CN115061131A - Unmanned aerial vehicle airborne collision avoidance radar target priority processing method - Google Patents

Abstract

The invention discloses a method for processing the priority of an airborne collision avoidance radar target of an unmanned aerial vehicle, which comprises the following steps: and calculating the distance between the intrusion target and the local machine and the collision risk factor by using the positions and the speeds of the intrusion target and the local machine in the ECEF coordinate system, and determining the priority of the intrusion target according to the distance and the collision risk factor. By using the priority of the target, radar resources can be effectively distributed, and the direction of radar beams is adjusted, so that the radar can continuously track the high-priority target, the target data rate is improved, and the target loss probability is reduced. Meanwhile, the target track information with high priority is sent to a collision avoidance system at a higher data rate, an avoidance scheme is solved, and high-risk targets are avoided preferentially, so that the collision risk is reduced.

Description

Unmanned aerial vehicle airborne collision avoidance radar target priority processing method

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for processing target priority of an airborne collision avoidance radar of an unmanned aerial vehicle.

Background

In recent years, unmanned aerial vehicles are widely used in the fields of logistics, agriculture, security and the like. However, the data source of the civil unmanned aerial vehicle airborne collision avoidance device only has monitoring data from cooperative targets, lacks detection data of non-cooperative targets, and cannot form complete airspace flight situation information. In addition, the existing airborne monitoring equipment is difficult to give the priority of the intrusion target in the flight airspace of the unmanned aerial vehicle, and the high-risk target cannot be preferentially avoided. With the entrance of a large number of unmanned aerial vehicles into airspace, optimal route planning is difficult to perform according to target position, speed and priority information, the risk of collision of the unmanned aerial vehicles rises steeply, and the flight safety is seriously threatened.

The literature [1] analyzes a target radial distance threat function, a speed threat function, an angle threat function and a height threat function, weights the threat functions according to different weights to obtain a target comprehensive threat degree, and obtains a target priority according to the time required by target interception. Document [2] defines the threat degree factors of the ballistic missile target, including the factors of target speed, flight phase, distance from the target, importance of the target, bullet type and the like, and weights and sums the factors according to different weighting coefficients to obtain the comprehensive priority of the target.

The target priority in the documents [1] and [2] is mainly used for the interception of a target such as a fighter plane, a missile and the like by a weapon system. In a target threat degree model in literature, target speed, distance, angle, height and the like are independently divided into a plurality of influence factors, a threat function of each factor is constructed, and the target comprehensive threat degree is obtained by weighting and summing the factors. The method lacks interaction among parameters such as target speed, distance, angle, height and the like, and is difficult to objectively reflect the change of the target threat level in real time for change and motion scenes. The generation methods of the target priorities in the documents [1] and [2] are complex, the influence factors are independent, and the method is not suitable for the unmanned aerial vehicle airborne collision avoidance radar operation scenes with the rapid change of the airspace situation, a large number of targets invaded, high real-time calculation and a high-speed motion platform, and the requirements of unmanned aerial vehicle airspace conflict resolution and air route planning use are difficult to meet.

Reference to the literature

[1] Zhaohao, Shiweiwei, Shengchuan, adaptive scheduling method of phased array radar [ J ] Bingchan, 2016,37(11): 2163-;

[2] yang is in the extreme, Tiankangsheng, Li hong, Zhou Guangdong, Liang Taiwan, comprehensive priority lower back-leading early warning phased array radar task scheduling algorithm [ J ] in the war industry, 2020,41(02):315 + 323.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a priority processing method for an airborne collision avoidance radar target of an unmanned aerial vehicle.

In order to realize the purpose, the technical scheme adopted by the invention is as follows:

an unmanned aerial vehicle airborne collision avoidance radar target priority processing method comprises the following steps:

s1: under ECEF (Earth-Centered Earth-Fixed) coordinate system, the coordinate of the machine is (X), Y and Z directions _s ,Y _s ,Z _s ) Velocity is (v) _xs ,v _ys ,v _zs ) And the updated invasive target track coordinate is (X) _t ,Y _t ,Z _t ) Velocity is (v) _xt ,v _yt ,v _zt )。

S2: and calculating the distance R between the local computer and the intrusion target.

