CN114814821B - Phased array radar scheduling conflict resolution method based on arc section interception - Google Patents
Phased array radar scheduling conflict resolution method based on arc section interception Download PDFInfo
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- 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
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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
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Abstract
The invention relates to a phased array radar scheduling conflict resolution method based on arc-segment interception, which comprises the following steps: step 1: acquiring a visibility forecast of a spatial target; step 2: preprocessing the visibility forecast to obtain a forecast arc segment of a space target meeting the detection condition of the phased array radar; and step 3: intercepting the forecast arc segment to obtain a target visible arc segment meeting the preset orbit determination calculation condition; and 4, step 4: arranging the target visible arc segments according to a preset priority, if arranging task conflict occurs, acquiring an idle time interval in the channel according to the arranged target visible arc segments, and arranging the conflicting target visible arc segments according to the idle time interval. The method provided by the invention is used for intercepting the visible arc segment of the space target, so that the resource utilization rate can be improved to a greater extent, the observation requirements of various space targets are further met, and the stable cataloguing quantity of the space targets can be continuously improved.
Description
Technical Field
The invention belongs to the technical field of space target measurement and control resource scheduling, and particularly relates to a phased array radar scheduling conflict resolution method based on arc-segment interception.
Background
Compared with a space target which is increased sharply, resources of the phased array radar are still in a shortage state, and for space target measurement and control resource scheduling, students at home and abroad perform equipment application by optimizing various resource scheduling strategies so as to improve the equipment utilization rate.
For example, a random search inventory scheduling algorithm (CB-RSA algorithm) based on constraint satisfaction problem decomposes a scheduling policy according to task level and device type, and implements inventory of spatial objects by reasonably scheduling measurement devices. The algorithm is fast and stable in solving under the task environment with large target and task data volume and high complexity. By reasonably designing the data structure, the scheduling algorithm can be efficiently realized. A phased array adaptive scheduling algorithm utilizing task comprehensive planning balances the importance degree and the emergency degree of a task request and the resource utilization condition in a certain time period before and after on the basis of comprehensively considering factors such as the task request before and after a scheduling moment, scheduling limitation and available resources, can improve the task scheduling efficiency and the time utilization rate of a phased array radar in radar limited time resources, and obtains better comprehensive performance.
However, the existing resource scheduling algorithm basically performs full-arc-segment tracking on a spatial target, so that most of target observation data are redundant, not only is equipment resource waste caused, but also no resource is available for the spatial target with a lower priority. Meanwhile, when the system processes task conflicts, the arc segment time cannot be automatically adjusted, so that the problem of arc segment conflicts is solved, the whole arc segment which directly causes conflicts is abandoned in the process of making a target plan, the planning arrangement of the target arc segment cannot be completed, and equipment resources are not fully utilized.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a phased array radar scheduling conflict resolution method based on arc-segment interception. The technical problem to be solved by the invention is realized by the following technical scheme:
the invention provides a phased array radar scheduling conflict resolution method based on arc-segment interception, which comprises the following steps:
step 1: acquiring a visibility forecast of a spatial target;
and 2, step: preprocessing the visibility forecast to obtain a forecast arc segment of the space target meeting the detection condition of the phased array radar;
and step 3: intercepting the forecast arc segment to obtain a target visible arc segment meeting the preset orbit determination calculation condition;
and 4, step 4: arranging the target visible arc segments according to a preset priority, if the arrangement task conflicts, acquiring idle time intervals in the channel according to the arranged target visible arc segments, and arranging the conflicting target visible arc segments according to the idle time intervals.
In one embodiment of the present invention, the step 1 comprises:
calculating the track file of the space target to obtain a visibility forecast of the space target, wherein the track file of the space target comprises: the track files of the number of double rows, the number of six Kepler elements, the number of code elements and the inertia system trajectory;
the visibility forecast of the space target comprises the arrival point time, the arrival point slant distance, the arrival point azimuth, the arrival point pitch, the arrival point relative speed, the departure point time, the departure point slant distance, the departure point azimuth, the departure point pitch, the departure point relative speed, the arrival point instantaneous root number and the arrival point average root number when the space target passes through the border.
