CN114859315A - Radar reconnaissance received signal detection system and method - Google Patents
Radar reconnaissance received signal detection system and method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
Abstract
The invention discloses a radar reconnaissance received signal detection system and a method, comprising the following steps of S100: the receiver on the scout car receives the echo signals in all directions through the receiving antenna; completing state dynamic setting on a processing model in the fractional order channelized receiver; step S200: performing order correction processing based on the instantaneous frequency and amplitude of the signal in each channel; step S300: performing signal processing on each echo signal, locking a target echo signal based on a signal processing result, determining radiation source position information corresponding to each target echo signal based on the target echo signal, performing reconnaissance path simulation on the reconnaissance vehicle, and acquiring an optimal reconnaissance path; step S400: and driving the scout car along the optimal scout path, acquiring complete information of each target echo signal, and if the target echo signals are judged to be matched with the target to be identified based on the complete information, sending out target scout early warning by the scout car.
Description
Technical Field
The invention relates to the technical field of radar reconnaissance signal detection, in particular to a system and a method for detecting radar reconnaissance receiving signals.
Background
When a radar reconnaissance vehicle is used for detecting a target in an area, the radar reconnaissance vehicle is generally influenced by the terrain environment in the area, so that the obtained transmitted radar signal and an interference signal are combined and superposed, the condition that the target is missed to be detected or a false target appears frequently occurs when the radar vehicle is used for detecting the target in the area, and the condition that the detection error is more likely to occur in comparison with the condition that no noise or other interference exists in the characteristic waveform of the target signal can be reflected; the radar sectional area refers to the emission sectional area of a radar, the larger the radar sectional area of a target is, the larger the signal characteristics of the radar to the target is, but the detection distance is shorter, the accuracy of identifying the target to be detected through the signal characteristics is higher, and how to realize that the reconnaissance path of a reconnaissance vehicle can be adjusted as far as possible in the condition of spending as little time as possible, so that more targets are identified, the target identification efficiency is improved, and the radar detection method has great practical significance.
Disclosure of Invention
The present invention is directed to a system and method for detecting a radar reconnaissance received signal, so as to solve the above-mentioned problems in the background art.
In order to solve the technical problems, the invention provides the following technical scheme: a radar reconnaissance received signal detection method comprises the following steps:
step S100: a transmitter on the scout car transmits electromagnetic wave energy to each direction on a road section in a certain area in a traveling path line through a transmitting antenna, and a receiver on the scout car receives echo signals in each direction through a receiving antenna; the receiver on the scout car is a fractional order channelized receiver, and the dynamic state setting of a processing model in the fractional order channelized receiver is completed to obtain the instantaneous frequency and amplitude of a signal in each channel;
step S200: carrying out order correction processing based on the instantaneous frequency and amplitude of the signal in each channel;
step S300: the receiver on the scout car sends the primarily received target echo signals to the processing equipment, the signal processing is carried out on each echo signal, the target echo signals are locked based on the signal processing results, the radiation source position information corresponding to each target echo signal is determined based on the target echo signals, the scout path simulation is carried out on the scout car, and the optimal scout path is obtained;
step S400: and driving the scout car along the optimal scout path, acquiring complete information of each target echo signal, and if the target echo signals are judged to be matched with the target to be identified based on the complete information, sending out target scout early warning by the scout car.
Further, the process that the receiver on the scout car receives the echo signals in each direction through the receiving antenna in step S100 includes:
step S101: setting the initial state of a fractional order channelized receiver on the scout car as an even fractional order channelized mode; detecting the echo signals received on each channel, if only 1 channel detects the echo signals, still maintaining the even fractional order channelization mode, and receiving the echo signals; if two channels detect echo signals and the two channels are adjacent channels, converting the fractional order channelized receiver into an odd fractional order channelized mode; echo signals are alternately filtered in a fractional order channelized receiver through two fractional order channelized modes;
step S102: acquiring phase information of signals in each channel, performing delay processing on the phases of the signals to obtain phase information of two moments before and after the signals, calculating a phase difference between the two moments before and after, subtracting 360 degrees from the phase difference of the signals if the phase difference is larger than +180 degrees, and adding 360 degrees to the phase difference of the signals if the phase difference is smaller than-180 degrees; acquiring the instantaneous frequency and amplitude of the signal in each channel;
the steps can ensure that the focused signal falls on the passband of the filter by utilizing the complementary relation between odd and even two forms of filter banks, thereby solving the problems of false signals and cross channels, and the channelized structure can realize the random adjustment of the channelized order through the odd and even combination, so that the large frequency modulation bandwidth signal can be completely divided into one channel under the condition that the operation complexity is equivalent to the fractional domain channelized reception, thereby improving the precision of parameter measurement.