S3: in the ECEF coordinate system, the risk factors of collision between the intrusion target and the local machine in the X, Y and Z directions are tau respectively _x 、τ _y 、τ _z From τ to _x 、τ _y 、τ _z And R, obtaining a risk factor tau of collision between the intrusion target and the local machine.

S4: obtaining a target track priority according to the target distance R and the collision risk factor tau, wherein the target priority is divided into three types of high-priority targets, medium-priority targets and low-priority targets, and the target priorities are classified according to the three types of the target priorities:

when the collision risk factor tau is 0, the target is classified as a high priority target;

when the collision risk factor tau is greater than 0, the target is classified as a medium priority target;

when the collision risk factor τ < 0, the target is classified as a low priority target.

Further, the local coordinate in S1 is (X) _s ,Y _s ,Z _s ) Velocity is (v) _xs ,v _ys ,v _zs ) And the updated invasive target track coordinate is (X) _t ,Y _t ,Z _t ) Velocity is (v) _xt ,v _yt ,v _zt )

The distance between the local machine and the intrusion target is R:

further, the risk factors of collision in the three directions of X, Y and Z in S2 are τ _x 、τ _y 、τ _z The calculation formula is as follows:

further, the risk factor τ in S3 is calculated as follows:

when R is less than or equal to 1219 m:

τ＝0

when R > 1219m and τ _x 、τ _y 、τ _z At least one value of which is less than zero:

τ＝min(τ _x ,τ _y ,τ _z )

when R > 1219m and τ _x 、τ _y 、τ _z Are all greater than or equal to zero:

τ＝max(τ _x ,τ _y ,τ _z )

where min (-) is the minimum function and max (-) is the maximum function.

Further, the step of obtaining the target track priority in S4 is as follows:

s41: acquiring track update values of all intruders at the current moment, and setting n track position updates, wherein coordinates are (X) respectively _t1 ,Y _t1 ,Z _t1 )、(X _t2 ,Y _t2 ,Z _t2 )、…、(X _tn ,Y _tn ,Z _tn ) The velocities are respectively (v) _xt1 ,v _yt1 ,v _zt1 )、(v _xt2 ,v _yt2 ,v _zt2 )、…、(v _xtn ,v _ytn ,v _ztn )；

S42: obtaining the coordinates (X) of the local machine at the current moment _s ,Y _s ,Z _s ) And velocity (v) _xs ,v _ys ,v _zs )；

S43: for the kth track, k is 1, 2.

S44: calculating the distance R between the local computer and the invading target _k

S45: if R is _k When the grain size is less than or equal to 1219 m:

τ _k ＝0

if R is _k When the distance is more than 1219m, calculating the risk factor tau of collision in X, Y and Z directions _xk 、τ _yk 、τ _zk ；

If R is _k 1219m and τ _xk 、τ _yk 、τ _zk At least one value is less than zero:

τ _k ＝min(τ _xk ,τ _yk ,τ _zk )

if R is _k 1219m and τ _xk 、τ _yk 、τ _zk Are all greater than or equal to zero:

τ _k ＝max(τ _xk ,τ _yk ,τ _zk )

s46: the steps S43 to S45 are repeated, and the distances and collision factors of all n targets are acquired.

S47: the target priority set is divided into three categories of a high-priority target, a medium-priority target and a low-priority target, so that the priorities of the targets are classified:

when the k-th target collision factor tau _k When 0, the target is classified as a high priority target;

when the k-th target collision factor tau _k If the priority is higher than 0, the target is classified as a medium priority target;

when the k-th target collision factor tau _k When less than 0, theThe target is classified as a low priority target.

S48: and further sorting the targets in the high-priority, medium-priority and low-priority target sets according to the distance R of the targets and the collision factor tau.