In one embodiment of the present invention, the step 2 comprises:
step 2.1: calculating to obtain the equivalent action distance of the space target relative to the phased array radar according to the visibility forecast, and extracting to obtain the highest elevation angle of the space target crossing the border;
step 2.2: comparing the equivalent action distance with the maximum detection distance index of the phased array radar, if the equivalent action distance is greater than the maximum detection distance index, rejecting the corresponding forecast arc section of the space target, and otherwise, reserving the forecast arc section of the space target;
step 2.3: and comparing the highest elevation angle with the lowest elevation angle of the phased array radar, if the highest elevation angle of the spatial target crossing is smaller than the lowest elevation angle of the phased array radar, rejecting the corresponding forecasting arc segment of the spatial target, otherwise, reserving the forecasting arc segment of the spatial target, and obtaining the forecasting arc segment of the spatial target meeting the detection condition of the phased array radar.
In one embodiment of the present invention, the equivalent range of the spatial target to the phased array radar is calculated according to the following formula:
wherein the content of the first and second substances,
representing the equivalent range of the space target relative to the phased array radar, R representing the actual detection range,
represents the actual RCS value of the spatial target,
the standard value of the RCS set by the index of the maximum detection distance of the phased array radar is shown,
represents the elevation angle of the phased array radar to the target observation,
representing the angle of the normal of the wavefront of the phased array radar with the horizontal.
In one embodiment of the present invention, the step 3 comprises:
step 3.1: obtaining the highest elevation angle moment t and the station-entering moment t of the spatial target crossing corresponding to the forecast arc segment 1 And an outbound time t 2 ；
Step 3.2: according to the station-entering time t of the spatial target crossing 1 And an outbound time t 2 Obtaining the time difference t of the spatial target crossing 2 - t 1 ，
If it is
The predictor arc segment is deleted, wherein,
representing the shortest time length of the preset orbit determination calculation;
otherwise, intercepting the forecast arc segment according to an intercepting time period deltat to obtain the target visible arc segment, wherein the intercepting time period deltat of the forecast arc segment is determined according to the following formula:
wherein the content of the first and second substances,
，
representing the shortest time length of theoretical orbit determination calculation.
In an embodiment of the present invention, if a scheduling task conflict occurs, acquiring an idle time interval in a channel according to a scheduled target visible arc, and scheduling the conflicting target visible arc according to the idle time interval, including:
step a: acquiring the starting time and the ending time of the conflicted target visible arc segments to obtain a conflicted time interval of the conflicted target visible arc segments;
step b: acquiring an idle time interval of each channel in the conflict time interval according to the arranged target visible arc segment, and merging the idle time intervals to obtain an idle time sequence;
step c: sequencing the idle time sequence and making the idle time sequence smaller than
Eliminating the time interval to obtain a programmable time sequence;
step d: and intercepting and editing the conflicted target visible arc segment according to the longest time interval in the programmable time sequence.
In an embodiment of the present invention, in the step c, if all time intervals in the idle time sequence are smaller than
And eliminating the conflicted target visible arc segment.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the phased array radar scheduling conflict resolution method based on arc-segment interception, the forecast arc segments of the space targets are intercepted, the target visible arc segments capable of meeting the preset orbit determination calculation conditions are obtained, the resource utilization rate can be improved to a large extent, the observation requirements of various space targets are further met, and meanwhile the stable cataloging quantity of the space targets can be continuously improved.
