CN116626600A - Detection method under cooperative mode of double-platform airborne radar - Google Patents
Detection method under cooperative mode of double-platform airborne radar Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
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- 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
- G01S7/28—Details of pulse systems
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- G—PHYSICS
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- 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
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
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Abstract
The invention discloses a detection method under a cooperative mode of a double-platform airborne radar, belongs to the technical field of radar detection, and can fully utilize multi-dimensional information such as time, frequency domain, space and the like to improve the anti-interference capability of the double-platform airborne radar. The detection method comprises the steps that a first radar and a second radar search targets respectively; the first radar and the second radar perform time, frequency and space synchronization and enter a cooperative mode; the first radar and the second radar conduct target information interaction; the first radar and the second radar respectively perform time-space conversion and data fusion judgment on the respectively searched target information to obtain a plurality of suspected identical targets, and determine the identical tracking target to be tracked from the plurality of suspected identical targets; according to the information of tracking the same target, the first radar and the second radar respectively calculate and adjust time sequence parameters.
Description
Technical Field
The invention belongs to the technical field of radar detection, and particularly relates to a detection method under a cooperative mode of a double-platform airborne radar.
Background
Because electromagnetic environment is complicated and various, in order to improve the recognition and countermeasure capability to interference, the existing airborne radar generally adopts a single platform to work, for example, the detection capability is improved by adopting the composite detection of an active radar and an active radar or an active radar and a passive radar, and on the design of radar time sequence, different radars adopt alternate emission work among pulse repetition periods, time-division shift work or work in different frequency bands, so that the cooperative detection at the same moment is not realized.
The double-platform cooperative detection system can fully utilize various aspects such as time domain, frequency domain, airspace and the like to improve the complex electromagnetic environment adaptability of the radar system, and can not only receive own radar echo signals to realize target searching and tracking, but also receive radar signals transmitted by another platform radar reflected by targets to obtain richer target information under the master-slave cooperative mode of the double-platform airborne radar. The detection mode fully plays the advantages of cooperative detection, but the capability in the aspects of waveform and timing design of a transmitted signal also puts higher demands.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide a detection method under a cooperative mode of a dual-platform airborne radar, which can fully utilize multi-dimensional information such as time, frequency domain, space, etc. to improve the anti-interference capability of the dual-platform airborne radar.
The aim of the invention is mainly realized by the following technical scheme:
the invention provides a detection method under a cooperative mode of a double-platform airborne radar, which comprises the following steps:
step 1: the first radar and the second radar respectively search targets, the first radar records target information searched by the first radar, and the second radar records target information searched by the second radar;
step 2: establishing unified time, frequency and space references of a first radar and a second radar, synchronizing the time, frequency and space of the first radar and the second radar, and entering a cooperative mode under the same frequency;
step 3: the first radar and the second radar conduct target information interaction;
step 4: under a unified time reference and space coordinate system, the first radar and the second radar respectively perform time-space conversion and data fusion judgment on the respective searched target information to obtain a plurality of suspected identical targets, and the identical tracking target to be tracked is determined from the plurality of suspected identical targets under the control of the first radar;
step 5: according to the information of tracking the same target, the first radar and the second radar respectively calculate and adjust time sequence parameters.
Further, in step 1, the first radar and the second radar perform independent operation of the self-receiving operation mode under respective time reference and space coordinate systems, and only respective target echo signals of the first radar and the second radar are received and processed.
Further, the first radar searches to find M targets, and under the time reference and the space coordinate system of the first radar, the target time space information is marked as T Ai (t Ai ,r Ai ,α Ai ,β Ai ) I=1, 2, … M, target T Ai At t Ai The distance of the time is r Ai Azimuth angle alpha Ai Pitch angle beta Ai 。
Further, the second radar searches to find N targets, and the target time space information is marked as T under the time reference and space coordinate system of the second radar Bj (t Bj ，r Bj ,α Bj ,β Bj ) J=1, 2,..n target T Bj At t Bj The distance of the time is r Bj Azimuth angle alpha Bj Pitch angle beta Bj 。
Further, in step 2, under the control of the first radar, a unified time reference of the first radar and the second radar is established, and the working time sequences of the first radar and the second radar are restarted at the same time through respective time-frequency synchronizers of the first radar and the second radar, so that the target information of the first radar and the second radar is marked with time mark information;
the first radar and the second radar are respectively navigation systems, the coordinate of the first radar is set as an origin, and in a unified space coordinate system, the coordinate of the second radar is set as P B (x B ,y B ,z B ) And establishing a unified space coordinate system.
