figure BDA0003557808070000206
at any moment
Figure BDA0003557808070000207
All of the real and imaginary parts of
Figure BDA0003557808070000208
The gaussian distribution of (a) is obtained by generating a pseudo-random number:
Figure BDA0003557808070000209
wherein the content of the first and second substances,
Figure BDA00035578080700002010
is the real part of the noise signal and,
Figure BDA00035578080700002011
is the imaginary part of the noise signal.
Step nine, one by one
Figure BDA00035578080700002012
Inner received sample time
Figure BDA00035578080700002013
Effective echo signal of
Figure BDA00035578080700002014
And noise signal
Figure BDA00035578080700002015
And summing to obtain a simulation result of the radar echo signal.
Therefore, the STK-based high-precision satellite target radar echo signal generation method is completed.

Claims (7)

1. A high-precision satellite target radar echo signal generation method based on STK is characterized by comprising the following steps:
step one, calculating the time interval delta t of STK feedback satellite position data according to the phase precision requirement of echo signals STK Then, an STK simulation scene containing all transmitting radars, receiving radars and satellites to be observed is built in the STK, and the time interval of feedback satellite position data in the STK simulation scene is set to delta t STK ；
Step two, determining a plurality of satellite visible time periods of the satellite which are visible for both the transmitting radar and the receiving radar for any echo signal transmission path according to the STK and the signal transmission model;
step three, respectively calculating the distance from the satellite to the transmitting radar and the receiving radar at the starting time and the ending time of each satellite visible time interval, dividing the distance by the light speed to obtain transmitting transmission time delay and receiving transmission time delay, and determining the receiving time interval of the effective echo signal
Figure FDA0003557808060000011
And a transmission period
Figure FDA0003557808060000012
Step four, according to the sequence of the sampling time of the receiving radar
Figure FDA0003557808060000013
And a reception period of a valid echo signal
Figure FDA0003557808060000014
Obtaining the intersection of the two
Figure FDA0003557808060000015
Is a subset of
Figure FDA0003557808060000016
I.e. the sequence of sampling instants at which a valid echo signal is received,
Figure FDA0003557808060000017
in that
Figure FDA0003557808060000018
Complement of (3)
Figure FDA0003557808060000019
I.e. a sequence of receive sample times at which no valid echo signal is received,
Figure FDA00035578080600000110
at the same time are
Figure FDA00035578080600000111
A subset of (a);
step five, acquiring the emission time interval of the effective echo signal through the STK
Figure FDA00035578080600000112
Satellite position data for all time instants
Figure FDA00035578080600000113
Wherein the content of the first and second substances,
Figure FDA00035578080600000114
and is
Figure FDA00035578080600000115
Is Δ t STK Integer multiples of;
step six, according to the obtained in step five
Figure FDA00035578080600000116
Internal satellite position data
Figure FDA00035578080600000117
To pair
Figure FDA00035578080600000118
At the time of receiving a sampling time of any effective echo signal
Figure FDA00035578080600000119
Calculating the transmitting time one by linear interpolation method
Figure FDA00035578080600000120
And target time
Figure FDA00035578080600000121
Step seven, one by one
Figure FDA00035578080600000122
Receive sample time in
Figure FDA00035578080600000123
Calculating the effective echo signal of the signal if
Figure FDA0003557808060000021
Then order
Figure FDA0003557808060000022
By using
Figure FDA0003557808060000023
Corresponding transmission time
Figure FDA0003557808060000024
And target time
Figure FDA0003557808060000025
Computing
Figure FDA0003557808060000026
Effective echo signal of time
Figure FDA0003557808060000027
If it is
Figure FDA0003557808060000028
Effective echo signal
Figure FDA0003557808060000029
Step eight, sampling time sequence at a receiving end according to the received noise power
Figure FDA00035578080600000210
At any one time
Figure FDA00035578080600000211
Simulating noise portions in a received signal
Figure FDA00035578080600000212
Step nine, one by one
Figure FDA00035578080600000213
Inner received sample time
Figure FDA00035578080600000214
Effective echo signal of
Figure FDA00035578080600000215
And noise signal
Figure FDA00035578080600000216
And summing to obtain a simulation result of the radar echo signal.
2. The STK-based high-precision satellite target radar echo signal generation method according to claim 1, wherein in the first step, the STK simulation scenario specifically comprises:
determining basic parameters of a radar echo signal generation system of a high-precision satellite target based on STK, wherein the system comprises M transmitting radars, N receiving radars and S satellites to be observed in space on the ground, and ECEF coordinates of all the transmitting radars and the receiving radars and the orbital elements of the satellites to be observed are known; defining a global coordinate system of a system as an ECEF coordinate system, defining local coordinate systems of a transmitting radar and a receiving radar, and assuming that the positions, postures and directivities of signal radiation of the transmitting radar and the receiving radar are all kept constant; forming an echo signal transmission path for the signal transmission process among any transmitting radar, any satellite to be observed and any receiving radar; the RCS of all satellites is assumed to be constant and known in the time and angle domains.
3. The STK-based high precision satellite target radar echo signal generating method of claim 1, wherein the STK feeds back the time interval Δ t of the satellite position data in the first step STK The constraint conditions of the values are as follows:
Figure FDA0003557808060000031
wherein R is e Is the radius of the earth, M e Is the earth mass, G is the gravitational constant, w e Is the angular velocity of rotation of the earth, H tar,min Minimum orbital height, f, of the satellite to be observed c Is the signal frequency and c is the speed of light.
4. The STK-based high-precision satellite target radar echo signal generating method according to claim 1, wherein the signal transmission model in the second step is as follows:
