CN116299244A - Radar moving target simulation system and method based on environment information - Google Patents

Radar moving target simulation system and method based on environment information Download PDF

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CN116299244A
CN116299244A CN202310443609.5A CN202310443609A CN116299244A CN 116299244 A CN116299244 A CN 116299244A CN 202310443609 A CN202310443609 A CN 202310443609A CN 116299244 A CN116299244 A CN 116299244A
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moving target
radar
point
track
moving
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CN116299244B (en
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李继锋
赵志霞
李晃
朱文明
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Yangzhou Yuan Electronic Technology Co Ltd
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Yangzhou Yuan Electronic Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses a radar moving target simulation system and method based on environmental information, and belongs to the technical field of radar moving target simulation. The invention comprises the following steps: s10: predicting the capability of the radar to detect targets on connecting lines formed by all reserved background points and the positions of the radar; s20: analyzing the influence condition of each position in the radar detection area on the moving target according to the wind direction angle and the wind force value in the radar detection area, transversely dividing the radar detection area based on the analysis result, and analyzing the movement condition of the moving target in each dividing area by combining the rainfall condition in the dividing area; s30: the invention simulates the motion trail and the motion speed of the moving target in the position range of the trail missing point according to the determined influence coefficient and the determined motion coefficient, and further improves the simulation effect of the radar on the motion condition of the moving target.

Description

Radar moving target simulation system and method based on environment information
Technical Field
The invention relates to the technical field of radar moving target simulation, in particular to a radar moving target simulation system and method based on environmental information.
Background
The radar moving target refers to a target moving in a radar detection airspace range, when the moving target is simulated, the influence of the environment where the radar is located is required to be eliminated, for example, the rainfall condition and the background in a radar detection area can influence the detection performance of the radar, the radar can possibly not monitor the moving track of the moving target, meanwhile, the wind direction change condition of the environment where the radar is located can also influence the moving track and the moving speed of the moving target, and the existing system can not predict the moving track and the moving speed of the moving target at a radar monitoring blind point.
Disclosure of Invention
The invention aims to provide a radar moving target simulation system and method based on environment information, which are used for solving the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: a radar moving target simulation method based on environmental information, the method comprising:
s10: constructing a three-dimensional model to simulate the background (the background refers to an object such as a mountain, a building or a tree which does not move in an ideal state) in a radar detection area, and predicting the capability of the radar to detect a target on a connecting line formed by each reserved background point and the position of the radar by combining the wavelength of electromagnetic waves emitted by the radar, wherein the origin of coordinates of the three-dimensional model is the position of the radar;
S20: analyzing the influence condition of each position in the radar detection area on the moving target according to the wind direction angle and the wind force value in the radar detection area, transversely dividing the radar detection area based on the analysis result, and analyzing the movement condition of the moving target in each dividing area by combining the rainfall condition in the dividing area;
s30: according to the motion trail and the motion speed of the moving target monitored by the radar, the motion condition of the moving target in each divided area predicted in the S20 and the influence condition of each position in the radar detection area on the moving target are combined, and the capability of the radar predicted in the S10 to detect the target on the connecting line formed by each reserved background point and the position of the radar is combined, so that the complete motion trail and the motion speed of the moving target in the radar detection area are simulated.
Further, the step S10 includes:
s101: acquiring position information of each point in the background in the three-dimensional model, calculating the distance between the radar and each point in the background based on the acquired information, comparing the calculated distance with the electromagnetic wave wavelength, removing the corresponding background point in the three-dimensional model if the distance is more than the electromagnetic wave wavelength, retaining the corresponding background point in the three-dimensional model if the distance is less than or equal to the electromagnetic wave wavelength, and preventing the corresponding background point from receiving electromagnetic waves emitted by the radar when the distance is less than the electromagnetic wave wavelength, so that the corresponding background point cannot influence radar detection results even if clutter is generated;
Calculating the inclination angle of each reserved background point compared with the position of the radar based on the position information of the reserved background point in the three-dimensional model;
s102: according to the distance value between the radar calculated in S101 and each reserved background point, the inclination angle of each reserved background point compared with the radar position and the clutter reflection coefficient corresponding to each reserved background point, constructing a prediction model W i ＝cosα i /(t i *L i ) Predicting the capability of the radar to detect targets on a connection line formed by each reserved background point and the position of the radar, wherein i=1, 2, …, m represents the number corresponding to each reserved background point, m represents the total number of reserved background points, and W i Representing the predicted radar's ability to detect an object on a line formed by the remaining background spot numbered i and the location of the radar, alpha i Representing the inclination angle of a reserved background point with the number i relative to the position of a radar, t i Indicating clutter reflection coefficient L corresponding to reserved background point with number i i Representing the distance value between the reserved background spot numbered i and the radar, L i Only the numerical value (i.e., L has no units) is substituted when substituting the predictive model.
Further, the step S20 includes:
s201: dividing the electromagnetic beam axis emitted by the radar from far to near by the distance d, acquiring the wind direction angle and the wind force value at the beam axis dividing point, and based on the acquired information Calculating the influence coefficient of each position in the radar detection area on the moving target, and a specific calculation formula Q j The method comprises the following steps:
Q j ＝[a j-1 -(F j *cosγ j )/M]/a j-1 ；
where j=1, 2, …, n, represents the number corresponding to the division position on the beam axis of the electromagnetic beam emitted by the radar, n represents the total number of division points on the beam axis, F j Represents the wind power value gamma corresponding to the position of the dividing point with the number j j The wind direction angle corresponding to the position of the dividing point with the number j is shown, M is the mass of raindrops, and a j-1 An acceleration value a representing the position of a dividing point with the number j-1 of a raindrop 0 An acceleration value, a, representing the position of an object passing through a division point numbered 1 0 ≠0，Q j The influence coefficient of the dividing point with the number j on the moving target is represented, d is more than 0, and the dividing point with the number 1 is farthest from the position where the radar is positioned;
because the radar detection area is small, the wind direction angle and the wind speed value at the same height from the radar are approximately equal, namely the Q can be calculated according to the above j The value is used for determining the influence coefficient of each position on the same height in the radar detection area on the moving target;
s202: calculating the difference value of the influence coefficients corresponding to the adjacent division points with the numbers of j and j+1 according to the influence coefficients calculated in S201, if the difference value is less than or equal to the compensation value, calculating the difference value of the influence coefficients corresponding to the division points with the numbers of j and j+2 until the difference value is more than the compensation value, stopping calculating the difference value, acquiring corresponding numbers of j and j+k when the difference value is more than the compensation value, and transversely dividing the radar detection area by taking the division point with the number of j as a starting point and k x d as a division length based on the acquired number information, wherein k=1, 2, …, n-1 represents a number increment value;
Similarly, other dividing points of the radar detection area and dividing lengths corresponding to the dividing points are determined;
s203: based on the result of division in S202, the rainfall in each division area is acquired, the inverse of the rainfall is used as a relation factor, the product between the relation factor and the average influence coefficient in the corresponding division area is used as the motion coefficient of the moving object in each division area, and if the radar detection area is free from rainfall, the relation factor=1 is defaulted.