2. According to the phased array radar scheduling conflict resolution method based on arc-segment interception, when arc-segment arrangement is carried out, the target visible arc segments are arranged according to the preset priority, if arrangement task conflict occurs, the conflicting target visible arc segments and the arranged target visible arc segments are compared and analyzed, the conflicting target visible arc segments are arranged by using the idle time interval in the channel, resource scheduling is further optimized, and the tracking continuity of space targets is realized.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic diagram of a phased array radar scheduling conflict resolution method based on arc segment interception according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a process for acquiring a target visible arc segment according to an embodiment of the present invention;
FIG. 3 is a flowchart of conflict resolution based on arc segment interception according to an embodiment of the present invention;
FIG. 4 is a truncated schematic view of conflicting target visible arc segments provided by an embodiment of the invention;
FIGS. 5a-5b are schematic diagrams illustrating comparison of resource utilization rates for a maximum multi-target number of 20 according to an embodiment of the present invention;
6a-6b are comparative illustrations of resource utilization for a maximum multi-target number of 40 provided by embodiments of the present invention;
FIG. 7 is a graph illustrating comparative analysis of the average resource utilization for each time of day according to an embodiment of the present invention;
FIG. 8 is a graph illustrating a projected quantity versus target quantity 20 for a maximum multi-target quantity provided by an embodiment of the present invention;
FIG. 9 is a graph of a projected quantity versus analysis for a maximum multi-target quantity of 40 provided by an embodiment of the present invention.
Detailed Description
In order to further explain the technical means and effects of the present invention adopted to achieve the predetermined invention purpose, the following describes in detail a phased array radar scheduling conflict resolution method based on arc segment interception according to the present invention with reference to the accompanying drawings and the detailed embodiments.
The foregoing and other technical matters, features and effects of the present invention will be apparent from the following detailed description of the embodiments, which is to be read in connection with the accompanying drawings. The technical means and effects of the present invention adopted to achieve the predetermined purpose can be more deeply and specifically understood through the description of the specific embodiments, however, the attached drawings are provided for reference and description only and are not used for limiting the technical scheme of the present invention.
Example one
Firstly, explaining a phased array radar resource scheduling process, specifically, firstly calculating the visibility of a space target relative to equipment, and putting all visible arc sections meeting requirements of the space target into a resource pool as input elements of a resource scheduling algorithm; and then arc segment conflict resolution is carried out in the planning process, and the visible arc segments of various space targets correspond to equipment resources as much as possible, so that the arc segment observation requirements are met, and the equipment utilization rate is further improved.
Further, please refer to fig. 1 to fig. 3 in combination to explain the phased array radar scheduling conflict resolution method based on arc-segment interception in this embodiment, where fig. 1 is a schematic diagram of a phased array radar scheduling conflict resolution method based on arc-segment interception provided in the embodiment of the present invention, and fig. 2 is a schematic diagram of an acquisition flow of a target visible arc-segment provided in the embodiment of the present invention; FIG. 3 is a flowchart of conflict resolution based on arc segment interception according to an embodiment of the present invention; as shown in the figure, the phased array radar scheduling conflict resolution method based on arc-segment interception of the embodiment includes:
step 1: acquiring a visibility forecast of a spatial target;
specifically, for the space target, the track transit prediction of the space target is completed by calculating and processing different types of track files of the batch space target, such as the number of double rows, the number of six Kepler elements, the number of code elements, the inertia system trajectory and the like, so that the visibility prediction of the space target is obtained.
The visibility forecast of the space target mainly comprises the time of an entry point, the slope distance of the entry point, the azimuth of the entry point, the pitching of the entry point, the relative speed of the entry point, the time of an exit point, the slope distance of the exit point, the azimuth of the exit point, the pitching of the exit point, the relative speed of the exit point, the instantaneous number of the entry point and the average number of the entry points when the space target passes through the border. Meanwhile, the system also comprises information such as target intersatellite point tracks, ground shadows, moon shadows, lifting intersection points and the like.
In this embodiment, the batch space target is divided into an emergency target set, a task target set and an inventory target set according to task requirements, wherein the priorities of the emergency target set, the task target set and the inventory target set are sequentially reduced. Further, according to the collected target information of all the targets in the 3 target sets, the visibility prediction OTF software is utilized to process the target information to obtain visibility prediction corresponding to the spatial target. The target information comprises a target number, track information and tracking information (comprising tracking requirements, tracking turns, tracking times and tracking time).