S49: and forming priority numbers of all the invading target tracks, wherein the smaller the number is, the higher the priority is, and outputting the priority numbers and the target track information together.

Further, R in S44 _k The calculation formula of (c) is as follows:

further, τ in S45 _xk 、τ _yk 、τ _zk The calculation formula of (a) is as follows:

further, the targets within the high-priority set in S48 are ordered as follows:

and for all targets in the high-priority set, sorting the targets according to the distance between the local machine and the target, wherein the smaller the distance is, the higher the priority is. Let h targets in the high priority set, and see table 1 for the priority ranking results.

TABLE 1 high priority set internal target priority ordering

Target distance R	R h1	R h2	…	R hh
					Target priority numbering	1	2	…	h

Wherein:

0m＜R _h1 ≤R _h2 ≤...≤R _hh ≤1219m。

further, in S48, the targets in the medium priority set are ordered as follows:

and for all targets in the middle priority set, sorting according to the collision factors, wherein the smaller the collision factor value is, the higher the priority is. If m targets exist in the medium priority set, the priority ranking result is shown in table 2.

Target prioritization within priority set in Table 2

Target collision factor tau	τ m1	τ m2	…	τ mm
					Target priority numbering	h+1	h+2	…	h+m

Wherein:

0＜τ _m1 ≤τ _m2 ≤...≤τ _ml 。

further, the low priority set internal target ordering in S48:

for all targets within the low-priority set, the ranking is in terms of collision factor, with smaller collision factor values giving lower priority, i.e. smaller absolute values of collision factors giving higher priority. Let there be l targets in the low priority set, and the priority ranking results are shown in table 3.

TABLE 3 Low priority set internal target prioritization

Target collision factor tau	τ l1	τ l2	…	τ ll
					Target priority numbering	h+m+1	h+m+2	…	h+m+l

Wherein:

τ _ll ≤τ _ll-1 ≤...≤τ _l2 ≤τ _l1 ＜0

n＝h+m+l。

compared with the prior art, the invention has the advantages that:

the priority levels of all the invading targets can be effectively distinguished, and the radar beam direction is adjusted by taking the priority levels as reference, so that the radar can keep continuously tracking the high-priority targets, the target data rate is improved, and the target loss probability is reduced. Meanwhile, the target track information with high priority is sent to a collision avoidance system at a higher data rate, an avoidance scheme is solved, the high-risk target is avoided preferentially, and the collision risk is reduced.

Drawings

Fig. 1 is a schematic diagram of the position and velocity of the local machine and the intrusion target in the ECEF coordinate system according to the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings by way of examples.

Under the ECEF coordinate system, the coordinate of the machine is (X) _s ,Y _s ,Z _s ) Velocity is (v) _xs ,v _ys ,v _zs ) The updated target track coordinate is (X) _t ,Y _t ,Z _t ) Velocity is (v) _xt ,v _yt ,v _zt ) As shown in fig. 1. The positive direction moving speed of the target along the coordinate axis is positive, and the negative direction moving speed of the target along the coordinate axis is negative, for example, the target moves along the positive direction of the x axis from the origin of coordinates, v _xt Is a positive edgeNegative x-axis motion, v _xt Is negative.

The distance between the local machine and the intrusion target is R:

in the ECEF coordinate system, the risk factors of collision between the intrusion target and the local machine in the X, Y and Z directions are tau respectively _x 、τ _y 、τ _z 。

From τ _x 、τ _y 、τ _z And R, obtaining a risk factor tau of collision between the intrusion target and the local machine.

(1) When R is less than or equal to 1219 m:

τ＝0

(2) when R > 1219m and τ _x 、τ _y 、τ _z At least one value of which is less than zero:

τ＝min(τ _x ,τ _y ,τ _z )

(3) when R > 1219m and τ _x 、τ _y 、τ _z Are all larger than or equal to zero:

τ＝max(τ _x ,τ _y ,τ _z )

where min (-) is the minimum function and max (-) is the maximum function.