Further, the step S30 includes:
s301: acquiring a motion trail and a motion speed of a moving target monitored by a radar, simulating the motion trail and the motion speed of the moving target in a radar detection area according to acquired information, and determining a trail missing point in the motion trail of the moving target based on simulated information;
s302: according to the electromagnetic wave information received by the radar and reflected by the moving target, the radar receives the electromagnetic wave information, the moving target is located in a dividing area, the radar transmits the electromagnetic wave information, and the radar detects the capability value of the target on a connecting line formed by a reserved background point matched with the dividing area and the position of the radar, the capability of the moving target for reflecting the radar electromagnetic wave is determined, and according to the determination result, the signal shielding point in the radar detection area in an ideal state is determined;
S303: determining the position of a track missing point in the simulated moving track and the moving speed of the corresponding position according to the moving track of the moving target simulated in the S301, combining the influence coefficient of each position in the radar detection area calculated in the S201 on the moving target and the moving coefficient of the moving target calculated in the S203 in each division area, and simulating the moving track and the moving speed of the moving target in the position range of the track missing point according to the determination result;
s304: mapping the motion trail of the moving target in the position range of the trail missing point in the S303 to the three-dimensional model constructed in the S10, judging whether the mapping point is overlapped with the background point corresponding to the signal shielding point in the three-dimensional model, if so, indicating that the motion condition of the moving target in the S303 accords with the actual operation condition, and if not, indicating that the motion condition of the moving target in the S303 is different from the actual operation condition;
s305: according to the motion trail mapped to the three-dimensional model in the step S304, the position of a background point corresponding to a signal shielding point closest to the mapped motion trail is obtained, and according to the obtained position of the background point, the motion trail of the moving target simulated in the step S303 in the position range of the trail missing point is adjusted;
S306: and simulating the complete motion trail and the running speed of the moving target in the radar detection area according to the motion trail and the running speed of the moving target in the radar detection area simulated in the S301, the motion speed of the moving target in the position range of the trail missing point simulated in the S303 and the motion trail of the moving target in the position range of the trail missing point regulated in the S305.
Further, the specific method for determining the capability of the moving target to reflect the radar electromagnetic wave comprises the following steps:
the ratio of the electromagnetic wave information received by the radar and reflected by the moving target to the electromagnetic wave information transmitted by the radar is used as the capability value of the moving target for reflecting the radar electromagnetic wave when the moving target is correspondingly divided into areas;
similarly, determining the capability value of a moving target in an ideal state (the ideal state refers to no rainfall in a radar detection area) for reflecting radar electromagnetic waves when the moving target corresponds to a divided area;
calculating the difference between the capability value of reflecting radar electromagnetic waves when the moving target is in the corresponding divided area and the capability value of detecting the target on a connecting line formed by the reserved background point matched with the corresponding divided area and the position of the radar, if the difference is more than 0, the corresponding reserved background point is a non-signal shielding point, and if the difference is less than or equal to 0, the corresponding reserved background point is a signal shielding point;
The specific method for determining the position of the track missing point in the simulated moving track and the moving speed of the corresponding position comprises the following steps:
determining a dividing region where the track missing point is located according to the position range of the track missing point, and determining the motion track and the motion speed of the moving target at the corresponding track missing point according to the motion condition of the moving target before and after the track missing point if the position range belongs to the same dividing region;
if the position range belongs to different dividing regions, according to the influence coefficients of different dividing regions on the moving target, determining the movement track of the moving target in the next dividing region by combining the movement track of the moving target after the track missing point according to the difference value of the average influence coefficient in the next dividing region and the average influence coefficient in the previous dividing region and the corresponding influence value when the moving target deflects by 1 DEG as the deflection angle of the moving target on the dividing line of the dividing region, wherein the movement track of the moving target in the previous dividing region is consistent with the movement track of the moving target before the track missing point, so as to obtain the movement direction angle of the moving target entering the next dividing region and the position information of the moving target on the dividing line of the moving target passing the dividing region;
According to the motion coefficient of the moving object in the corresponding dividing area, the ratio of the difference value of the motion coefficient in the next dividing area to the motion coefficient in the previous dividing area is used as the resistance coefficient of the moving object on the dividing line of the dividing area, the product of the resistance coefficient and the motion speed of the moving object before the track missing point is used as the sum of the motion speed of the moving object before the track missing point and the motion speed of the moving object entering the next dividing area is used as the motion speed of the moving object entering the next dividing area, and the motion speed of the moving object in the previous dividing area is the same as the motion speed of the moving object before the track missing point.
The radar moving target simulation system based on the environment information comprises a three-dimensional model construction module, a target detection capability prediction module, a moving target running condition analysis module, a track missing point determination module, a signal shielding point determination module, a moving target missing track prediction module, a running track adjustment module and a moving target running condition simulation module;
the three-dimensional model construction module is used for three-dimensionally displaying the background in the radar detection area, acquiring the position information of each background point in the three-dimensional model, transmitting the acquired position information to the target detection capability prediction module, and transmitting the constructed three-dimensional model to the running track adjustment module, wherein the origin of coordinates of the three-dimensional model is the position of the radar;
The target detection capability prediction module is used for predicting the capability of the radar to detect a target on a connecting line formed by each reserved background point and the position of the radar;
the moving target running condition analysis module is used for analyzing the influence condition of each position in the radar detection area on the moving target and the movement condition of the moving target in each divided area;
the track missing point determining module is used for acquiring the motion track and the motion speed of the moving target monitored by the radar, simulating the motion track and the motion speed of the moving target in the radar detection area according to the acquired information, determining the track missing point in the motion track of the moving target based on the simulation information, transmitting the determined track missing point to the moving target missing track predicting module, and transmitting the simulated motion track and the simulated motion speed of the moving target in the radar detection area to the moving target running condition simulating module;
the signal shielding point determining module is used for determining signal shielding points in a radar detection area under an ideal state;
the moving target missing track prediction module is used for predicting the moving track and the moving speed of the moving target in the position range of the track missing point;
The moving track adjusting module is used for adjusting the moving track of the moving target in the position range of the track missing point, which is simulated by the moving target missing track predicting module;
the moving object running condition simulation module is used for simulating the complete movement track and running speed of the moving object in the radar detection area.
Further, the target detection capability prediction module comprises a background point screening unit, a calculation unit and a target detection capability prediction unit;
the background point screening unit receives the position information transmitted by the three-dimensional model construction module, calculates the distance between the radar and each point in the background based on the received position information, compares the calculated distance with the wavelength of electromagnetic waves transmitted by the radar, eliminates the corresponding background point in the three-dimensional model if the distance is more than the wavelength of the electromagnetic waves, reserves the corresponding background point in the three-dimensional model if the distance is less than or equal to the wavelength of the electromagnetic waves, transmits the reserved background point to the calculation unit, and transmits the calculated distance information between the radar and each reserved background point to the target detection capability prediction unit;
the computing unit receives the position information transmitted by the reserved background points and the three-dimensional model building module transmitted by the background screening unit, acquires the position information of the reserved background points based on the received information, calculates the inclination angle of each reserved background point compared with the radar position according to the acquired position information, and transmits the calculation result to the target detection capability prediction unit;
The target detection capability prediction unit receives the distance information between the radar transmitted by the background screening unit and each reserved background point and the inclination angle of each reserved background point transmitted by the calculation unit compared with the radar position, and combines clutter reflection coefficients corresponding to each reserved background point to construct a prediction model W i ＝cosα i /(t i *L i ) And predicting the capability of the radar to detect the target on the connecting lines formed by the reserved background points and the positions of the radar, and transmitting the prediction result to the signal shielding point determining module.
Further, the moving target running condition analysis module comprises a first analysis unit, a region dividing unit and a second analysis unit;
the first analysis unit divides the electromagnetic beam axis emitted by the radar from far to near by the distance d, acquires the wind direction angle and the wind force value at the beam axis division point, and constructs a mathematical model Q according to the acquired information j ＝[a j-1 -(F j *cosγ j )/M]/a j-1 Calculating the influence coefficient of each position in the radar detection area on the moving target, and transmitting the calculation result to an area dividing unit and a second analysis unitAnd a moving target missing track prediction module;
the area dividing unit receives the influence coefficients of the positions in the radar detection area transmitted by the first analyzing unit on the moving target, calculates the difference value of the influence coefficients corresponding to adjacent dividing points with the numbers of j and j+1 according to the received information, calculates the difference value of the influence coefficients corresponding to dividing points with the numbers of j and j+2 until the difference value is larger than the compensation value if the difference value is smaller than the compensation value, acquires the corresponding numbers of j and j+k if the difference value is larger than the compensation value, transversely divides the radar detection area based on the acquired number information by taking the dividing point with the number of j as a starting point and k+d as a dividing length, and similarly determines other dividing points of the radar detection area and dividing lengths corresponding to the dividing points and transmits the dividing result of the radar detection area to the second analyzing unit and the signal shielding point determining module;
The second analysis unit receives the influence coefficients of all positions in the radar detection area transmitted by the first analysis unit on the moving target and the division results of the radar detection area transmitted by the area division unit, acquires the rainfall in all the division areas according to the radar detection area division results, takes the inverse of the rainfall as a relation factor, takes the product of the relation factor and the average influence coefficient in the corresponding division area as the movement coefficient of the moving target in all the division areas, and transmits the analyzed movement coefficient of the moving target in all the division areas to the moving target missing track prediction module, and when the radar detection area does not have rainfall, the default relation factor=1.