And 2, step: preprocessing the visibility forecast to obtain a forecast arc segment of a space target meeting the detection condition of the phased array radar;
specifically, step 2 comprises:
step 2.1: calculating to obtain the equivalent action distance of the space target relative to the phased array radar according to the visibility forecast, and extracting to obtain the highest elevation angle of the space target crossing the border;
step 2.2: comparing the equivalent action distance with the maximum detection distance index of the phased array radar, if the equivalent action distance is greater than the maximum detection distance index, rejecting the corresponding prediction arc section of the space target, otherwise, reserving the prediction arc section of the space target;
that is, as shown in formula (1):
wherein the content of the first and second substances,
represents the maximum detection range index of the phased array radar,
represents the equivalent range of a spatial target relative to the phased array radar,
indicating the status of the target round if
If the number is 1, the target circle is reserved, otherwise, the target circle is eliminated.
Specifically, the detection range of the phased array Radar is determined according to a design index, and the maximum detection distance index is verified by using a target with RCS (Radar cross-section) as 1 as a standard. Therefore, when the target screen crossing distance is considered, all targets need to be converted into equivalent distance terms when the RCS is 1 according to the original RCS values, so as to ensure that all target sets are analyzed under the same standard.
The radar equation is as follows:
wherein, the first and the second end of the pipe are connected with each other,
represents the maximum detection range of the phased array radar,
represents the transmit power of the phased array radar,
which represents the power gain of the antenna,
which represents the wavelength of the electromagnetic waves,
represents the actual RCS value of the spatial target,
indicating the receiver sensitivity.
As can be seen from the above equation, the maximum detection range of the phased array radar
And the actual RCS value of the spatial target
In a relationship of
。
In this embodiment, the equivalent maximum acting distance of the phased array radar to different target RCSs is calculated by taking the target RCSs in the central database as reference. The gain of the antenna is maximum in the normal direction and is deviated from the normal direction
Attenuation, when calculating the maximum equivalent action distance of the phased array radar to different targets,because the included angle between the target and the transmitting antenna of the phased array radar is different, the attenuation factor value is different when the array surface faces the sky
In other orientations
Wherein
For phased array radar to observe the elevation angle of the target,
is the angle between the normal of the array surface of the phased array radar and the horizontal line. Calculating the equivalent action distance of different RCS space targets relative to the phased array radar according to the action distance of the phased array radar and the RCS of the targets by combining:
wherein the content of the first and second substances,
represents the equivalent range of a spatial target relative to the phased array radar,Rwhich represents the actual detection range, is,
represents the actual RCS value of the spatial target,
and the RCS standard value set by the maximum detection distance index of the phased array radar is represented.
Step 2.3: and comparing the highest elevation angle with the lowest elevation angle of the phased array radar, if the highest elevation angle of the spatial target crossing is smaller than the lowest elevation angle of the phased array radar, rejecting the corresponding forecasting arc section of the spatial target, and otherwise, reserving the forecasting arc section of the spatial target to obtain the forecasting arc section of the spatial target meeting the detection conditions of the phased array radar.
It should be noted that the preprocessing process is actually a constraint of the radar equipment capability limitation in the visibility calculation, and in this embodiment, includes two dimensions of distance and elevation angle, and in other embodiments, may also include an azimuth dimension.
And step 3: intercepting the forecast arc segment to obtain a target visible arc segment meeting the preset orbit determination calculation condition;
in the embodiment, the forecast arc segment of the space target is cut based on the highest elevation angle (generally the shortest distance) of the space target relative to the phase-controlled radar, the shortest slant distance (the highest elevation angle) is taken as a reference point, a sliding window of n minutes is taken as a reference, the forecast arc segment of n minutes is cut forwards and backwards to be taken as a target visible arc segment, if the arc segment duration in a certain direction in the forward direction or the backward direction is less than n/2, the sliding window starts to intercept at the beginning of the direction, so that the cut arc segment meeting the duration of n minutes is obtained as much as possible. It should be noted that the arc segment with the duration of n minutes not only needs to meet the requirement of the shortest duration of the orbit determination data, but also needs to consider the quality of the acquired data.