Further, in step S200, the step of performing the order correction process based on the instantaneous frequency and amplitude of each in-channel signal includes:
step S201: setting the number of channels as C and setting the amplitude threshold as W; if the signal amplitudes of the adjacent channels exceed the amplitude threshold W, subtracting 1 from the number C of the channels; if the signals of the adjacent channels exceed the amplitude threshold and the instantaneous frequency of the signals is within 50% of the central bandwidth, adding 1 to the number C of the channels; if the signals of the adjacent channels exceed the amplitude threshold, but the instantaneous frequencies of the signals are not all within 50% of the central bandwidth, the number C of the channels is not changed;
step S202: setting the extraction multiple as M, calculating the frequency precision value of the signal measured last time in the frequency and tolerance range of each signal, and subtracting 1 from the extraction multiple M if the frequency precision value is greater than the preset frequency precision upper limit; if the frequency precision value is smaller than the preset lower limit of frequency precision, adding 1 to the extraction multiple M; if the frequency precision value is between the preset lower limit and the upper limit of the frequency precision, the extraction multiple M is not changed;
the steps can realize continuous correction of the current channelization order so as to ensure that the focused signal falls on the passband of the filter, retain the complete information of the signal and facilitate the signal processing after parameter estimation of the signal.
Further, in step S300, determining the radiation source position information corresponding to each target echo signal based on the target echo signals, and performing a scout path simulation on the scout car to obtain an optimal scout path includes:
step S301: acquiring radar signal waveform characteristics related to direct attribute information of a target to be identified based on big data; setting an echo signal with the similarity of the radar signal waveform characteristics larger than a similarity threshold as a target echo signal, and determining radiation source position information based on the target echo signal; simultaneously recording relative position information between the position of each radiation source and the position of the current scout car, wherein the relative position information comprises the relative linear distance between the radiation source and the scout car and the relative azimuth angle between the radiation source and the scout car; the relative azimuth angle is an included angle between a line segment formed by connecting the radiation source and the scout car and the x axis by taking the forward direction of the scout car as the positive direction of the x axis, being vertical to the x axis and taking the position of the scout car as the origin of coordinates as the y axis;
step S302: acquiring the radar cross-sectional area S of the radiation source corresponding to each target echo signal 1 ，S 2 ，…，S n In which S is 1 ，S 2 ，…，S n Respectively representing the radar cross sections of the 1 st, 2 nd, … th and n th radiation sources detected by the scout car at the current position; setting a radar sectional area threshold which is the minimum radar sectional area for extracting the characteristic information of the radiation source;
step S303: simulating the path of the scout car from the current position, setting the fixed speed of the scout car, and acquiring the path direction information of each simulated path; acquiring the variation range { S) of the cross section area of the radar detected from the 1 st, 2 nd, … th and n th radiation sources respectively when the scout car runs along each path from the current position 1 +U 1 ，S 2 +U 2 ，…，S n +U n }; wherein, U 1 ，U 2 ，…，U n Dynamic variation values { U ] respectively representing detected radar cross-sectional areas of the 1 st, 2 nd, … th and n th radiation sources 1 ，U 2 ，…，U n }; respectively accumulating S when the vehicle travels along the ith travel route 1 +U 1 ，S 2 +U 2 ，…，S n +U n The number d of the radar cross-section area threshold value is reached i ；
Step S304: performing optimal path combination selection to obtain the number of combined paths and total path time corresponding to each combined path; and preferentially selecting the path combination mode with the least total path time, and preferentially selecting the path combination mode with less combined paths when the total path time is the same.
Further, in step S304, each of the combined travel paths needs to satisfy the following conditions:
the first condition is as follows: if a combined path comprises a path a, b and c, when the combined path is driven along the path a, b and c, the combined path reaches the value d of the cross-sectional area threshold of the radar a 、d b 、d c Need to satisfyd a +d b +d c N; n represents the total number of radiation sources;
and a second condition: if one combined path comprises a path a, b and c, when the combined path is driven along the path a, b and c, the path a and b can enable the radar cross section detected by the same radiation source c to reach a radar cross section threshold value; calculating the number d of the cross-sectional area threshold of the radar a Or d b Only one calculation is made for the radiation source c.