Further, the signal shielding point determining module receives a division result of the radar detection area transmitted by the area dividing unit, acquires electromagnetic wave information received by the radar and reflected by the moving target, determines a division area where the moving target is located when the radar receives the electromagnetic wave information according to the received division result, combines the electromagnetic wave information transmitted by the radar and the capability value of the radar for detecting the target on a connecting line formed by a reserved background point matched with the division area and the position where the radar is located, determines the capability of the moving target for reflecting the radar electromagnetic wave, determines signal shielding points in the radar detection area under an ideal state according to the determination result, and transmits the determined signal shielding points to the running track adjusting module;
The moving target missing track prediction module comprises a judging unit, a moving track determining unit, a moving speed determining unit and a moving target missing track simulating unit;
the judging unit receives the missing track points transmitted by the track missing point determining module, judges whether the division areas where the track missing points are located belong to the same division area or different division areas according to the position range of the track missing points, determines the movement track and the movement speed of the moving target at the corresponding track missing points according to the movement condition of the moving target before and after the track missing points if the position range is judged to belong to the same division area, and transmits the judgment results of the position range belonging to the different division areas to the movement track determining unit and the movement speed determining unit;
the motion trail determining unit receives the judging result that the position range transmitted by the judging unit belongs to different dividing regions and the influence coefficient of each position in the radar detection region transmitted by the first analyzing unit on the moving target, determines the motion trail of the moving target in the latter dividing region according to the influence coefficient of the different dividing regions on the moving target, and transmits the determined motion trail to the moving target missing trail simulating unit by taking the ratio of the average influence coefficient in the latter dividing region to the average influence coefficient in the former dividing region and the influence value corresponding to the moving target when the moving target deflects by 1 degree as the deflection angle of the moving target on the dividing line of the dividing region, wherein the motion trail of the moving target in the former dividing region is consistent with the motion trail of the moving target before the trail missing point, so as to obtain the motion direction angle of the moving target entering the latter dividing region and the position information of the moving target on the dividing line of the moving target passing through the dividing region, and combining the motion trail of the moving target after the trail missing point;
The motion speed determining unit receives the judging result that the position range transmitted by the judging unit belongs to different dividing areas and the motion coefficient of the moving object in each dividing area transmitted by the second analyzing unit, based on the receiving information, the difference value between the motion coefficient in the next dividing area and the motion coefficient in the previous dividing area and the ratio of the motion coefficient in the previous dividing area are used as resistance coefficients of the moving object on dividing lines of the dividing areas, the product of the resistance coefficients and the motion speed of the moving object before the track missing point and the sum value of the motion speeds of the moving object before the track missing point are used as the motion speed of the moving object entering the next dividing area, the motion speed of the moving object in the previous dividing area is the same as the motion speed of the moving object before the track missing point, and the determined motion speed is transmitted to the moving object missing track simulating unit;
the moving target missing track simulation unit receives the moving track transmitted by the moving track determination unit and the moving speed transmitted by the moving speed determination unit, simulates the moving track and the moving speed of the moving target in the position range of the track missing point based on the receiving information, and transmits the simulation result to the moving track adjustment module and the moving target running condition simulation module.
Further, the running track adjusting module comprises an analog analysis unit and a running track adjusting unit;
the simulation analysis unit receives the simulation result transmitted by the moving target missing track simulation unit, the three-dimensional model transmitted by the three-dimensional model construction module and the signal shielding point transmitted by the signal shielding point determination module, maps the received motion track of the simulated moving target in the position range of the track missing point into the three-dimensional model, judges whether the mapping point is overlapped with the background point corresponding to the signal shielding point in the three-dimensional model, if so, the motion condition of the simulated moving target accords with the actual operation condition, and if not, the motion condition of the simulated moving target is different from the actual operation condition, and transmits the motion track mapped into the three-dimensional model to the motion track adjustment unit;
the moving track adjusting unit receives the moving track transmitted by the simulation analysis unit and the signal shielding point transmitted by the signal shielding point determining module and the simulation result transmitted by the moving target missing track simulation unit, acquires the position of a background point corresponding to the signal shielding point closest to the mapped moving track based on the receiving information, adjusts the moving track of the received simulated moving target in the position range of the track missing point according to the acquired background point position, and transmits the moving track of the adjusted moving target in the position range of the track missing point to the moving target running condition simulation module;
The moving object running condition simulation module receives the moving track of the adjusted moving object, which is transmitted by the running track adjustment unit, in the position range of the track missing point, the moving speed of the simulated moving object, which is transmitted by the moving object missing track simulation unit, in the radar detection area, and the moving track and the moving speed of the simulated moving object, which are transmitted by the track missing point determination module, in the radar detection area, and simulates the complete moving track and the moving speed of the moving object in the radar detection area based on the receiving information.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the capacity of the radar for detecting the target on the connecting line formed by each reserved background point and the position of the radar is predicted, the dividing area where the moving target is positioned and the electromagnetic wave information emitted by the radar are combined with the electromagnetic wave information received by the radar and reflected by the moving target, the signal shielding point in the radar detection area under an ideal state is determined, namely the radar monitoring blind point is determined, and the simulation capacity of the radar moving target is improved.
2. According to the method, the wind direction angle and the wind force value in the radar detection area are used for determining the influence coefficient of each position in the radar detection area on the moving object, the radar detection area is divided according to the determined influence coefficient, the motion coefficient of the moving object in each divided area is determined by combining rainfall conditions in the divided areas, the motion trail and the motion speed of the moving object in the position range of the trail missing point are simulated according to the determined influence coefficient and the motion coefficient, and the simulation effect of the radar on the motion condition of the moving object is further improved.
3. According to the method, the motion trail of the simulated moving target in the position range of the trail missing point is mapped into the constructed three-dimensional model, whether the mapping point is overlapped with the background point corresponding to the signal shielding point in the three-dimensional model is judged, whether the motion trail of the simulated moving target in the position range of the trail missing point is regulated is selected according to the judging result, and the simulation precision of the system on the moving target is further improved.