Further, in step 3, the first radar and the second radar can both obtain the target time space information of the first radar and the data of the target time space information of the second radar, the first radar obtains the pulse width of the second radar, and the second radar obtains the pulse width of the first radar.
Further, in step 3, the first radar and the second radar perform target information interaction through the data link respectively.
Further, the method is characterized in that the step 4 comprises the following steps:
step 41: with only a uniform time reference, the first radar targets T Ai (t Ai ,r Ai ,α Ai ,β Ai ) I=1, 2, … M, the second radar target is T Bj (t Bj ,r Bj ,α Bj ,β Bj )，j＝1,2,...N；
The target coordinate of the first radar is T under the unified time reference and space coordinate system Ai (t Ai ,x Ai ,y Ai ,z Ai ) Where i=1, 2, … M; the target coordinate of the second radar is T Bj (t Bj ,x Bj ,y Bj ,z Bj ) Where j=1, 2,..n; then there is the following relationship:
target coordinates of the first radar:
x Ai ＝0+r Ai ·cos(β Ai )sin(α Ai )
y Ai ＝0+r Ai ·cos(β Ai )cos(α Ai )
z Ai ＝0+r Ai ·sin(β Ai )
target coordinates of the second radar:
x Bj ＝x B +r Bj ·cos(β Bj )sin(α Bj )
y Bj ＝y B +r Bj ·cos(β Bj )cos(α Bj )
z Bj ＝z B +r Bj ·sin(β Bj )
step 42: setting epsilon as a co-location error tolerance threshold, and obtaining a plurality of suspected identical targets if the following formula is satisfied:
where i=1, 2, … M, j=1, 2, … N;
the method comprises the steps that K suspected identical targets are arranged in M targets of a first radar and N targets of a second radar, wherein K is less than or equal to M, and K is less than or equal to N;
step 43: and determining the same tracking target to be tracked from the multiple suspected identical targets under the control of the first radar, transmitting the information of the same tracking target to the second radar through a data link, and tracking the same tracking target by the second radar.
Further, ε is 10m, 15m or 20m.
Further, the method is characterized in that the step 5 further comprises the following steps:
step 6: the first radar and the second radar emit orthogonal waveforms, spontaneous self-receiving and self-receiving radar echo signal processing are respectively carried out, and whether the same tracking target is a real target or not is judged and confirmed.
Compared with the prior art, the invention has at least one of the following beneficial effects:
the detection method under the cooperative mode of the double-platform airborne radar provided by the invention is different from the detection method of the single-platform radar which can only receive and process the self-receiving radar echo aiming at the double-platform recorded radar cooperative mode, and by utilizing the detection method of the embodiment, the first radar and the second radar can both receive the self-receiving wave signal and the self-receiving wave signal, and through the analysis, the filtering, the detection and the like of the self-receiving wave signal and the self-receiving wave signal, the multi-dimensional information such as a time domain, a frequency domain, a space domain and the like is fully utilized to improve the radar anti-interference capability, thereby laying a foundation for engineering application of the double-platform recorded radar cooperative mode and having good application potential and economic benefit.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.