Further, the process of calculating the total travel time in step S304 is as follows:
step S211: setting a combined path including a, b, c paths, d a +d b +d c N; d is the number of the cross-sectional area threshold value detected when the scout car runs along the path a a Stopping the vehicle and obtaining a running distance P 1 If the traveling speed of the scout car is fixed to v, the traveling time corresponding to the traveling path a is T a ＝P 1 V; running the scout car along the path b, and accumulating the numerical values reaching the cross-sectional area threshold of the radar, wherein if the scout car runs along the path b and the radiation source passing the cross-sectional area threshold of the radar is detected to be superposed with the path a, the current numerical value is kept until the numerical value of the cross-sectional area threshold of the radar is detected to be d b Stopping the vehicle and obtaining a running distance P 2 If the path time corresponding to the path b is T b ＝P 2 V; running the scout car along the path c, accumulating the numerical values reaching the cross-sectional area threshold value of the radar, wherein if the scout car runs along the path c and the radiation source which detects the cross-sectional area threshold value of the radar is superposed with the path a and the path b, keeping the current numerical value until the numerical value which detects the cross-sectional area threshold value of the radar is d c Stopping the vehicle and obtaining a running distance P 3 If the path time corresponding to the path c is T c ＝P 3 /v；
Step S212: calculating total travel time T General assembly ＝T a +T b +T c 。
The system comprises a multinomial filtering module with adjustable order, an instantaneous frequency measurement module, an order correction module, an optimal reconnaissance path analysis module and a target reconnaissance early warning module;
the order-adjustable multi-item filtering module is used for dynamically setting the receiving state of the fractional order channelized receiver on the scout car;
the instantaneous frequency measurement module is used for receiving data in the polynomial filtering module with the adjustable order and acquiring the instantaneous frequency and amplitude of signals in each channel;
the order correction module is used for receiving the data in the instantaneous frequency measurement module and carrying out order correction processing based on the instantaneous frequency and amplitude of the signal in each channel;
the optimal reconnaissance path analysis module is used for receiving target echo signals preliminarily received by a receiver on the reconnaissance car, determining radiation source position information corresponding to each target echo signal based on the target echo signals, and performing reconnaissance path simulation on the reconnaissance car to obtain an optimal reconnaissance path;
and the target reconnaissance early warning module is used for receiving the data in the optimal reconnaissance path analysis module, driving the reconnaissance vehicle along the optimal reconnaissance path, acquiring complete information of each target echo signal, and sending out target reconnaissance early warning when the target echo signals are judged to be matched with the target to be identified based on the complete information.
Further, the optimal scout path analysis module includes: the device comprises a path combination unit, a combination condition setting unit and a total travel path time calculation unit;
the path combination unit is used for determining the position information of the radiation source according to the target echo signal, simulating the reconnaissance path of the reconnaissance vehicle based on the relative position information between the position information of the radiation source and the reconnaissance vehicle, and carrying out path combination analysis;
a combination condition setting unit for setting a combination condition for each path combination form;
and the total travel path time calculation unit is used for receiving the data in the path combination unit and calculating the total travel path time for various path combination forms.
Further, the total travel time calculation unit includes: a relative straight line distance acquisition unit and a relative azimuth angle acquisition unit;
the relative straight line distance acquisition unit is used for determining the position information of the radiation source according to the target echo signal; simultaneously acquiring the relative linear distance between the position of each radiation source and the position of the current scout car;
and the relative azimuth angle acquisition unit is used for taking the advancing direction of the scout car as the positive direction of the x axis, is vertical to the x axis, takes the position of the scout car as the origin of coordinates as the y axis, is connected with the radiation source and the scout car, and acquires the included angle between the formed line segment and the x axis.