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The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic workflow diagram of a radar moving target simulation system and method based on environmental information according to the present invention;
fig. 2 is a schematic structural diagram of the working principle of the radar moving target simulation system and the method based on the environmental information.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 and 2, the present invention provides the following technical solutions: a radar moving target simulation method based on environment information includes:
s10: constructing a three-dimensional model to simulate the background (the background refers to an object such as a mountain, a building or a tree which does not move in an ideal state) in a radar detection area, and predicting the capability of the radar to detect a target on a connecting line formed by each reserved background point and the position of the radar by combining the wavelength of electromagnetic waves emitted by the radar, wherein the origin of coordinates of the three-dimensional model is the position of the radar;
s10 comprises the following steps:
s101: acquiring position information of each point in the background in the three-dimensional model, calculating the distance between the radar and each point in the background based on the acquired information, comparing the calculated distance with the electromagnetic wave wavelength, removing the corresponding background point in the three-dimensional model if the distance is more than the electromagnetic wave wavelength, retaining the corresponding background point in the three-dimensional model if the distance is less than or equal to the electromagnetic wave wavelength, and preventing the corresponding background point from receiving electromagnetic waves emitted by the radar when the distance is less than the electromagnetic wave wavelength, so that the corresponding background point cannot influence radar detection results even if clutter is generated;
Calculating the inclination angle of each reserved background point compared with the position of the radar based on the position information of the reserved background point in the three-dimensional model;
s102: according to the distance value between the radar calculated in S101 and each reserved background point, the inclination angle of each reserved background point compared with the radar position and the clutter reflection coefficient corresponding to each reserved background point, constructing a prediction model W i ＝cosα i /(t i *L i ) Predicting the capability of the radar to detect targets on a connection line formed by each reserved background point and the position of the radar, wherein i=1, 2, …, m represents the number corresponding to each reserved background point, m represents the total number of reserved background points, and W i Representing the predicted radar's ability to detect an object on a line formed by the remaining background spot numbered i and the location of the radar, alpha i Representing the inclination angle of a reserved background point with the number i relative to the position of a radar, t i Indicating clutter reflection coefficient L corresponding to reserved background point with number i i Representing the distance value between the reserved background spot numbered i and the radar, L i Only the numerical value (i.e., L has no units) is substituted when substituting the predictive model.
S20: analyzing the influence condition of each position in the radar detection area on the moving target according to the wind direction angle and the wind force value in the radar detection area, transversely dividing the radar detection area based on the analysis result, and analyzing the movement condition of the moving target in each dividing area by combining the rainfall condition in the dividing area;
S20 includes:
s201: dividing the electromagnetic beam axis emitted by the radar from far to near by the distance d, acquiring the wind direction angle and the wind force value at the beam axis dividing point, calculating the influence coefficient of each position in the radar detection area on the moving target based on the acquired information, and a specific calculation formula Q j The method comprises the following steps:
Q j ＝[a j-1 -(F j *cosγ j )/M]/a j-1 ；
where j=1, 2, …, n, represents the number corresponding to the division position on the beam axis of the electromagnetic beam emitted by the radar, n represents the total number of division points on the beam axis, F j Represents the wind power value gamma corresponding to the position of the dividing point with the number j j The wind direction angle corresponding to the position of the dividing point with the number j is shown, M is the mass of raindrops, and a j-1 An acceleration value a representing the position of a dividing point with the number j-1 of a raindrop 0 An acceleration value, a, representing the position of an object passing through a division point numbered 1 0 ≠0，Q j The influence coefficient of the dividing point with the number j on the moving target is represented, d is more than 0, and the dividing point with the number 1 is farthest from the position where the radar is positioned;
because the radar detection area is small, the wind direction angle and the wind speed value at the same height from the radar are approximately equal, namely the Q can be calculated according to the above j The value is used for determining the influence coefficient of each position on the same height in the radar detection area on the moving target;
S202: calculating the difference value of the influence coefficients corresponding to the adjacent division points with the numbers of j and j+1 according to the influence coefficients calculated in S201, if the difference value is less than or equal to the compensation value, calculating the difference value of the influence coefficients corresponding to the division points with the numbers of j and j+2 until the difference value is more than the compensation value, stopping calculating the difference value, acquiring corresponding numbers of j and j+k when the difference value is more than the compensation value, and transversely dividing the radar detection area by taking the division point with the number of j as a starting point and k x d as a division length based on the acquired number information, wherein k=1, 2, …, n-1 represents a number increment value;
similarly, other dividing points of the radar detection area and dividing lengths corresponding to the dividing points are determined;
s203: based on the result of division in S202, the rainfall in each division area is acquired, the inverse of the rainfall is used as a relation factor, the product between the relation factor and the average influence coefficient in the corresponding division area is used as the motion coefficient of the moving object in each division area, and if the radar detection area is free from rainfall, the relation factor=1 is defaulted.
S30: according to the motion trail and the motion speed of the moving target monitored by the radar, the motion condition of the moving target in each divided area predicted in the S20 and the influence condition of each position in the radar detection area on the moving target are combined, and the capability of the radar predicted in the S10 to detect the target on the connecting line formed by each reserved background point and the position of the radar is combined, so that the complete motion trail and the motion speed of the moving target in the radar detection area are simulated.
S30 includes:
s301: acquiring a motion trail and a motion speed of a moving target monitored by a radar, simulating the motion trail and the motion speed of the moving target in a radar detection area according to acquired information, and determining a trail missing point in the motion trail of the moving target based on simulated information;
s302: according to the electromagnetic wave information received by the radar and reflected by the moving target, the radar receives the electromagnetic wave information, the moving target is located in a dividing area, the radar transmits the electromagnetic wave information, and the radar detects the capability value of the target on a connecting line formed by a reserved background point matched with the dividing area and the position of the radar, the capability of the moving target for reflecting the radar electromagnetic wave is determined, and according to the determination result, the signal shielding point in the radar detection area in an ideal state is determined;
the specific method for determining the capability of the moving target to reflect the radar electromagnetic wave comprises the following steps:
the ratio of the electromagnetic wave information received by the radar and reflected by the moving target to the electromagnetic wave information transmitted by the radar is used as the capability value of the moving target for reflecting the radar electromagnetic wave when the moving target is correspondingly divided into areas;
similarly, determining the capability value of a moving target in an ideal state (the ideal state refers to no rainfall in a radar detection area) for reflecting radar electromagnetic waves when the moving target corresponds to a divided area;
And calculating the difference between the capability value of reflecting the radar electromagnetic wave when the moving target is in the corresponding divided area and the capability value of detecting the target on a connecting line formed by the reserved background point matched with the corresponding divided area and the position of the radar, if the difference is more than 0, the reserved background point is corresponding to the non-signal shielding point, and if the difference is less than or equal to 0, the reserved background point is corresponding to the signal shielding point.
S303: determining the position of a track missing point in the simulated moving track and the moving speed of the corresponding position according to the moving track of the moving target simulated in the S301, combining the influence coefficient of each position in the radar detection area calculated in the S201 on the moving target and the moving coefficient of the moving target calculated in the S203 in each division area, and simulating the moving track and the moving speed of the moving target in the position range of the track missing point according to the determination result;
the specific method for determining the position of the track missing point in the simulated running track and the movement speed of the corresponding position comprises the following steps:
determining a dividing region where the track missing point is located according to the position range of the track missing point, and determining the motion track and the motion speed of the moving target at the corresponding track missing point according to the motion condition of the moving target before and after the track missing point if the position range belongs to the same dividing region;
If the position range belongs to different dividing regions, according to the influence coefficients of different dividing regions on the moving target, determining the movement track of the moving target in the next dividing region by combining the movement track of the moving target after the track missing point according to the difference value of the average influence coefficient in the next dividing region and the average influence coefficient in the previous dividing region and the corresponding influence value when the moving target deflects by 1 DEG as the deflection angle of the moving target on the dividing line of the dividing region, wherein the movement track of the moving target in the previous dividing region is consistent with the movement track of the moving target before the track missing point, so as to obtain the movement direction angle of the moving target entering the next dividing region and the position information of the moving target on the dividing line of the moving target passing the dividing region;
according to the motion coefficient of the moving object in the corresponding dividing area, the ratio of the difference value of the motion coefficient in the next dividing area to the motion coefficient in the previous dividing area is used as the resistance coefficient of the moving object on the dividing line of the dividing area, the product of the resistance coefficient and the motion speed of the moving object before the track missing point is used as the sum of the motion speed of the moving object before the track missing point and the motion speed of the moving object entering the next dividing area is used as the motion speed of the moving object entering the next dividing area, and the motion speed of the moving object in the previous dividing area is the same as the motion speed of the moving object before the track missing point.