According to the visibility forecast of the space target, the known variables for forecasting arc segment preprocessing are obtained as follows: forecasting the highest elevation angle time t of the spatial target crossing and the inbound time t of the spatial target crossing corresponding to the arc segment 1 And time of departure t 2 . In addition, the shortest time t is calculated according to the theoretical orbit determination 0 Setting the preset orbit determination to calculate the shortest time
Presetting the shortest time length for orbit determination
Is greater than the shortest time t calculated by theoretical orbit determination 0 The number of bits in the received signal, optionally,
。
in this embodiment, the time period of the target visible arc segment after the clipping operation is denoted as Δt is obtained by first calculating the highest elevation time t and the arrival time t of the forecast arc segment 1 Time of departure t 2 And taking the absolute value. If | t-t 1 I and | t-t 2 All is greater than t 0 Then, take t forward and backward with the highest elevation time t as the base point 0 Time; if | t-t 1 | is greater than t 0 ，|t-t 2 | is less than t 0 Then | t-t 2 All reservations, time before the highest elevation time t is reserved 2 x t 0 -|t-t 2 If | t-t 1 I and | t-t 2 All is less than t 0 And then, the interception operation is not carried out on the forecast arc segment.
It should be noted that the time difference t of the spatial target transit of the forecast arc segment for the interception operation 2 - t 1 Must be greater than
。
Specifically, the step 3 includes:
step 3.1: acquiring the highest elevation angle time t and the station-entering time t of the spatial target crossing corresponding to the forecast arc segment 1 And an outbound time t 2 ；
Step 3.2: according to the arrival time t of the spatial target crossing 1 And an outbound time t 2 Obtaining the time difference t of the spatial target crossing 2 - t 1 ，
If it is
The predictor arc segment is deleted, wherein,
representing the shortest time length of the preset orbit determination calculation;
otherwise, intercepting the forecast arc segment according to the intercepting time period delta t to obtain a target visible arc segment, wherein the intercepting time period delta t of the forecast arc segment is determined according to the following formula:
wherein the content of the first and second substances,
，
representing the shortest time length of theoretical orbit determination calculation.
It should be noted that, in the current phased array radar, a space target is detected basically in a full arc tracking manner, the manner can observe the running tracks of the space target at all visible times, then observed data is used for orbit determination calculation of the space target, tens of thousands of space targets (including on-orbit satellites, arrow bodies, fragments and the like) which currently run in an orbit are provided, and the phased array radar has a limited resource, and therefore, the difficulty in cataloguing all space targets is high. Meanwhile, the minimum time requirement on the observation data in orbit determination calculation is considered, and as long as the time length of the observation data meets the minimum orbit determination requirement, the data can participate in orbit determination, and the orbit determination precision is basically not influenced.
Therefore, in the embodiment, the target visible arc segment meeting the preset orbit determination calculation condition is obtained by intercepting the forecast arc segment, so that more targets are arranged by using the same resource for tracking detection, and the number of the spatial target catalogues is increased.
Further, after the visibility forecast is preprocessed and intercepted to obtain a target visible arc section, arranging the target visible arc by using program and resource allocation RSA software, wherein the arranging principle of the program and resource allocation RSA software is that arranging is carried out according to a priority order. In the process of arranging the target visible radian by utilizing program and resource allocation RSA software, if arranging task conflict occurs, the conflict is solved according to the following mode.
And 4, step 4: arranging the target visible arc segments according to a preset priority, if the arrangement task conflicts, acquiring idle time intervals in the channel according to the arranged target visible arc segments, and arranging the conflicting target visible arc segments according to the idle time intervals.