Compared with the prior art, the invention has the following beneficial effects: the invention can solve the problem that the order of the original digital channelized receiver is fixed, namely the division of each channel on the frequency domain can not be changed once being determined, the frequency range covered by each channel is determined, and the detection of the frequency modulation signal of which the frequency modulation bandwidth exceeds the channel bandwidth can not be realized in one channel; the invention can adjust the order of the channelized receiver in real time according to the result of instantaneous frequency measurement, so that the bandwidth covered by the channel is larger than the bandwidth of the frequency modulation signal, thereby realizing the detection of the signal with large frequency modulation bandwidth in one channel, improving the extraction efficiency of the signal and reducing the data rate of the signal to be processed; the invention can plan the reconnaissance path of the reconnaissance vehicle, so that the reconnaissance vehicle reconnaissance along the optimal path, the precision and the efficiency of target detection can be improved, and the omission factor and the false alarm rate can be effectively controlled.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic flow chart of a method for detecting a received radar signal according to the present invention;
fig. 2 is a schematic structural diagram of a radar reconnaissance received signal detection system according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a technical solution: a radar reconnaissance received signal detection method comprises the following steps:
step S100: a transmitter on the scout car transmits electromagnetic wave energy to each direction on a road section in a certain area in a traveling path line through a transmitting antenna, and a receiver on the scout car receives echo signals in each direction through a receiving antenna; the receiver on the scout car is a fractional order channelized receiver, and the dynamic state setting of a processing model in the fractional order channelized receiver is completed to obtain the instantaneous frequency and amplitude of a signal in each channel;
step S200: performing order correction processing based on the instantaneous frequency and amplitude of the signal in each channel;
step S300: the receiver on the scout car sends the preliminarily received target echo signals to the processing equipment, the signal processing is carried out on each echo signal, the target echo signals are locked based on the signal processing results, the radiation source position information corresponding to each target echo signal is determined based on the target echo signals, the scout path simulation is carried out on the scout car, and the optimal scout path is obtained;
step S400: and driving the scout car along the optimal scout path, acquiring complete information of each target echo signal, and if the target echo signals are judged to be matched with the target to be identified based on the complete information, sending out target scout early warning by the scout car.
The process of step S100 in which the receiver on the scout car receives the echo signals in each direction through the receiving antenna includes:
step S101: setting the initial state of a fractional order channelized receiver on the scout car as an even fractional order channelized mode; detecting the echo signals received on each channel, if only 1 channel detects the echo signals, still maintaining the even fractional order channelization mode, and receiving the echo signals; if two channels detect echo signals and the two channels are adjacent channels, converting the fractional order channelized receiver into an odd fractional order channelized mode; echo signals are alternately filtered in a fractional order channelized receiver through two fractional order channelized modes;
step S102: acquiring phase information of signals in each channel, performing delay processing on the phases of the signals to obtain phase information of two moments before and after the signals, calculating a phase difference between the two moments before and after, subtracting 360 degrees from the phase difference of the signals if the phase difference is larger than +180 degrees, and adding 360 degrees to the phase difference of the signals if the phase difference is smaller than-180 degrees; acquiring the instantaneous frequency and amplitude of the signal in each channel;
that is, the phase difference is uniformly converted to the range of (-180 °, +180 ° ], for example, the phase of a certain signal f is 50 °, the phase of the signal f is delayed to obtain the phases of 160 ° -45 ° respectively at the two moments before and after the signal, the phase difference between the two moments before and after the signal is calculated to be 160 ° - (-45 °) -205 °, which is greater than +180 °, so 360 ° needs to be subtracted from the phase difference of the signal f, and the phase difference is finally-155 °;
in step S200, the step of performing order correction processing based on the instantaneous frequency and amplitude of each in-channel signal includes:
step S201: setting the number of channels as C and setting the amplitude threshold as W; if the signal amplitudes of the adjacent channels exceed the amplitude threshold W, subtracting 1 from the number C of the channels; if the signals of the adjacent channels exceed the amplitude threshold and the instantaneous frequency of the signals is within 50% of the central bandwidth, adding 1 to the number C of the channels; if the signals of the adjacent channels exceed the amplitude threshold, but the instantaneous frequencies of the signals are not all within 50% of the central bandwidth, the number C of the channels is not changed;
step S202: setting the extraction multiple as M, calculating the frequency precision value of the last measured signal within the range of the frequency and tolerance of each signal, and if the frequency precision value is greater than the preset upper frequency precision limit, subtracting 1 from the extraction multiple M; if the frequency precision value is smaller than the preset lower limit of frequency precision, adding 1 to the extraction multiple M; and if the frequency precision value is between the preset lower frequency precision limit and the preset upper frequency precision limit, the extraction multiple M is not changed.