S304: mapping the motion trail of the moving target in the position range of the trail missing point in the S303 to the three-dimensional model constructed in the S10, judging whether the mapping point is overlapped with the background point corresponding to the signal shielding point in the three-dimensional model, if so, indicating that the motion condition of the moving target in the S303 accords with the actual operation condition, and if not, indicating that the motion condition of the moving target in the S303 is different from the actual operation condition;
s305: according to the motion trail mapped to the three-dimensional model in the step S304, the position of a background point corresponding to a signal shielding point closest to the mapped motion trail is obtained, and according to the obtained position of the background point, the motion trail of the moving target simulated in the step S303 in the position range of the trail missing point is adjusted;
s306: and simulating the complete motion trail and the running speed of the moving target in the radar detection area according to the motion trail and the running speed of the moving target in the radar detection area simulated in the S301, the motion speed of the moving target in the position range of the trail missing point simulated in the S303 and the motion trail of the moving target in the position range of the trail missing point regulated in the S305.
The radar moving target simulation system based on the environment information is characterized in that: the system comprises a three-dimensional model construction module, a target detection capability prediction module, a moving target running condition analysis module, a track missing point determination module, a signal shielding point determination module, a moving target missing track prediction module, a running track adjustment module and a moving target running condition simulation module;
the three-dimensional model construction module is used for three-dimensionally displaying the background in the radar detection area, acquiring the position information of each background point in the three-dimensional model, transmitting the acquired position information to the target detection capability prediction module, and transmitting the constructed three-dimensional model to the running track adjustment module, wherein the coordinate origin of the three-dimensional model is the position of the radar;
the target detection capability prediction module is used for predicting the capability of the radar to detect a target on a connecting line formed by each reserved background point and the position of the radar;
the target detection capability prediction module comprises a background point screening unit, a calculation unit and a target detection capability prediction unit;
the background point screening unit receives the position information transmitted by the three-dimensional model construction module, calculates the distance between the radar and each point in the background based on the received position information, compares the calculated distance with the wavelength of electromagnetic waves transmitted by the radar, eliminates the corresponding background point in the three-dimensional model if the distance is more than the wavelength of the electromagnetic waves, reserves the corresponding background point in the three-dimensional model if the distance is less than or equal to the wavelength of the electromagnetic waves, transmits the reserved background point to the calculation unit, and transmits the calculated distance information between the radar and each reserved background point to the target detection capability prediction unit;
The computing unit receives the position information transmitted by the reserved background points and the three-dimensional model building module transmitted by the background screening unit, acquires the position information of the reserved background points based on the received information, calculates the inclination angle of each reserved background point compared with the radar position according to the acquired position information, and transmits the calculation result to the target detection capability prediction unit;
the target detection capability prediction unit receives the distance information between the radar transmitted by the background screening unit and each reserved background point and the inclination angle of each reserved background point transmitted by the calculation unit compared with the radar position, and combines clutter reflection coefficients corresponding to each reserved background point to construct a prediction model W i ＝cosα i /(t i *L i ) Predicting the capability of the radar to detect targets on a connection line formed by each reserved background point and the position of the radar, and transmitting a prediction result to a signal shielding point determining module, wherein i=1, 2, …, m represents the number corresponding to each reserved background point, m represents the total number of reserved background points, and W i Representing the predicted radar's ability to detect an object on a line formed by the remaining background spot numbered i and the location of the radar, alpha i Representing the inclination angle of a reserved background point with the number i relative to the position of a radar, t i Indicating clutter reflection coefficient L corresponding to reserved background point with number i i Representing the distance value between the reserved background spot numbered i and the radar, L i Only the numerical value (i.e., L has no units) is substituted when substituting the predictive model.
The moving target running condition analysis module is used for analyzing the influence condition of each position in the radar detection area on the moving target and the movement condition of the moving target in each divided area;
the moving target running condition analysis module comprises a first analysis unit, a region dividing unit and a second analysis unit;
the first analysis unit divides the electromagnetic beam axis emitted by the radar from far to near by the distance d, acquires the wind direction angle and the wind force value at the beam axis division point, and constructs a mathematical model Q according to the acquired information j ＝[a j-1 -(F j *cosγ j )/M]/a j-1 Calculating the influence coefficient of each position in the radar detection area on the moving target, and transmitting the calculation result to an area dividing unit, a second analyzing unit and a moving target missing track prediction module, wherein j=1, 2, …, n represents the number corresponding to the dividing position on the electromagnetic beam axis emitted by the radar, n represents the total number of dividing points on the beam axis, F j Represents the wind power value gamma corresponding to the position of the dividing point with the number j j The wind direction angle corresponding to the position of the dividing point with the number j is shown, M is the mass of raindrops, and a j-1 An acceleration value a representing the position of a dividing point with the number j-1 of a raindrop 0 An acceleration value, a, representing the position of an object passing through a division point numbered 1 0 ≠0，Q j The influence coefficient of the dividing point with the number j on the moving target is represented, d is more than 0, and the dividing point with the number 1 is farthest from the position where the radar is positioned;
the method comprises the steps that an area dividing unit receives influence coefficients of all positions in a radar detection area transmitted by a first analyzing unit on a moving target, calculates difference values of the influence coefficients corresponding to adjacent dividing points with the numbers of j and j+1 according to received information, calculates difference values of the influence coefficients corresponding to dividing points with the numbers of j and j+2 until the difference values are larger than a compensation value if the difference values are smaller than the compensation value, acquires corresponding numbers of j and j+k when the difference values are larger than the compensation value, transversely divides the radar detection area based on acquired number information by taking the dividing point with the number of j as a starting point and k d as a dividing length, and similarly determines other dividing points of the radar detection area and dividing lengths corresponding to the dividing points and transmits dividing results of the radar detection area to a second analyzing unit and a signal shielding point determining module;
The second analysis unit receives the influence coefficients of all positions in the radar detection area transmitted by the first analysis unit on the moving target and the division results of the radar detection area transmitted by the area division unit, acquires the rainfall in all the division areas according to the radar detection area division results, takes the inverse of the rainfall as a relation factor, takes the product of the relation factor and the average influence coefficient in the corresponding division area as the moving coefficient of the moving target in all the division areas, and transmits the analyzed moving coefficient of the moving target in all the division areas to the moving target missing track prediction module, and when the radar detection area does not have rainfall, the default relation factor=1.
The track missing point determining module is used for acquiring the motion track and the motion speed of the moving target monitored by the radar, simulating the motion track and the motion speed of the moving target in the radar detection area according to the acquired information, determining the track missing point in the moving track of the moving target based on the simulation information, transmitting the determined track missing point to the moving target missing track predicting module, and transmitting the simulated motion track and the simulated motion speed of the moving target in the radar detection area to the moving target running condition simulating module.