In this embodiment, if a scheduling task conflict occurs, acquiring an idle time interval in a channel according to a scheduled target visible arc, and scheduling the conflicting target visible arc according to the idle time interval, specifically including the following steps:
step a: acquiring the starting time and the ending time of the conflicting target visible arc segments to obtain a conflicting time interval of the conflicting target visible arc segments;
in the present embodiment, the start time and the end time of the target visible arc segment are the start time and the end time of the arc (target visible arc segment) after the arc segment prediction operation is performed on the spatial target.
Step b: acquiring an idle time interval of each channel in a conflict time interval according to the arranged target visible arc segment, and taking a union set of the idle time intervals to obtain an idle time sequence;
step c: sorting the idle time sequence and making the idle time sequence less than
Eliminating the time interval to obtain a programmable time sequence;
it should be noted that, in step c, if all time intervals in the idle time sequence are less than
And eliminating the conflicted target visible arc segments.
Step d: and intercepting and editing the conflicting target visible arc segments according to the longest time interval in the programmable time sequence.
Further, the conflict resolution method of the present embodiment is specifically described as follows:
firstly, acquiring the maximum multi-target channel number m of the radar equipment, planning the target visible arc section according to the target set level, and if the programmable number at a certain moment is less than m, directly planning the target visible arc section. If the programmable number at a certain moment is equal to m, scheduling task conflict occurs, obtaining the time periods of the starting time and the ending time of the target visible arc segment of the conflict, taking the rest idle time intervals in m channels in the time period, and taking the idle time intervals of all the channels as a union to obtain an idle time sequence.
If a certain time interval in the idle time sequence meets the arc segment minimum time requirement (namely, the preset orbit determination calculation minimum time length is met)
) Intercepting the conflicting target visible arc segment according to the time interval, and if a plurality of time intervals meet the requirement, giving priority to the interval with the longest time; and if the time interval meeting the minimum time requirement of the arc segment does not exist in the idle time sequence, rejecting the conflicting target visible arc segment.
Referring to fig. 4, fig. 4 is a schematic diagram of intercepting conflicting target visible arcs according to an embodiment of the present invention, where the number of channels is m, and the starting time t of the target visible arcs to be programmed is set as shown in the figure 1 End time t 2 。
If no conflict exists, the program is directly arranged, if conflict exists, the idle time of all channels is firstly calculated according to the starting time and the ending time of the arc segment to be arranged, as shown in figure 4, the space time interval of the channel 1 is u 1 Idle time interval of channel 2 is u 2 The idle time interval of the channel i is u i The idle time interval of channel m is u m And obtaining a time sequence S by taking a union set of all the idle times, wherein the formula is as follows:
sorting the time series S and
comparing the time intervals in the time series to be less than
The excluded schedulable time sequence D = { D1, D2, di }, the priority of the longest time interval in the schedulable time sequence D is set to be the highest, the highest priority is used as the time after the interception of the arc segments to be scheduled (namely, the conflicting target visible arc segments) is completed, and the arc segments are scheduled after the interception is completed.
In this embodiment, the program of the resource scheduling method for phased array radar scheduling conflict resolution based on arc-segment interception is as follows, and in this embodiment, the following program is programmed through C language:
according to the phased array radar scheduling conflict resolution method based on arc-segment interception, the forecast arc segments of the space targets are intercepted, the target visible arc segments capable of meeting the preset orbit determination calculation conditions are obtained, the resource utilization rate can be improved to a large extent, the observation requirements of various space targets are further met, and meanwhile the stable inventory quantity of the space targets can be continuously improved. And when the arc sections are arranged, the target visible arc sections are arranged according to the preset priority, if the arrangement task conflicts, the conflicting target visible arc sections and the arranged target visible arc sections are compared and analyzed, the conflicting target visible arc sections are arranged by utilizing the idle time interval in the channel, the resource scheduling is further optimized, and the tracking continuity of the space target is realized.