Fig. 1 is a schematic flow chart of a timing design method in a cooperative mode of a dual-platform airborne radar according to an embodiment of the present invention;
fig. 2 is a schematic diagram showing a relationship between a radar and a target in a cooperative detection situation according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a radar timing design in the case of cooperative detection according to an embodiment of the present invention;
fig. 4a is a matching filtering result of a self-received echo signal of a first radar in a simulation scene in a detection method under a cooperative mode of a dual-platform airborne radar according to an embodiment of the present invention;
fig. 4b is a matching filtering result of an echo signal sent by a first radar in a simulation scene in a detection method under a cooperative mode of a dual-platform airborne radar according to an embodiment of the present invention;
fig. 4c is a matching filtering result of a self-receiving echo signal of a second radar in a simulation scene in a detection method under a cooperative mode of a dual-platform airborne radar according to the first embodiment of the present invention;
fig. 4d is a matching filtering result of an echo signal sent by a second radar in a simulation scene in the detection method under the cooperative mode of the dual-platform airborne radar according to the first embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention are described in detail below with reference to the attached drawing figures, which form a part of the present invention and are used in conjunction with the embodiments of the present invention to illustrate the principles of the present invention.
For ease of description, two of the following dual-platform airborne radars are denoted as a first radar and a second radar, respectively, without loss of generality assuming that the first radar is a master radar and the second radar is a slave radar. The target radar echo received by the main radar is called spontaneous self-receiving if the target radar echo is transmitted by the main radar, and is called self-receiving if the target radar echo is transmitted by the auxiliary radar; likewise, the target radar echo received from the radar is referred to as self-receipt if it is transmitted by the slave radar, and as self-receipt if it is transmitted by the master radar.
The invention provides a detection method under a cooperative mode of a double-platform airborne radar, which is shown in fig. 1 to 4d, and comprises the following steps:
step 1: the first radar and the second radar respectively search targets, the first radar records target information searched by the first radar, and the second radar records target information searched by the second radar;
step 2: establishing unified time, frequency and space references of a first radar and a second radar, synchronizing the time, frequency and space of the first radar and the second radar, and entering a cooperative mode under the same frequency;
step 3: the first radar and the second radar respectively conduct target information interaction through a data chain;
step 4: under a unified time reference and space coordinate system, the first radar and the second radar respectively perform time-space conversion and data fusion judgment on the respective searched target information to obtain a plurality of suspected identical targets, and the identical tracking target to be tracked is determined from the plurality of suspected identical targets under the control of the first radar;
step 5: according to the information of tracking the same target, the first radar and the second radar respectively calculate and adjust time sequence parameters.
Compared with the prior art, the detection method under the cooperative mode of the double-platform airborne radar provided by the implementation is different from the method that a single-platform radar can only receive and process spontaneous self-receiving radar echoes, and in the cooperative mode, the first radar and the second radar can both receive spontaneous self-receiving wave signals and self-receiving wave signals, and the radar anti-interference capability is improved by fully utilizing multidimensional information such as time domain, frequency domain, airspace and the like through analysis, filtering, detection and the like of the spontaneous self-receiving wave signals and the self-receiving wave signals, so that a foundation is laid for engineering application of the double-platform recorded radar cooperative mode, and good application potential and economic benefit are provided.
In step 1, the first radar and the second radar perform independent operation in the autonomous self-receiving operation mode under the respective time reference and space coordinate systems, and only the target echo signals of the first radar and the second radar are received and processed.
Wherein the first radar searches to find M targets, and under the time reference and the space coordinate system of the first radar, the target time space information is marked as T Ai (t Ai ,r Ai ,α Ai ,β Ai ) I=1, 2, … M, i.e. target T Ai At t Ai The distance of the time is r Ai Azimuth angle alpha Ai Pitch angle beta Ai ；
The second radar searches to find N targets, and under the time reference and space coordinate system of the second radar, the target time space information is marked as T Bj (t Bj ，r Bj ,α Bj ,β Bj ) J=1, 2,..n, i.e. target T Bj At t Bj The distance of the time is r Bj Azimuth angle alpha Bj Pitch angle beta Bj 。
Specifically, in the step 2, under the control of the first radar, a unified time reference is established for the first radar and the second radar, and the operation time sequences of the first radar and the second radar are restarted simultaneously through the respective time-frequency synchronizers of the first radar and the second radar, so that the time reference is unified (i.e., timing), and the target information of the first radar and the second radar is marked with time scale information (i.e., the time information under the unified time reference is recorded in the target information of the first radar and the second radar). The first radar and the second radar are respectively provided with navigation systems without losing generality, the coordinate of the first radar is taken as an origin, and in a unified space coordinate system, the coordinate of the second radar is taken as P B (x B ,y B ,z B ) A unified space coordinate system is established, and preparation is made for the smooth completion of the following step 4.