The signal shielding point determining module is used for determining signal shielding points in a radar detection area under an ideal state;
the signal shielding point determining module receives the division result of the radar detection area transmitted by the area dividing unit, acquires electromagnetic wave information reflected by a moving target received by the radar, determines the division area where the moving target is located when the radar receives the electromagnetic wave information according to the received division result of the area, uses the ratio of the electromagnetic wave information reflected by the moving target received by the radar to the electromagnetic wave information transmitted by the radar as the capability value of the moving target for reflecting the radar electromagnetic wave when the moving target corresponds to the division area, and similarly determines the capability value of the moving target for reflecting the radar electromagnetic wave when the moving target in an ideal state (the ideal state refers to no rainfall condition in the radar detection area) corresponds to the division area, calculates the difference between the capability value of the moving target for reflecting the radar electromagnetic wave when the moving target is determined in the ideal state and the capability value of the radar detection target on a connecting line formed by the reserved background point matched with the corresponding division area and the position where the radar is located, if the difference is more than 0, corresponds to the reserved background point and if the difference is less than or equal to 0, and transmits the determined signal shielding point to the running track adjusting module;
The moving target missing track prediction module is used for predicting the moving track and the moving speed of the moving target in the position range of the track missing point;
the moving target missing track prediction module comprises a judging unit, a moving track determining unit, a moving speed determining unit and a moving target missing track simulating unit;
the judging unit receives the missing track points transmitted by the track missing point determining module, judges whether the dividing area where the track missing points are located belongs to the same dividing area or different dividing areas according to the position range of the track missing points, determines the movement track and the movement speed of the moving target at the corresponding track missing points according to the movement condition of the moving target before and after the track missing points if the position range is judged to belong to the same dividing area, and transmits the judging result that the position range belongs to different dividing areas to the movement track determining unit and the movement speed determining unit;
the motion trail determining unit receives the judging result that the position range transmitted by the judging unit belongs to different dividing regions and the influence coefficient of each position in the radar detection region transmitted by the first analyzing unit on the moving target, determines the motion trail of the moving target in the latter dividing region according to the influence coefficient of the different dividing regions on the moving target, and transmits the determined motion trail to the moving target missing trail simulating unit by taking the ratio of the average influence coefficient in the latter dividing region to the average influence coefficient in the former dividing region and the influence value corresponding to the moving target when the moving target deflects by 1 DEG as the deflection angle of the moving target on the dividing line of the dividing region, wherein the motion trail of the moving target in the former dividing region is consistent with the motion trail of the moving target before the trail missing point, so as to obtain the motion direction angle of the moving target entering the latter dividing region and the position information of the moving target on the dividing line of the moving target passing through the dividing region, and combining the motion trail of the moving target after the trail missing point;
The motion speed determining unit receives the judging result that the position range transmitted by the judging unit belongs to different dividing areas and the motion coefficient of the moving object transmitted by the second analyzing unit in each dividing area, based on the receiving information, the ratio of the difference value of the motion coefficient in the next dividing area to the motion coefficient in the previous dividing area is used as the resistance coefficient of the moving object on the dividing line of the dividing area, the product of the resistance coefficient and the motion speed of the moving object before the track missing point is used as the sum value of the motion speed of the moving object before the track missing point and is used as the motion speed of the moving object entering the next dividing area, the motion speed of the moving object in the previous dividing area is the same as the motion speed of the moving object before the track missing point, and the determined motion speed is transmitted to the moving object missing track simulating unit;
the moving target missing track simulation unit receives the moving track transmitted by the moving track determination unit and the moving speed transmitted by the moving speed determination unit, simulates the moving track and the moving speed of the moving target in the position range of the track missing point based on the receiving information, and transmits the simulation result to the moving track adjustment module and the moving target running condition simulation module.
The moving track adjusting module is used for adjusting the moving track of the moving target in the position range of the track missing point, which is simulated by the moving target missing track predicting module;
the running track adjusting module comprises an analog analysis unit and a running track adjusting unit;
the simulation analysis unit receives the simulation result transmitted by the moving target missing track simulation unit, the three-dimensional model transmitted by the three-dimensional model construction module and the signal shielding point transmitted by the signal shielding point determination module, maps the received motion track of the simulated moving target in the position range of the track missing point into the three-dimensional model, judges whether the mapping point is coincident with the background point corresponding to the signal shielding point in the three-dimensional model, if so, the motion condition of the simulated moving target accords with the actual operation condition, and if not, the motion condition of the simulated moving target is different from the actual operation condition, and transmits the motion track mapped into the three-dimensional model to the motion track adjustment unit;
the moving track adjusting unit receives the moving track transmitted by the simulation analysis unit and the signal shielding point transmitted by the signal shielding point determining module and the simulation result transmitted by the moving target missing track simulation unit, acquires the position of a background point corresponding to the signal shielding point closest to the mapped moving track based on the received information, adjusts the moving track of the received simulated moving target in the position range of the track missing point according to the acquired background point position, and transmits the moving track of the adjusted moving target in the position range of the track missing point to the moving target running condition simulation module.
The moving target running condition simulation module is used for simulating the complete movement track and running speed of the moving target in the radar detection area;
the moving object running condition simulation module receives the moving track of the adjusted moving object, which is transmitted by the moving track adjustment unit, in the position range of the track missing point, the moving speed of the simulated moving object, which is transmitted by the moving object missing track simulation unit, in the radar detection area, and the moving track and the moving speed of the simulated moving object, which are transmitted by the track missing point determination module, in the radar detection area, and simulates the complete moving track and the moving speed of the moving object in the radar detection area based on the receiving information.
It is noted that relational terms such as first and second, and the like are 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. Moreover, 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: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A radar moving target simulation method based on environment information is characterized in that: the method comprises the following steps:
s10: constructing a three-dimensional model to simulate the background in a radar detection area, and predicting the capability of the radar to detect targets on connecting lines formed by reserved background points and the positions of the radar by combining the wavelength of electromagnetic waves emitted by the radar;
s20: analyzing the influence condition of each position in the radar detection area on the moving target according to the wind direction angle and the wind force value in the radar detection area, transversely dividing the radar detection area based on the analysis result, and analyzing the movement condition of the moving target in each dividing area by combining the rainfall condition in the dividing area;
S30: according to the motion trail and the motion speed of the moving target monitored by the radar, the motion condition of the moving target in each divided area predicted in the S20 and the influence condition of each position in the radar detection area on the moving target are combined, and the capability of the radar predicted in the S10 to detect the target on the connecting line formed by each reserved background point and the position of the radar is combined, so that the complete motion trail and the motion speed of the moving target in the radar detection area are simulated.
2. The radar moving target simulation method based on the environmental information according to claim 1, wherein: the S10 includes:
s101: acquiring position information of each point in the background in the three-dimensional model, calculating the distance between the radar and each point in the background based on the acquired information, comparing the calculated distance with the electromagnetic wave wavelength, eliminating the corresponding background point in the three-dimensional model if the distance is more than the electromagnetic wave wavelength, and retaining the corresponding background point in the three-dimensional model if the distance is less than or equal to the electromagnetic wave wavelength;
calculating the inclination angle of each reserved background point compared with the position of the radar based on the position information of the reserved background point in the three-dimensional model;
S102: according to the distance value between the radar calculated in S101 and each reserved background point, the inclination angle of each reserved background point compared with the radar position and the clutter reflection coefficient corresponding to each reserved background point, constructing a prediction model W i ＝cosα i /(t i *L i ) Predicting the capability of the radar to detect targets on a connection line formed by each reserved background point and the position of the radar, wherein i=1, 2, …, m represents the number corresponding to each reserved background point, m represents the total number of reserved background points, and W i Representing the predicted radar's ability to detect an object on a line formed by the remaining background spot numbered i and the location of the radar, alpha i Representing the inclination angle of a reserved background point with the number i relative to the position of a radar, t i Indicating clutter reflection coefficient L corresponding to reserved background point with number i i Representing the distance value between the reserved background spot numbered i and the radar, L i Only numerical values are substituted when substituting the predictive model.
3. The radar moving target simulation method based on the environmental information according to claim 2, wherein: the S20 includes:
s201: dividing the electromagnetic beam axis emitted by the radar from far to near by the distance d, acquiring the wind direction angle and the wind force value at the beam axis dividing point, calculating the influence coefficient of each position in the radar detection area on the moving target based on the acquired information, and a specific calculation formula Q j The method comprises the following steps:
Q j ＝[a j-1 -(F j *cosγ j )/M]/a j-1 ；
where j=1, 2, …, n, represents the number corresponding to the division position on the beam axis of the electromagnetic beam emitted by the radar, n represents the total number of division points on the beam axis, F j Represents the wind power value gamma corresponding to the position of the dividing point with the number j j The wind direction angle corresponding to the position of the dividing point with the number j is shown, M is the mass of raindrops, and a j-1 An acceleration value a representing the position of a dividing point with the number j-1 of a raindrop 0 An acceleration value, a, representing the position of an object passing through a division point numbered 1 0 ≠0，Q j The influence coefficient of the dividing point with the number j on the moving target is represented, and d is more than 0;
because the radar detection area is small, the wind direction angle and the wind speed value at the same height from the radar are approximately equal, namely the Q can be calculated according to the above j The value is used for determining the influence coefficient of each position on the same height in the radar detection area on the moving target;
s202: calculating the difference value of the influence coefficients corresponding to the adjacent division points with the numbers of j and j+1 according to the influence coefficients calculated in S201, if the difference value is less than or equal to the compensation value, calculating the difference value of the influence coefficients corresponding to the division points with the numbers of j and j+2 until the difference value is more than the compensation value, stopping calculating the difference value, acquiring corresponding numbers of j and j+k when the difference value is more than the compensation value, and transversely dividing the radar detection area by taking the division point with the number of j as a starting point and k x d as a division length based on the acquired number information, wherein k=1, 2, …, n-1 represents a number increment value;
Similarly, other dividing points of the radar detection area and dividing lengths corresponding to the dividing points are determined;
s203: based on the result of division in S202, the rainfall in each division area is acquired, the inverse of the rainfall is used as a relation factor, the product between the relation factor and the average influence coefficient in the corresponding division area is used as the motion coefficient of the moving object in each division area, and if the radar detection area is free from rainfall, the relation factor=1 is defaulted.