And obtaining the target track priority according to the target distance R and the collision risk factor tau. The specific processing flow of the target track priority is as follows:

(1) acquiring track update values of all intruders at the current moment, and setting n track position updates, wherein coordinates are (X) respectively _t1 ,Y _t1 ,Z _t1 )、(X _t2 ,Y _t2 ,Z _t2 )、…、(X _tn ,Y _tn ,Z _tn ) The velocities are respectively (v) _xt1 ,v _yt1 ,v _zt1 )、(v _xt2 ,v _yt2 ,v _zt2 )、…、(v _xtn ,v _ytn ,v _ztn )；

(2) Obtaining the coordinates (X) of the local machine at the current moment _s ,Y _s ,Z _s ) And velocity (v) _xs ,v _ys ,v _zs )；

(3) For the kth track (k ═ 1, 2.. times, n), the distance and collision factor calculations were performed as follows:

(a) calculating the distance between the local computer and the intrusion target as R _k ：

(b) If R is _k When the grain size is less than or equal to 1219 m:

τ _k ＝0

(c) if R is _k When > 1219m, calculate τ _xk 、τ _yk 、τ _zk ：

(d) If R is _k 1219m and τ _xk 、τ _yk 、τ _zk At least one value is smallAt zero:

τ _k ＝min(τ _xk ,τ _yk ,τ _zk )

(e) if R is _k 1219m and τ _xk 、τ _yk 、τ _zk Are all greater than or equal to zero:

τ _k ＝max(τ _xk ,τ _yk ,τ _zk )

(4) and (4) repeating the step (3) to obtain the distances and the collision factors of all the n targets.

(5) The target priority set is divided into three categories of a high-priority target, a medium-priority target and a low-priority target, so that the priorities of the targets are classified:

when the k-th target collision factor tau _k When 0, the target is classified as a high priority target;

when the k-th target collision factor tau _k If the priority is higher than 0, the target is classified as a medium priority target;

when the k-th target collision factor tau _k If < 0, the target is classified as a low priority target.

(6) And further sorting the targets in the high-priority, medium-priority and low-priority target sets according to the distance R of the targets and the collision factor tau.

High priority set internal target ordering

And for all targets in the high-priority set, sorting the targets according to the distance between the local machine and the target, wherein the smaller the distance is, the higher the priority is. Let h targets in the high priority set, and see table 1 for the priority ranking results.

TABLE 1 high priority set internal target prioritization

Target distanceFrom R	R h1	R h2	…	R hh
					Target priority numbering	1	2	…	h

Wherein:

0m＜R _h1 ≤R _h2 ≤...≤R _hh ≤1219m

target ordering within medium priority set

And for all targets in the middle priority set, sorting according to the collision factors, wherein the smaller the collision factor value is, the higher the priority is. If m targets exist in the medium priority set, the priority ranking result is shown in table 2.

Target prioritization within priority set in Table 2

Target collision factor tau	τ m1	τ m2	…	τ mm
					Target priority numbering	h+1	h+2	…	h+m

Wherein:

0＜τ _m1 ≤τ _m2 ≤...≤τ _ml

low priority set internal target ordering

For all targets within the low-priority set, the ranking is in terms of collision factor, with smaller collision factor values giving lower priority, i.e. smaller absolute values of collision factors giving higher priority. Let there be l targets in the low priority set, and see table 3 for the priority ranking results.

TABLE 3 Low priority set internal target prioritization

Target collision factor tau	τ l1	τ l2	…	τ ll
					Target priority numbering	h+m+1	h+m+2	…	h+m+l

Wherein:

τ _ll ≤τ _ll-1 ≤...≤τ _l2 ≤τ _l1 ＜0

n＝h+m+l

(7) and forming priority numbers of all the invading target tracks, wherein the smaller the number is, the higher the priority is, and outputting the priority numbers and the target track information together.