In the above step 3, the first radar and the second radar can both obtain the target time-space information T of the first radar Ai (t Ai ,r Ai ,α Ai ,β Ai ) I=1, 2, … M, target time-space information T of the second radar Bj (t Bj ，r Bj ,α Bj ,β Bj ) J=1, 2,..n data, the first radar obtains the pulse width tau of the second radar B The second radar obtains the pulse width tau of the first radar A 。
In order to determine the same tracking target to be tracked, the step 4 includes the steps of:
step 41: time-space conversion of target information
Because the distance, azimuth angle and pitch angle in the target information acquired by the first radar and the second radar in the step 3 are respectively the numerical values under the respective coordinate systems of the first radar and the second radar, the corresponding relation between the first radar search found target and the second radar search found target cannot be directly judged.
With only a uniform time reference, the first radar targets T Ai (t Ai ,r Ai ,α Ai ,β Ai ) I=1, 2, … M, the second radar target is T Bj (t Bj ,r Bj ,α Bj ,β Bj )，j＝1,2,...N。
Under the unified time reference and space coordinate system, it is assumed that the target coordinate of the first radar is T Ai (t Ai ,x Ai ,y Ai ,z Ai ) Where i=1, 2, … M; the target coordinate of the second radar is T Bj (t Bj ,x Bj ,y Bj ,z Bj ) Where j=1, 2,..n; then there is the following relationship:
target coordinates of the first radar:
x Ai ＝0+r Ai ·cos(β Ai )sin(α Ai )
y Ai ＝0+r Ai ·cos(β Ai )cos(α Ai )
z Ai ＝0+r Ai ·sin(β Ai )
target coordinates of the second radar:
x Bj ＝x B +r Bj ·cos(β Bj )sin(α Bj )
y Bj ＝y B +r Bj ·cos(β Bj )cos(α Bj )
z Bj ＝z B +r Bj ·sin(β Bj )
step 42: selecting the same tracking target to be tracked
Because a target has only one coordinate value in space at a certain moment, taking measurement errors of a first radar and a second radar, target motion and a certain size into consideration, setting epsilon as a co-location error tolerance threshold, and obtaining a plurality of suspected identical targets if the following formula is satisfied:
where i=1, 2, … M, j=1, 2,..n;
the method comprises the steps of setting M targets of a first radar and N targets of a second radar, wherein K is less than or equal to M, and K is less than or equal to N, and the M targets are suspected to be identical.
In practical application, epsilon can be set according to practical accuracy requirements, for example, epsilon can be 10m, 15m or 20m.
Step 43: the method comprises the steps that under the control of a first radar, the same tracking target T to be tracked is determined from a plurality of suspected identical targets, the identical tracking target T can be selected according to the needs, and the identical tracking target information is transmitted to a second radar through a data link, and the second radar tracks the identical tracking target T.
For step 5, the distance between the first radar and the tracking target T is R A Pulse width τ of transmitted signal A The method comprises the steps of carrying out a first treatment on the surface of the The distance between the second radar and the tracking target T is R B Pulse width τ of transmitted signal B Speed of electromagnetic wave propagationC, the echo delay time corresponding to the size of the target scene is tau 0 。
In the cooperative mode, the positional relationship between the first radar and the second radar and the same tracking target is shown in fig. 2, and the timing design of the first radar and the second radar is shown in fig. 3.