4. A radar moving target simulation method based on environmental information according to claim 3, wherein: the S30 includes:
s301: acquiring a motion trail and a motion speed of a moving target monitored by a radar, simulating the motion trail and the motion speed of the moving target in a radar detection area according to acquired information, and determining a trail missing point in the motion trail of the moving target based on simulated information;
s302: according to the electromagnetic wave information received by the radar and reflected by the moving target, the radar receives the electromagnetic wave information, the moving target is located in a dividing area, the radar transmits the electromagnetic wave information, and the radar detects the capability value of the target on a connecting line formed by a reserved background point matched with the dividing area and the position of the radar, the capability of the moving target for reflecting the radar electromagnetic wave is determined, and according to the determination result, the signal shielding point in the radar detection area in an ideal state is determined;
S303: determining the position of a track missing point in the simulated moving track and the moving speed of the corresponding position according to the moving track of the moving target simulated in the S301, combining the influence coefficient of each position in the radar detection area calculated in the S201 on the moving target and the moving coefficient of the moving target calculated in the S203 in each division area, and simulating the moving track and the moving speed of the moving target in the position range of the track missing point according to the determination result;
s304: mapping the motion trail of the moving target in the position range of the trail missing point in the S303 to the three-dimensional model constructed in the S10, judging whether the mapping point is overlapped with the background point corresponding to the signal shielding point in the three-dimensional model, if so, indicating that the motion condition of the moving target in the S303 accords with the actual operation condition, and if not, indicating that the motion condition of the moving target in the S303 is different from the actual operation condition;
s305: according to the motion trail mapped to the three-dimensional model in the step S304, the position of a background point corresponding to a signal shielding point closest to the mapped motion trail is obtained, and according to the obtained position of the background point, the motion trail of the moving target simulated in the step S303 in the position range of the trail missing point is adjusted;
S306: and simulating the complete motion trail and the running speed of the moving target in the radar detection area according to the motion trail and the running speed of the moving target in the radar detection area simulated in the S301, the motion speed of the moving target in the position range of the trail missing point simulated in the S303 and the motion trail of the moving target in the position range of the trail missing point regulated in the S305.
5. The method for simulating a radar moving target based on environmental information according to claim 4, wherein: the specific method for determining the capability of the moving target to reflect the radar electromagnetic wave comprises the following steps:
the ratio of the electromagnetic wave information received by the radar and reflected by the moving target to the electromagnetic wave information transmitted by the radar is used as the capability value of the moving target for reflecting the radar electromagnetic wave when the moving target is correspondingly divided into areas;
similarly, determining the capability value of reflecting radar electromagnetic waves when the moving target corresponds to the divided area in an ideal state;
calculating the difference between the capability value of reflecting radar electromagnetic waves when the moving target is in the corresponding divided area and the capability value of detecting the target on a connecting line formed by the reserved background point matched with the corresponding divided area and the position of the radar, if the difference is more than 0, the corresponding reserved background point is a non-signal shielding point, and if the difference is less than or equal to 0, the corresponding reserved background point is a signal shielding point;
The specific method for determining the position of the track missing point in the simulated moving track and the moving speed of the corresponding position comprises the following steps:
determining a dividing region where the track missing point is located according to the position range of the track missing point, and determining the motion track and the motion speed of the moving target at the corresponding track missing point according to the motion condition of the moving target before and after the track missing point if the position range belongs to the same dividing region;
if the position range belongs to different dividing regions, according to the influence coefficients of different dividing regions on the moving target, determining the movement track of the moving target in the next dividing region by combining the movement track of the moving target after the track missing point according to the difference value of the average influence coefficient in the next dividing region and the average influence coefficient in the previous dividing region and the corresponding influence value when the moving target deflects by 1 DEG as the deflection angle of the moving target on the dividing line of the dividing region, wherein the movement track of the moving target in the previous dividing region is consistent with the movement track of the moving target before the track missing point, so as to obtain the movement direction angle of the moving target entering the next dividing region and the position information of the moving target on the dividing line of the moving target passing the dividing region;
According to the motion coefficient of the moving object in the corresponding dividing area, the ratio of the difference value of the motion coefficient in the next dividing area to the motion coefficient in the previous dividing area is used as the resistance coefficient of the moving object on the dividing line of the dividing area, the product of the resistance coefficient and the motion speed of the moving object before the track missing point is used as the sum of the motion speed of the moving object before the track missing point and the motion speed of the moving object entering the next dividing area is used as the motion speed of the moving object entering the next dividing area, and the motion speed of the moving object in the previous dividing area is the same as the motion speed of the moving object before the track missing point.
6. An environmental information-based radar moving target simulation system for performing the environmental information-based radar moving target simulation method according to any one of claims 1 to 5, wherein: the system comprises a three-dimensional model construction module, a target detection capability prediction module, a moving target running condition analysis module, a track missing point determination module, a signal shielding point determination module, a moving target missing track prediction module, a running track adjustment module and a moving target running condition simulation module;
The three-dimensional model construction module is used for three-dimensionally displaying the background in the radar detection area, acquiring the position information of each background point in the three-dimensional model, transmitting the acquired position information to the target detection capability prediction module, and transmitting the constructed three-dimensional model to the running track adjustment module, wherein the origin of coordinates of the three-dimensional model is the position of the radar;
the target detection capability prediction module is used for predicting the capability of the radar to detect a target on a connecting line formed by each reserved background point and the position of the radar;
the moving target running condition analysis module is used for analyzing the influence condition of each position in the radar detection area on the moving target and the movement condition of the moving target in each divided area;
the track missing point determining module is used for acquiring the motion track and the motion speed of the moving target monitored by the radar, simulating the motion track and the motion speed of the moving target in the radar detection area according to the acquired information, determining the track missing point in the motion track of the moving target based on the simulation information, transmitting the determined track missing point to the moving target missing track predicting module, and transmitting the simulated motion track and the simulated motion speed of the moving target in the radar detection area to the moving target running condition simulating module;
The signal shielding point determining module is used for determining signal shielding points in a radar detection area under an ideal state;
the moving target missing track prediction module is used for predicting the moving track and the moving speed of the moving target in the position range of the track missing point;
the moving track adjusting module is used for adjusting the moving track of the moving target in the position range of the track missing point, which is simulated by the moving target missing track predicting module;
the moving object running condition simulation module is used for simulating the complete movement track and running speed of the moving object in the radar detection area.