Example two
The present embodiment explains the effect of the phased array radar scheduling conflict resolution method based on arc-segment interception in the first embodiment by using a specific simulation experiment.
The phased array radar generally designs a maximum multi-target index m, the present embodiment describes the time utilization of equipment by using the resource utilization rate, the resource utilization rate refers to the ratio of the number of planned targets arranged at the same time to the maximum multi-target index m, and the higher the resource utilization rate is, the closer the number of target arcs arranged at the same time is to the maximum multi-target index m is, the more sufficient the radar equipment is utilized. In this embodiment, TLE published in 11/7/2021 is used as a planned target number, a certain fixed point location is set as a radar equipment location for forecasting and resource utilization, and verification is performed under two conditions of maximum multi-target number index of 20 and maximum multi-target number index of 40.
When the maximum multi-target number is 20, the resource utilization rate change situation of the algorithm and the CB-RSA algorithm in one day is shown in fig. 5a-5b, fig. 5a is the resource utilization rate change situation of the CB-RSA algorithm, and fig. 5b is the resource utilization rate change situation of the algorithm, wherein the abscissa represents different times in one day (counted by taking 1 second as a step), and the ordinate represents the ratio of the number of the visible arc segments arranged at the time to the maximum multi-target number. By comparison, the algorithm of the invention is basically kept at the 83% level, and the resource utilization rate is higher than that of the CB-RSA algorithm as a whole.
When the maximum multi-target number is 40, the change situation of the resource utilization rate of the algorithm and the CB-RSA algorithm in one day is shown in fig. 6a-6b, fig. 6a is the change situation of the resource utilization rate of the CB-RSA algorithm, and fig. 6b is the change situation of the resource utilization rate of the algorithm, and the comparison shows that the algorithm is basically kept at the level of 85% and is higher than the resource utilization rate of the CB-RSA algorithm as a whole.
The resource utilization at each time of the day is averaged and compared and analyzed through fig. 7. As can be seen from the figure, when the multi-target number of the algorithm is 20, the average resource utilization rate is 16.55 percent higher than that of the CB-RSA algorithm; when the number of the multiple targets is 40, the average resource utilization rate is 5.75% higher than that of a CB-RSA algorithm, and the effect is obviously improved.
The daily planning number of the algorithm of the invention is also obviously improved, because the visibility of the daily target relative to the equipment is different, the planning arc segment arrangement number of continuous 5 days (taking the period from 11 months to 9 days in 2021 as an example) is selected for statistical analysis, and the daily planning arrangement number is shown in fig. 8 and 9 when the maximum multi-target number m is 20 and 40.
At a maximum multi-target count of 20, the daily scheduling amount of the algorithm of the present invention is shown in FIG. 8. As can be seen from the figure, the daily planning number of the algorithm is kept at the level of about 4700 and can reach 4939, compared with the CB-RSA algorithm, the daily planning number is increased by about 1500, and the utilization efficiency of radar equipment is obviously improved.