the transmitted signal is denoted S tr (t)＝B(t)exp(jη)·exp(j2πf c t), b (t) is the baseband signal, η is the initial phase of the transmitted signal; transmitting radar at transmitting time
Figure FDA0003557808060000032
The transmitted signal, after propagation through free space, at the target instant
Figure FDA0003557808060000033
When the signal reaches the satellite to be observed, the signal is scattered by the satellite and is transmitted in free space at the receiving moment
Figure FDA0003557808060000034
To a receiving radar in
Figure FDA0003557808060000035
The signal from the target received at any moment is obtained after down-conversion
Figure FDA0003557808060000036
Comprises the following steps:
Figure FDA0003557808060000037
wherein the content of the first and second substances,
Figure FDA0003557808060000038
is the power of the baseband signal and is,
Figure FDA0003557808060000039
is a normalized baseband signal, λ ═ c/f c Is the signal wavelength;
Figure FDA00035578080600000310
in order to transmit the antenna gain term,
Figure FDA00035578080600000311
and
Figure FDA00035578080600000312
are respectively shown in
Figure FDA00035578080600000313
Azimuth and elevation angles of the satellite target position in the local coordinate system of the transmitting radar at the moment,
Figure FDA00035578080600000314
in order to receive the antenna gain term,
Figure FDA00035578080600000315
and
Figure FDA00035578080600000316
are respectively shown in
Figure FDA00035578080600000317
The azimuth angle and the pitch angle of the satellite target position at the moment in the local coordinate system of the receiving radar,
Figure FDA00035578080600000318
and
Figure FDA00035578080600000319
are respectively
Figure FDA00035578080600000320
The length of the transmission path from the satellite to the transmitting radar and the receiving radar at the moment, and sigma is the RCS of the satellite to be observed.
5. The STK-based high-precision satellite target radar echo signal generating method according to claim 1, wherein the satellite visibility periods in step two during which the satellite is visible to both the transmitting radar and the receiving radar are:
the visible time periods of the STK simulation scene output satellite pair transmitting radar and receiving radar are respectively recorded as
Figure FDA0003557808060000041
And
Figure FDA0003557808060000042
wherein, I tr Is the number of times that the satellite is visible to the transmitting radar,
Figure FDA0003557808060000043
is the ith tr A time-continuous satellite visible time interval for transmitting radar, the starting time is
Figure FDA0003557808060000044
The termination time is
Figure FDA0003557808060000045
I re Is the number of satellite-to-receive radar visibility periods,
Figure FDA0003557808060000046
is the ith re The visible time interval of the satellite to the receiving radar is continuous in time, and the starting time is
Figure FDA0003557808060000047
The termination time is
Figure FDA0003557808060000048
Several satellite visibility periods during which the satellite is visible to both the transmitting and receiving radar are recorded as:
Figure FDA0003557808060000049
wherein, I vs Is the number of the satellite to the periods of visibility of both the transmitting radar and the receiving radar, i vs Is the number of any one of the time periods.
6. The STK-based high-precision satellite target radar echo signal generating method according to claim 5, wherein the third step is specifically as follows:
associating several satellite visibility periods T vs Will be remembered again
Figure FDA00035578080600000410
For the
Figure FDA00035578080600000411
Each of which is a continuous period
Figure FDA00035578080600000412
Acquisition with STK
Figure FDA00035578080600000413
Distance of time satellite in local coordinate system of transmitting radar
Figure FDA00035578080600000414
And
Figure FDA00035578080600000415
and calculates a target time
Figure FDA00035578080600000416
Corresponding transmission time
Figure FDA00035578080600000417
Figure FDA00035578080600000418
Figure FDA00035578080600000419
Thereby obtaining
Figure FDA0003557808060000051
Is that
Figure FDA0003557808060000052
A corresponding signal emission period, i.e. the emission period of the effective echo signal; wherein the content of the first and second substances,
Figure FDA0003557808060000053
distance data of satellite in local coordinate system of receiving radar acquired by STK
Figure FDA0003557808060000054
And
Figure FDA0003557808060000055
calculating a target time
Figure FDA0003557808060000056
Corresponding receiving time
Figure FDA0003557808060000057
Figure FDA0003557808060000058
Figure FDA0003557808060000059
Thereby obtaining
Figure FDA00035578080600000510
Is that
Figure FDA00035578080600000511
A corresponding signal reception period, i.e. a reception period of a valid echo signal; wherein
Figure FDA00035578080600000512
7. The STK-based high-precision satellite target radar echo signal generating method according to claim 6, wherein the fourth step is specifically:
defining the sampling sequence number of the receiving end as a set N S ＝{n|0≤n≤N sample -1} and then recording the sequence of receiver sample times as the sequence of receiver sample times
Figure FDA00035578080600000513
Wherein N is sample Is the total number of sampling points at the receiving end;
will be provided with
Figure FDA00035578080600000514
And
Figure FDA00035578080600000515
each subset of
Figure FDA00035578080600000516
Respectively solving the intersection to obtain the ith vs Set of receive sampling instants for each visibility period
Figure FDA00035578080600000517
Union of these sets
Figure FDA00035578080600000518
Is a sequence of receiving sampling moments corresponding to all visible periods and a sequence of receiving sampling moments when no effective echo signal is received
Figure FDA00035578080600000519
And exist
Figure FDA00035578080600000520
The mathematical relationship of (a).
CN202210280976.3A 2022-03-22 2022-03-22 STK-based high-precision satellite target radar echo signal generation method Pending CN114814748A (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117289256A (en) * 2023-11-24 2023-12-26 成都本原星通科技有限公司 Target long-distance high-precision tracking method based on low-orbit communication satellite
CN117289256B (en) * 2023-11-24 2024-01-30 成都本原星通科技有限公司 Target long-distance high-precision tracking method based on low-orbit communication satellite

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