In step S300, the process of determining the radiation source position information corresponding to each target echo signal based on the target echo signals, performing reconnaissance path simulation on the reconnaissance vehicle, and obtaining the optimal reconnaissance path includes:
step S301: acquiring radar signal waveform characteristics related to direct attribute information of a target to be identified based on big data; setting an echo signal with the similarity of the radar signal waveform characteristics larger than a similarity threshold as a target echo signal, and determining radiation source position information based on the target echo signal; simultaneously recording relative position information between the position of each radiation source and the position of the current scout car, wherein the relative position information comprises the relative linear distance between the radiation source and the scout car and the relative azimuth angle between the radiation source and the scout car; the relative azimuth angle is an included angle between a line segment formed by connecting the radiation source and the scout car and the x axis by taking the forward direction of the scout car as the positive direction of the x axis, being vertical to the x axis and taking the position of the scout car as the origin of coordinates as the y axis;
step S302: acquiring the radar cross-sectional area S of the radiation source corresponding to each target echo signal 1 ，S 2 ，…，S n In which S is 1 ，S 2 ，…，S n Respectively representing the radar cross sections of the 1 st, 2 nd, … th and n th radiation sources detected by the scout car at the current position; setting a radar sectional area threshold which is the minimum radar sectional area for extracting the characteristic information of the radiation source;
step S303: simulating the path of the scout car from the current position, setting the fixed speed of the scout car, and acquiring the path direction information of each simulated path; acquiring the variation range { S) of the cross section area of the radar detected from the 1 st, 2 nd, … th and n th radiation sources respectively when the scout car runs along each path from the current position 1 +U 1 ，S 2 +U 2 ，…，S n +U n }; wherein, U 1 ，U 2 ，…，U n Dynamic variation values { U ] respectively representing detected radar cross-sectional areas of the 1 st, 2 nd, … th and n th radiation sources 1 ，U 2 ，…，U n }; respectively accumulating S when the vehicle travels along the ith travel route 1 +U 1 ，S 2 +U 2 ，…，S n +U n The number d of the radar cross-section area threshold value is reached i ；
Step S304: performing optimal path combination selection to obtain the number of combined paths and total path time corresponding to each combined path; and preferentially selecting the path combination mode with the least total path time, and preferentially selecting the path combination mode with less combined paths when the total path time is the same.
In step S304, each of the combined travel paths needs to satisfy the following conditions:
the first condition is as follows: if a combined path comprises a path a, b and c, when the combined path is driven along the path a, b and c, the combined path reaches the value d of the cross-sectional area threshold of the radar a 、d b 、d c Is required to satisfy d a +d b +d c N; n represents the total number of radiation sources;
and a second condition: if one combined path comprises a path a, b and c, when the combined path is driven along the path a, b and c, the path a and b can enable the radar cross section detected by the same radiation source c to reach a radar cross section threshold value; calculating the number d of the cross-sectional area threshold of the radar a Or d b Only one calculation is made for the radiation source c.