7. The radar moving target simulation system based on the environmental information according to claim 6, wherein: the target detection capability prediction module comprises a background point screening unit, a computing unit and a target detection capability prediction unit;
the background point screening unit receives the position information transmitted by the three-dimensional model construction module, calculates the distance between the radar and each point in the background based on the received position information, compares the calculated distance with the wavelength of electromagnetic waves transmitted by the radar, eliminates the corresponding background point in the three-dimensional model if the distance is more than the wavelength of the electromagnetic waves, reserves the corresponding background point in the three-dimensional model if the distance is less than or equal to the wavelength of the electromagnetic waves, transmits the reserved background point to the calculation unit, and transmits the calculated distance information between the radar and each reserved background point to the target detection capability prediction unit;
The computing unit receives the position information transmitted by the reserved background points and the three-dimensional model building module transmitted by the background screening unit, acquires the position information of the reserved background points based on the received information, calculates the inclination angle of each reserved background point compared with the radar position according to the acquired position information, and transmits the calculation result to the target detection capability prediction unit;
the target detection capability prediction unit receives the distance information between the radar transmitted by the background screening unit and each reserved background point and the inclination angle of each reserved background point transmitted by the calculation unit compared with the radar position, and combines clutter reflection coefficients corresponding to each reserved background point to construct a prediction model W i ＝cosα i /(t i *L i ) And predicting the capability of the radar to detect the target on the connecting lines formed by the reserved background points and the positions of the radar, and transmitting the prediction result to the signal shielding point determining module.
8. The radar moving target simulation system based on the environmental information according to claim 7, wherein: the moving target running condition analysis module comprises a first analysis unit, a region dividing unit and a second analysis unit;
The first analysis unit divides the electromagnetic beam axis emitted by the radar from far to near by a distance d, and the distance d is equal to the distance dObtaining wind direction angle and wind force value on beam axis division point, and constructing mathematical model Q according to obtained information j ＝[a j-1 -(F j *cosγ j )/M]/a j-1 Calculating influence coefficients of all positions in a radar detection area on a moving target, and transmitting calculation results to an area dividing unit, a second analysis unit and a moving target missing track prediction module;
the area dividing unit receives the influence coefficients of the positions in the radar detection area transmitted by the first analyzing unit on the moving target, calculates the difference value of the influence coefficients corresponding to adjacent dividing points with the numbers of j and j+1 according to the received information, calculates the difference value of the influence coefficients corresponding to dividing points with the numbers of j and j+2 until the difference value is larger than the compensation value if the difference value is smaller than the compensation value, acquires the corresponding numbers of j and j+k if the difference value is larger than the compensation value, transversely divides the radar detection area based on the acquired number information by taking the dividing point with the number of j as a starting point and k+d as a dividing length, and similarly determines other dividing points of the radar detection area and dividing lengths corresponding to the dividing points and transmits the dividing result of the radar detection area to the second analyzing unit and the signal shielding point determining module;
The second analysis unit receives the influence coefficients of all positions in the radar detection area transmitted by the first analysis unit on the moving target and the division results of the radar detection area transmitted by the area division unit, acquires the rainfall in all the division areas according to the radar detection area division results, takes the inverse of the rainfall as a relation factor, takes the product of the relation factor and the average influence coefficient in the corresponding division area as the movement coefficient of the moving target in all the division areas, and transmits the analyzed movement coefficient of the moving target in all the division areas to the moving target missing track prediction module.
9. The radar moving target simulation system based on the environmental information according to claim 8, wherein: the signal shielding point determining module receives the division result of the radar detection area transmitted by the area dividing unit, acquires the electromagnetic wave information received by the radar and reflected by the moving target, determines the dividing area where the moving target is located when the radar receives the electromagnetic wave information according to the received area division result, combines the electromagnetic wave information transmitted by the radar and the capability value of the radar for detecting the target on a connecting line formed by a reserved background point matched with the dividing area and the position where the radar is located, determines the capability of the moving target for reflecting the radar electromagnetic wave, determines the signal shielding point in the radar detection area under the ideal state according to the determination result, and transmits the determined signal shielding point to the running track adjusting module;
The moving target missing track prediction module comprises a judging unit, a moving track determining unit, a moving speed determining unit and a moving target missing track simulating unit;
the judging unit receives the missing track points transmitted by the track missing point determining module, judges whether the division areas where the track missing points are located belong to the same division area or different division areas according to the position range of the track missing points, determines the movement track and the movement speed of the moving target at the corresponding track missing points according to the movement condition of the moving target before and after the track missing points if the position range is judged to belong to the same division area, and transmits the judgment results of the position range belonging to the different division areas to the movement track determining unit and the movement speed determining unit;
the motion trail determining unit receives the judging result that the position range transmitted by the judging unit belongs to different dividing regions and the influence coefficient of each position in the radar detection region transmitted by the first analyzing unit on the moving target, determines the motion trail of the moving target in the latter dividing region according to the influence coefficient of the different dividing regions on the moving target, and transmits the determined motion trail to the moving target missing trail simulating unit by taking the ratio of the average influence coefficient in the latter dividing region to the average influence coefficient in the former dividing region and the influence value corresponding to the moving target when the moving target deflects by 1 degree as the deflection angle of the moving target on the dividing line of the dividing region, wherein the motion trail of the moving target in the former dividing region is consistent with the motion trail of the moving target before the trail missing point, so as to obtain the motion direction angle of the moving target entering the latter dividing region and the position information of the moving target on the dividing line of the moving target passing through the dividing region, and combining the motion trail of the moving target after the trail missing point;
The motion speed determining unit receives the judging result that the position range transmitted by the judging unit belongs to different dividing areas and the motion coefficient of the moving object in each dividing area transmitted by the second analyzing unit, based on the receiving information, the difference value between the motion coefficient in the next dividing area and the motion coefficient in the previous dividing area and the ratio of the motion coefficient in the previous dividing area are used as resistance coefficients of the moving object on dividing lines of the dividing areas, the product of the resistance coefficients and the motion speed of the moving object before the track missing point and the sum value of the motion speeds of the moving object before the track missing point are used as the motion speed of the moving object entering the next dividing area, the motion speed of the moving object in the previous dividing area is the same as the motion speed of the moving object before the track missing point, and the determined motion speed is transmitted to the moving object missing track simulating unit;
the moving target missing track simulation unit receives the moving track transmitted by the moving track determination unit and the moving speed transmitted by the moving speed determination unit, simulates the moving track and the moving speed of the moving target in the position range of the track missing point based on the receiving information, and transmits the simulation result to the moving track adjustment module and the moving target running condition simulation module.
10. The radar moving target simulation system based on the environmental information according to claim 9, wherein: the running track adjusting module comprises an analog analysis unit and a running track adjusting unit;
the simulation analysis unit receives the simulation result transmitted by the moving target missing track simulation unit, the three-dimensional model transmitted by the three-dimensional model construction module and the signal shielding point transmitted by the signal shielding point determination module, maps the received motion track of the simulated moving target in the position range of the track missing point into the three-dimensional model, judges whether the mapping point is overlapped with the background point corresponding to the signal shielding point in the three-dimensional model, if so, the motion condition of the simulated moving target accords with the actual operation condition, and if not, the motion condition of the simulated moving target is different from the actual operation condition, and transmits the motion track mapped into the three-dimensional model to the motion track adjustment unit;
the moving track adjusting unit receives the moving track transmitted by the simulation analysis unit and the signal shielding point transmitted by the signal shielding point determining module and the simulation result transmitted by the moving target missing track simulation unit, acquires the position of a background point corresponding to the signal shielding point closest to the mapped moving track based on the receiving information, adjusts the moving track of the received simulated moving target in the position range of the track missing point according to the acquired background point position, and transmits the moving track of the adjusted moving target in the position range of the track missing point to the moving target running condition simulation module;
The moving object running condition simulation module receives the moving track of the adjusted moving object, which is transmitted by the running track adjustment unit, in the position range of the track missing point, the moving speed of the simulated moving object, which is transmitted by the moving object missing track simulation unit, in the radar detection area, and the moving track and the moving speed of the simulated moving object, which are transmitted by the track missing point determination module, in the radar detection area, and simulates the complete moving track and the moving speed of the moving object in the radar detection area based on the receiving information.
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