According to the distance and azimuth information of the same target, the first radar and the second radar respectively adjust time sequence parameters, and the method comprises the following steps:
step 51: according to the distance of the same tracking target, the target spontaneous self-recovery delay and the target spontaneous self-recovery delay of the first radar are calculated respectively, the target spontaneous self-recovery delay and the target spontaneous self-recovery delay of the second radar are calculated respectively, and the pulse width of the first radar and the pulse width of the second radar transmitting waveform are determined;
wherein the first radar receives a self-retracting wave delay:
the echo delay range is: [ t ] ACA ,t ACA +τ A +τ 0 ]
The first radar receives the self-retracting delay:
the echo delay range is: [ t ] BCA ,t BCA +τ B +τ 0 ]
The second radar receives the self-retracting wave delay:
the echo delay range is: [ t ] BCB ,t BCB +τ B +τ 0 ]
The second radar receives the self-retracting delay:
the echo delay range is: [ t ] ACB ,t ACB +τ A +τ 0 ]。
Step 52: and respectively determining the gate widths of the first radar and the second radar, setting the gate front edge positions and the gate rear edge positions of the first radar and the second radar, and adjusting the time sequence parameters of the first radar and the second radar so that the self-receiving signals of the first radar, the self-receiving signals of the second radar and the self-receiving signals of the second radar can be received in the gate.
It should be noted that, adjusting the timing parameters of the first radar includes the following steps:
when there is a coincidence between the spontaneous self-retracting delay range of the first radar and the spontaneous self-retracting delay range, that is, the echo delay range satisfies:
t ACA ≤t BCA ≤t ACA +τ A +τ 0 or t BCA ≤t ACA ≤t BCA +τ B +τ 0 。
The sampling wave gates in the first radar time sequence only need to be set to 1, and the spontaneous self-recovery wave can be acquired and processed.
The sampling wave gate setting method of the first radar is as follows:
the first radar wave gate front position is set as: t is t ACA And t BCA The smaller of (3).
The position of the rear edge of the first radar wave gate is set as follows: t is t ACA +τ A +τ 0 And t BCA +τ B +τ 0 The larger of (3) is the larger of (3).
When the first radar self-retracting delay range and the self-retracting delay range do not coincide, that is, the echo delay range satisfies:
t ACA +τ A +τ 0 <t BCA or t BCA +τ B +τ 0 <t ACA 。
And 2 sampling wave gates are required to be arranged in the first radar time sequence, so that the spontaneous self-recovery wave and the spontaneous self-recovery wave can be acquired and processed.
The sampling wave gate setting method of the first radar is as follows:
the front position of the wave gate of the spontaneous self-receiving echo of the first radar is set as follows: t is t ACA 。
The gate trailing edge position of the self-receiving echo of the first radar is set as follows: t is t ACA +τ A +τ 0
The front position of the wave gate of the self-receiving echo sent by the first radar is set as follows: t is t BCA 。
The gate trailing edge position of the self-receiving echo sent by the first radar is set as follows: t is t BCA +τ B +τ 0 。
Accordingly, adjusting the timing parameters of the second radar comprises the steps of:
when there is a coincidence between the second radar self-retracting delay range and the self-retracting delay range, that is, the echo delay range satisfies:
t BCB ≤t ACB ≤t BCB +τ B +τ 0 or t ACB ≤t BCB ≤t ACB +τ A +τ 0 。
And the sampling wave gates in the second radar time sequence only need to be set to 1, so that the spontaneous self-recovery wave and the spontaneous self-recovery wave can be acquired and processed.
The second radar sampling wave gate setting method comprises the following steps:
the second radar wave gate front position is set as: t is t BCB And t ACB The smaller of (3).
The second radar wave gate trailing edge position is set as: t is t BCB +τ B +τ 0 And t ACB +τ A +τ 0 The larger of (3) is the larger of (3).
When the second radar self-retracting delay range and the self-retracting delay range do not coincide, that is, the echo delay range satisfies:
t BCB +τ B +τ 0 <t ACB or t ACB +τ A +τ 0 <t BCB 。
And 2 sampling wave gates are required to be arranged in the second radar time sequence, so that the spontaneous self-recovery wave and the spontaneous self-recovery wave can be acquired and processed.
The second radar sampling wave gate setting method comprises the following steps:
the front position of the wave gate of the spontaneous self-receiving echo of the second radar is set as follows: t is t BCB 。
The position of the gate trailing edge of the spontaneous self-receiving echo of the second radar is set as follows: t is t BCB +τ B +τ 0 。
The front position of the wave gate of the self-receiving echo sent by the second radar is set as follows: t is t ACB 。
The gate trailing edge position of the self-receiving echo sent by the second radar is set as follows: t is t ACB +τ A +τ 0 。
The pulse width of the transmitted waveform is preset, and the echo delay range is related to the target distance of the same tracking target.