The process of calculating the total travel time in step S304 is as follows:
step S211: setting a combined path including a, b, c paths, d a +d b +d c N; d is the number of the cross-sectional area threshold value detected when the scout car runs along the path a a Stopping the vehicle and obtaining a running distance P 1 If the speed of the scout car is fixed to v, the scout car will follow the pathThe travel time corresponding to the path a is T a ＝P 1 V,/v; running the scout car along the path b, and accumulating the numerical values reaching the cross-sectional area threshold of the radar, wherein if the scout car runs along the path b and the radiation source passing the cross-sectional area threshold of the radar is detected to be superposed with the path a, the current numerical value is kept until the numerical value of the cross-sectional area threshold of the radar is detected to be d b Stopping the vehicle and obtaining a running distance P 2 If the path time corresponding to the path b is T b ＝P 2 V,/; running the scout car along the path c, and accumulating the numerical values reaching the radar cross-sectional area threshold, wherein if the scout car runs along the path c and the radiation source passing the radar cross-sectional area threshold is detected to be superposed with the paths a and b, the current numerical value is kept until the numerical value of the radar cross-sectional area threshold is detected to be d c Stopping the vehicle and obtaining a running distance P 3 If the travel time corresponding to the travel path c is T c ＝P 3 /v；
Step S212: calculating total travel time T General assembly ＝T a +T b +T c 。
The system comprises a multinomial filtering module with adjustable order, an instantaneous frequency measurement module, an order correction module, an optimal reconnaissance path analysis module and a target reconnaissance early warning module;
the order-adjustable multi-item filtering module is used for dynamically setting the receiving state of the fractional order channelized receiver on the scout car;
the instantaneous frequency measurement module is used for receiving data in the polynomial filtering module with the adjustable order and acquiring the instantaneous frequency and amplitude of signals in each channel;
the order correction module is used for receiving the data in the instantaneous frequency measurement module and carrying out order correction processing based on the instantaneous frequency and amplitude of the signal in each channel;
the optimal reconnaissance path analysis module is used for receiving target echo signals preliminarily received by a receiver on the reconnaissance car, determining radiation source position information corresponding to each target echo signal based on the target echo signals, and performing reconnaissance path simulation on the reconnaissance car to obtain an optimal reconnaissance path;
and the target reconnaissance early warning module is used for receiving the data in the optimal reconnaissance path analysis module, driving the reconnaissance vehicle along the optimal reconnaissance path, acquiring complete information of each target echo signal, and sending out target reconnaissance early warning when the target echo signals are judged to be matched with the target to be identified based on the complete information.
Wherein, the optimal scout path analysis module comprises: the device comprises a path combination unit, a combination condition setting unit and a total travel path time calculation unit;
the path combination unit is used for determining the position information of the radiation source according to the target echo signal, simulating the reconnaissance path of the reconnaissance vehicle based on the relative position information between the position information of the radiation source and the reconnaissance vehicle, and carrying out path combination analysis;
a combination condition setting unit for setting a combination condition for each path combination form;
and the total travel path time calculation unit is used for receiving the data in the path combination unit and calculating the total travel path time for various path combination forms.
Wherein, total journey footpath time computational element includes: a relative straight line distance acquisition unit and a relative azimuth angle acquisition unit;
the relative linear distance acquisition unit is used for determining the position information of the radiation source according to the target echo signal; simultaneously acquiring the relative linear distance between the position of each radiation source and the position of the current scout car;
and the relative azimuth angle acquisition unit is used for taking the advancing direction of the scout car as the positive direction of the x axis, is vertical to the x axis, takes the position of the scout car as the origin of coordinates as the y axis, is connected with the radiation source and the scout car, and acquires the included angle between the formed line segment and the x axis.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A method of radar reconnaissance received signal detection, the method comprising:
step S100: a transmitter on the scout car transmits electromagnetic wave energy to each direction on a road section in a certain area in a traveling path line through a transmitting antenna, and a receiver on the scout car receives echo signals in each direction through a receiving antenna; the receiver on the scout car is a fractional order channelized receiver, and the dynamic state setting of a processing model in the fractional order channelized receiver is completed to obtain the instantaneous frequency and amplitude of a signal in each channel;
step S200: carrying out order correction processing based on the instantaneous frequency and amplitude of the signal in each channel;
step S300: the receiver on the reconnaissance car sends the primarily received target echo signals to the processing equipment, the signal processing is carried out on each echo signal, the target echo signals are locked based on the signal processing results, the radiation source position information corresponding to each target echo signal is determined based on the target echo signals, the reconnaissance path simulation is carried out on the reconnaissance car, and the optimal reconnaissance path is obtained;
step S400: and driving the scout car along the optimal scout path, acquiring complete information of each target echo signal, and if the target echo signals are judged to be matched with the target to be identified based on the complete information, sending out target scout early warning by the scout car.
2. The method of claim 1, wherein the step S100 of receiving the echo signals in the directions by the receiver of the scout car via the receiving antenna comprises:
step S101: setting the initial state of a fractional order channelized receiver on the scout car as an even fractional order channelized mode; detecting the echo signals received on each channel, if only 1 channel detects the echo signals, still maintaining the even fractional order channelization mode, and receiving the echo signals; if two channels detect echo signals and the two channels are adjacent channels, converting the fractional order channelized receiver into an odd fractional order channelized mode; the echo signals are alternately filtered in the fractional order channelized receiver through two fractional order channelized modes;
step S102: acquiring phase information of a signal in each channel, performing delay processing on the phase of the signal to obtain phase information of two moments before and after the signal, calculating a phase difference between the two moments before and after, subtracting 360 degrees from the phase difference of the signal if the phase difference is larger than +180 degrees, and adding 360 degrees to the phase difference of the signal if the phase difference is smaller than-180 degrees; the instantaneous frequency and amplitude of the signal in each channel is obtained.