The above-described method according to the present invention can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium such as a CD ROM, a RAM, a floppy disk, a hard disk, or a magneto-optical disk, or as computer code originally stored in a remote recording medium or a non-transitory machine readable medium downloaded through a network and to be stored in a local recording medium, so that the method described herein can be stored as such software processing on a recording medium using a general purpose computer, a dedicated processor, or programmable or dedicated hardware such as an ASIC or FPGA. It will be appreciated that the computer, processor, microprocessor controller or programmable hardware includes memory components (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the processing methods described herein. Further, when a general-purpose computer accesses code for implementing the processes shown herein, execution of the code transforms the general-purpose computer into a special-purpose computer for performing the processes shown herein.

It will be appreciated by those of ordinary skill in the art that the examples described herein are intended to assist the reader in understanding the practice of the invention, and it is to be understood that the scope of the invention is not limited to such specific statements and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.

Claims (10)

1. An unmanned aerial vehicle airborne collision avoidance radar target priority processing method is characterized by comprising the following steps:

s1: under the ECEF coordinate system, the coordinate of the machine is (X) in three directions of X, Y and Z _s ,Y _s ,Z _s ) Velocity is (v) _xs ,v _ys ,v _zs ) And the updated invasion target track coordinate is (X) _t ,Y _t ,Z _t ) Velocity is (v) _xt ,v _yt ,v _zt )；

S2: calculating the distance R between the local computer and the intrusion target;

s3: in the ECEF coordinate system, the risk factors of collision between the intrusion target and the local machine in the X, Y and Z directions are tau respectively _x 、τ _y 、τ _z (ii) a From τ _x 、τ _y 、τ _z And R, obtaining a risk factor tau of collision between the intrusion target and the local machine.

S4: obtaining a target track priority according to the target distance R and the collision risk factor tau, wherein the target priority is divided into three types of high-priority targets, medium-priority targets and low-priority targets, and the target priorities are classified according to the three types of the target priorities:

when the collision risk factor τ is 0, the target is classified as a high priority target;

when the collision risk factor tau is greater than 0, the target is classified as a medium priority target;

when the collision risk factor τ < 0, the target is classified as a low priority target.

2. The method for processing the target priority of the airborne collision avoidance radar of the unmanned aerial vehicle according to claim 1, wherein the method comprises the following steps: the coordinates of the machine at S1 are (X) _s ,Y _s ,Z _s ) Velocity is (v) _xs ,v _ys ,v _zs ) And the updated invasive target track coordinate is (X) _t ,Y _t ,Z _t ) Velocity is (v) _xt ,v _yt ,v _zt )；

The distance between the local machine and the intrusion target is R:

3. the method for processing the target priority of the airborne collision avoidance radar of the unmanned aerial vehicle according to claim 1, wherein the method comprises the following steps: the risk factors of collision in the X, Y and Z directions in S2 are tau _x 、τ _y 、τ _z The calculation formula is as follows:

4. the method for processing the priority of the target of the anti-collision radar on board the unmanned aerial vehicle as claimed in claim 1, wherein: the risk factor τ in S3 is calculated as follows:

when R is less than or equal to 1219 m:

τ＝0

when R > 1219m and τ _x 、τ _y 、τ _z At least one value of which is less than zero:

τ＝min(τ _x ,τ _y ,τ _z )

when R > 1219m and τ _x 、τ _y 、τ _z Are all larger than or equal to zero:

τ＝max(τ _x ,τ _y ,τ _z )

where min (-) is the minimum function and max (-) is the maximum function.

5. The method for processing the target priority of the airborne collision avoidance radar of the unmanned aerial vehicle according to claim 1, wherein the method comprises the following steps: the step of obtaining the target track priority in the step S4 is as follows:

s41: acquiring track update values of all intruders at the current moment, and setting n track position updates with coordinates of (X) _t1 ,Y _t1 ,Z _t1 )、(X _t2 ,Y _t2 ,Z _t2 )、…、(X _tn ,Y _tn ,Z _tn ) The velocities are respectively (v) _xt1 ,v _yt1 ,v _zt1 )、(v _xt2 ,v _yt2 ,v _zt2 )、…、(v _xtn ,v _ytn ,v _ztn )；

S42: obtaining the coordinates (X) of the local machine at the current moment _s ,Y _s ,Z _s ) And velocity (v) _xs ,v _ys ,v _zs )；

S43: for the kth track, k is 1, 2.