At a maximum multi-target count of 40, the daily schedule number for the algorithm of the present invention is shown in FIG. 9. As can be seen from the figure, the daily planning number of the algorithm is kept at the level of about 11000 and can reach 12206 at most, compared with the CB-RSA algorithm, the daily planning number is improved by about 3000, and the utilization efficiency of radar equipment is obviously improved.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of additional like elements in the article or device comprising the element.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (5)
1. A phased array radar scheduling conflict resolution method based on arc segment interception is characterized by comprising the following steps:
step 1: acquiring a visibility forecast of a spatial target;
step 2: preprocessing the visibility forecast to obtain a forecast arc segment of the space target meeting the detection condition of the phased array radar;
the step 2 comprises the following steps:
step 2.1: calculating to obtain the equivalent action distance of the space target relative to the phased array radar according to the visibility forecast, and extracting to obtain the highest elevation angle of the space target crossing the border;
step 2.2: comparing the equivalent action distance with the maximum detection distance index of the phased array radar, if the equivalent action distance is greater than the maximum detection distance index, rejecting the corresponding forecast arc section of the space target, and otherwise, reserving the forecast arc section of the space target;
step 2.3: comparing the highest elevation angle with the lowest elevation angle of the phased array radar, if the highest elevation angle of the spatial target crossing is smaller than the lowest elevation angle of the phased array radar, eliminating the corresponding forecasting arc section of the spatial target, otherwise, reserving the forecasting arc section of the spatial target, and obtaining the forecasting arc section of the spatial target meeting the detection conditions of the phased array radar;
and 3, step 3: intercepting the forecast arc segment to obtain a target visible arc segment meeting the preset orbit determination calculation condition;
the step 3 comprises the following steps:
step 3.1: acquiring the highest elevation angle time t and the station-entering time t of the spatial target crossing corresponding to the forecast arc segment 1 And an outbound time t 2 ；
Step 3.2: according to the station-entering time t of the spatial target crossing 1 And an outbound time t 2 Obtaining the time difference t of the spatial target crossing 2 -t 1 ，
If t 2 -t 1 <t min Then the forecast arc segment is deleted, wherein t min Representing the shortest time length of the preset orbit determination calculation;
otherwise, intercepting the forecast arc segment according to an intercepting time period deltat to obtain the target visible arc segment, wherein the intercepting time period deltat of the forecast arc segment is determined according to the following formula:
wherein, t min ＞t 0 ，t 0 Representing the shortest time length of theoretical orbit determination calculation;
and 4, step 4: arranging the target visible arc segments according to a preset priority, if arranging task conflict occurs, acquiring idle time intervals in a channel according to the arranged target visible arc segments, and arranging the conflicting target visible arc segments according to the idle time intervals.
2. The phased array radar scheduling conflict resolution method based on arc segment interception according to claim 1, wherein the step 1 comprises:
calculating the track file of the space target to obtain the visibility forecast of the space target, wherein the track file of the space target comprises: the track files of the number of double rows, the number of six Kepler elements, the number of code elements and the inertia system trajectory;
the visibility forecast of the space target comprises the arrival point time, the arrival point slant distance, the arrival point azimuth, the arrival point pitch, the arrival point relative speed, the departure point time, the departure point slant distance, the departure point azimuth, the departure point pitch, the departure point relative speed, the arrival point instantaneous root number and the arrival point average root number when the space target passes through the border.
3. The phased array radar scheduling conflict resolution method based on arc-segment interception according to claim 1, wherein the equivalent action distance of the space target relative to the phased array radar is calculated according to the following formula:
wherein R' represents the equivalent action distance of the space target relative to the phased array radar, R represents the actual detection distance, sigma represents the actual RCS value of the space target, and sigma represents 0 Indicating maximum detection range index setting for phased array radarRCS standard value, E represents the elevation angle of the phased array radar to the target,
representing the angle of the normal of the wavefront of the phased array radar with the horizontal.
4. The phased array radar scheduling conflict resolution method based on arc-segment interception according to claim 1, wherein if a scheduling task conflict occurs, acquiring an idle time interval in a channel according to a scheduled target visible arc segment, and scheduling the conflicting target visible arc segment according to the idle time interval, comprising:
step a: acquiring the starting time and the ending time of the conflicted target visible arc segments to obtain conflicted time intervals of the conflicted target visible arc segments;
step b: acquiring an idle time interval of each channel in the conflict time interval according to the arranged target visible arc segment, and merging the idle time intervals to obtain an idle time sequence;
step c: sequencing the idle time sequence and enabling the idle time sequence to be smaller than t min Eliminating the time interval to obtain a programmable time sequence;
step d: and intercepting and editing the conflicted target visible arc segment according to the longest time interval in the programmable time sequence.
5. The phased array radar scheduling conflict resolution method based on arc segment interception according to claim 4, wherein in the step c, if all time intervals in the idle time sequence are less than t min And eliminating the conflicted target visible arc segment.
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