3. The method of claim 1, wherein the step S200 of performing the order correction process based on the instantaneous frequency and amplitude of the signal in each channel comprises:
step S201: setting the number of channels as C and setting the amplitude threshold as W; if the signal amplitudes of the adjacent channels exceed the amplitude threshold W, subtracting 1 from the number C of the channels; if the signals of the adjacent channels exceed the amplitude threshold and the instantaneous frequency of the signals is within 50% of the central bandwidth, adding 1 to the number C of the channels; if the signals of the adjacent channels exceed the amplitude threshold, but the instantaneous frequencies of the signals are not all within 50% of the central bandwidth, the number C of the channels is not changed;
step S202: setting the extraction multiple as M, calculating the frequency precision value of the signal measured last time in the frequency and tolerance range of each signal, and if the frequency precision value is larger than the preset frequency precision upper limit, subtracting 1 from the extraction multiple M; if the frequency precision value is smaller than the preset lower limit of frequency precision, adding 1 to the extraction multiple M; and if the frequency precision value is between the preset lower limit of the frequency precision and the preset upper limit of the frequency precision, not changing the extraction multiple M.
4. The method according to claim 1, wherein in step S300, the process of determining the position information of the radiation source corresponding to each target echo signal based on the target echo signals, performing a scout path simulation on the scout car, and obtaining an optimal scout path includes:
step S301: acquiring radar signal waveform characteristics related to the direct attribute information of the target to be identified based on big data; setting an echo signal with the similarity of the radar signal waveform characteristics larger than a similarity threshold as a target echo signal, and determining radiation source position information based on the target echo signal; simultaneously recording relative position information between the position of each radiation source and the position of the current scout car, wherein the relative position information comprises the relative linear distance between the radiation source and the scout car and the relative azimuth angle between the radiation source and the scout car; the relative azimuth angle is an included angle between a line segment formed by connecting the radiation source and the scout car and the x axis, taking the forward direction of the scout car as the positive direction of the x axis, being vertical to the x axis and taking the position of the scout car as the origin of coordinates as the y axis;
step S302: acquiring the radar cross-sectional area S of the radiation source corresponding to each target echo signal 1 ，S 2 ，…，S n In which S is 1 ，S 2 ，…，S n Respectively representing the radar cross sections of the 1 st, 2 nd, … th and n th radiation sources detected by the scout car at the current position; setting a radar sectional area threshold which is the minimum radar sectional area for extracting the characteristic information of the radiation source;
step S303: simulating the path of the scout car from the current position, setting the fixed speed of the scout car, and acquiring the path direction information of each simulated path; acquiring the variation range { S) of the cross section area of the radar detected from the 1 st, 2 nd, … th and n th radiation sources respectively when the scout car runs along each path from the current position 1 +U 1 ，S 2 +U 2 ，…，S n +U n }; wherein, U 1 ，U 2 ，…，U n Dynamic variation values { U ] respectively representing detected radar cross-sectional areas of the 1 st, 2 nd, … th and n th radiation sources 1 ，U 2 ，…，U n }; respectively accumulating S when the vehicle travels along the ith travel route 1 +U 1 ，S 2 +U 2 ，…，S n +U n The number d of the radar cross-section area threshold value is reached i ；
Step S304: performing optimal path combination selection to obtain the number of combined paths and total path time corresponding to each combined path; and preferentially selecting the path combination mode with the least total path time, and preferentially selecting the path combination mode with less combined paths when the total path time is the same.
5. The method of claim 4, wherein in step S304, each of the combined path paths simultaneously satisfies the following conditions:
the first condition is as follows: if a combined path comprises a path a, b and c, when the combined path is driven along the path a, b and c, the combined path reaches the value d of the cross-sectional area threshold of the radar a 、d b 、d c Is required to satisfy d a +d b +d c N; n represents the total number of radiation sources;
and a second condition: if it isA combined path comprises a path a, a path b and a path c, when the combined path runs along the path a, the path b and the path c, the path a and the path b can enable the radar cross section detected by the same radiation source c to reach a radar cross section threshold value; calculating the number d of the cross-sectional area threshold of the radar a Or d b Only one calculation is made for the radiation source c.