S44: calculating the distance R between the local computer and the invading target _k ；

S45: if R is _k When the particle size is less than or equal to 1219 m:

τ _k ＝0

if R is _k When the distance is more than 1219m, calculating the risk factor tau of collision in X, Y and Z directions _xk 、τ _yk 、τ _zk ；

If R is _k 1219m and τ _xk 、τ _yk 、τ _zk At least one value is less than zero:

τ _k ＝min(τ _xk ,τ _yk ,τ _zk )

if R is _k 1219m and τ _xk 、τ _yk 、τ _zk Are all greater than or equal to zero:

τ _k ＝max(τ _xk ,τ _yk ,τ _zk )

s46: repeating the steps S43 to S45, and acquiring the distances and collision factors of all the n targets;

s47: the target priority set is divided into three categories of a high-priority target, a medium-priority target and a low-priority target, so that the priorities of the targets are classified:

when the k-th target collision factor tau _k When 0, the target is classified as a high priority target;

when the kth target collision factor tau _k If the priority is higher than 0, the target is classified as a medium priority target;

when the k-th target collision factor tau _k If < 0, the target is classified as a low priority target;

s48: further sorting the targets in the high-priority, medium-priority and low-priority target sets according to the distance R of the targets and the collision factor tau;

s49: and forming priority numbers of all the invading target tracks, wherein the smaller the number is, the higher the priority is, and outputting the priority numbers and the target track information together.

6. The method of claim 5, wherein the method comprises the steps of: r in S44 _k The calculation formula of (a) is as follows:

7. the method for processing the target priority of the airborne collision avoidance radar of the unmanned aerial vehicle as claimed in claim 5, wherein: in S45 of tau _xk 、τ _yk 、τ _zk The calculation formula of (a) is as follows:

8. the method for processing the target priority of the airborne collision avoidance radar of the unmanned aerial vehicle as claimed in claim 5, wherein: the target within the high priority set is ordered as follows in S48:

sorting all targets in the high-priority set according to the distance between the local machine and the targets, wherein the smaller the distance is, the higher the priority is; setting h targets in the high-priority set, wherein the priority ordering result is shown in a table 1;

TABLE 1 high priority set internal target prioritization

Target distance R R _h1 R _h2 … R _hh Target priority numbering 1 2 … h

Wherein:

0m＜R _h1 ≤R _h2 ≤...≤R _hh ≤1219m。

9. the method for processing the target priority of the airborne collision avoidance radar of the unmanned aerial vehicle as claimed in claim 5, wherein: the targets in the medium priority set are ordered as follows in S48:

sorting all targets in the medium priority set according to collision factors, wherein the smaller the collision factor value is, the higher the priority is; setting m targets in the medium priority set, wherein the priority sorting result is shown in a table 2;

target prioritization within priority set in Table 2

Target collision factor tau τ _m1 τ _m2 … τ _mm Target priority numbering h+1 h+2 … h+m

Wherein:

0＜τ _m1 ≤τ _m2 ≤...≤τ _ml 。

10. the method for processing the target priority of the airborne collision avoidance radar of the unmanned aerial vehicle as claimed in claim 5, wherein: low priority set internal target ordering in S48:

for all targets in the low-priority set, sorting the targets according to the collision factors, wherein the smaller the value of the collision factor is, the lower the priority is, namely the smaller the absolute value of the collision factor is, the higher the priority is; setting that there are l targets in the low priority set, and the priority ordering result is shown in table 3;

TABLE 3 Low priority set internal target prioritization

Target collision factor tau τ _l1 τ _l2 … τ _ll Target priority numbering h+m+1 h+m+2 … h+m+l

Wherein:

τ _ll ≤τ _ll-1 ≤...≤τ _l2 ≤τ _l1 ＜0

n＝h+m+l。

Images