6. The method of claim 4, wherein the step S304 of calculating the total travel time comprises the following steps:
step S211: setting a combined path including a, b, c paths, d a +d b +d c N; d is the number of the cross-sectional area threshold value detected when the scout car runs along the path a a Stopping the vehicle and obtaining a running distance P 1 If the traveling speed of the scout car is fixed to v, the traveling time corresponding to the traveling path a is T a ＝P 1 V,/v; running the scout car along the path b, and accumulating the numerical values reaching the cross-sectional area threshold of the radar, wherein if the scout car runs along the path b and the radiation source passing the cross-sectional area threshold of the radar is detected to be superposed with the path a, the current numerical value is kept until the numerical value of the cross-sectional area threshold of the radar is detected to be d b Stopping the vehicle and obtaining a running distance P 2 If the path time corresponding to the path b is T b ＝P 2 V,/v; running the scout car along the path c, and accumulating the numerical values reaching the radar cross-sectional area threshold, wherein if the scout car runs along the path c and the radiation source passing the radar cross-sectional area threshold is detected to be superposed with the paths a and b, the current numerical value is kept until the numerical value of the radar cross-sectional area threshold is detected to be d c Stopping the vehicle and obtaining a running distance P 3 If the travel time corresponding to the travel path c is T c ＝P 3 /v；
Step S212: calculating total travel time T General assembly ＝T a +T b +T c 。
7. A radar reconnaissance received signal detection system applied to the radar reconnaissance received signal detection method of any one of claims 1 to 6, wherein the system comprises a multinomial filtering module with adjustable order, an instantaneous frequency measurement module, an order correction module, an optimal reconnaissance path analysis module and a target reconnaissance early warning module;
the order-adjustable multi-item filtering module is used for dynamically setting the receiving state of the fractional order channelized receiver on the scout car;
the instantaneous frequency measurement module is used for receiving the data in the polynomial filtering module with the adjustable order and acquiring the instantaneous frequency and amplitude of the signal in each channel;
the order correction module is used for receiving the data in the instantaneous frequency measurement module and carrying out order correction processing based on the instantaneous frequency and amplitude of the signal in each channel;
the optimal reconnaissance path analysis module is used for receiving target echo signals preliminarily received by a receiver on the reconnaissance car, determining radiation source position information corresponding to each target echo signal based on the target echo signals, and performing reconnaissance path simulation on the reconnaissance car to obtain an optimal reconnaissance path;
the target reconnaissance early warning module is used for receiving the data in the optimal reconnaissance path analysis module, driving the reconnaissance vehicle along the optimal reconnaissance path, acquiring complete information of echo signals of all targets, and sending out target reconnaissance early warning when the mutual matching between the echo signals of the targets and the targets to be identified is judged based on the complete information.
8. The radar reconnaissance received signal detection system of claim 7, wherein the optimal reconnaissance path analysis module comprises: the device comprises a path combination unit, a combination condition setting unit and a total travel path time calculation unit;
the path combination unit is used for determining the position information of a radiation source according to the target echo signal, simulating a reconnaissance path of the reconnaissance vehicle based on the relative position information between the position of the radiation source and the reconnaissance vehicle, and carrying out path combination analysis;
the combination condition setting unit is used for setting combination conditions for various path combination forms;
and the total travel path time calculation unit is used for receiving the data in the path combination unit and calculating the total travel path time for various path combination forms.
9. The radar reconnaissance received signal detection system of claim 7, wherein the total travel time calculation unit comprises: a relative straight line distance acquisition unit and a relative azimuth angle acquisition unit;
the relative linear distance acquisition unit is used for determining the position information of the radiation source according to the target echo signal; simultaneously acquiring the relative linear distance between the position of each radiation source and the position of the current scout car;
the relative azimuth angle acquisition unit is used for sitting in the positive direction of the x axis in the advancing direction of the scout car, is vertical to the x axis, takes the position of the scout car as the origin of coordinates as the y axis, connects the radiation source with the scout car, and acquires the included angle between the formed line section and the x axis.
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