In order to improve the anti-interference capability of the first radar and the second radar in the cooperative mode, the step 5 further includes the following steps:
step 6: the first radar and the second radar emit orthogonal waveforms, spontaneous self-receiving and self-receiving radar echo signal processing are respectively carried out, and whether the same tracking target is a real target or not is judged and confirmed.
Specifically, step 6 includes the steps of:
step 61: the first radar and the second radar transmit orthogonal waveforms;
wherein, the emission signal of the first radar is:
τ A for the pulse width of the first radar transmit signal, f 0 For the centre frequency, mu A The modulation slope of the frequency modulation signal is the modulation slope of the frequency modulation signal, and t is time;
the transmission signals of the second radar are as follows:
τ B for the pulse width of the second radar transmit signal, f 0 For the centre frequency, mu B Is the modulation slope of the frequency modulated signal;
step 62: the first radar and the second radar respectively process echo signals of self-receiving and self-receiving;
the signal of the point target echo of the first radar is:
A ACA for the echo amplitude of the first radar spontaneous self-convergence target (for the self-test data of the first radar), f 0 For the central frequency, A BCA For the amplitude, mu, of the echo of the first radar he is transmitted from the target of the endpoint A A modulation slope for the first radar frequency modulated signal; n (N) A (t) is a first radar noise signal.
The signal of the point target echo of the second radar is
x B (t)＝A BCB ·e j(2πf0(t-tBCB)+πμB(t-tBCB)2) +A ACB ·e j(2πf0(t-tACB)+πμB(t-tACB)2) +N B (t)
A BCB For the echo amplitude, f, of the second radar spontaneous self-convergence target 0 For the central frequency, A ACB For the echo amplitude, mu, of the second target of the endpoint B A modulation slope for the second frequency modulated signal; n (N) B (t) is a second radar noise signal.
Step 63: and carrying out matching filtering on the echo signals to obtain pulse pressure simulation results, carrying out authenticity analysis and identification on the targets, and judging and confirming whether the same tracking target is an actual target.
And carrying out subsequent processing such as authenticity analysis and identification of the target by carrying out matching filtering on the echo signals to obtain pulse pressure simulation results, thereby improving the anti-interference capability of the radar. The self-receiving signals and the self-receiving signals received by the first radar and the second radar can be well segmented by utilizing the orthogonality of the positive and negative linear frequency modulation signals, so that the signals are prevented from being overlapped, and an effective technical approach is provided for the collaborative detection of double platforms.
The pulse pressure simulation results of the self-receiving and self-receiving signals of the first radar and the second radar are shown in fig. 4a to 4d, and fig. 4a and 4b respectively show the matched filtering results of the self-receiving and self-receiving wave signals of the first radar; FIGS. 4c and 4d show the results of matched filtering of the self-receiving and self-receiving wave signals of the second radar; by adopting the method of the embodiment, the first radar and the second radar can work in the self-receiving mode and the self-receiving mode under the double-platform cooperative mode, the signal echoes of the same target multi-angle scattering coefficient are obtained, and the radar detection and anti-interference capability is improved through fusion identification of two signal detection results.
The detection method can adopt a double-platform airborne radar with the following structure, and the double-platform airborne radar comprises a first radar and a second radar, wherein the first radar comprises a first spontaneous self-receiving collector, a first self-receiving receiver, a first target information processor and a first controller, and the first spontaneous self-receiving collector and the first self-receiving receiver are respectively connected with the first target information processor and the first controller in sequence; the second radar comprises a second spontaneous self-receiving collector, a second self-receiving and self-sending receiver, a second target information processor and a second controller, and the second spontaneous self-receiving collector and the second self-receiving and self-sending receiver are respectively connected with the second target information processor and the second controller in sequence; the first self-receiving collector is connected with the second self-receiving receiver, and the second self-receiving collector is connected with the first self-receiving receiver;
the first target information processor receives target information of the first radar self-receiving acquired by the first self-receiving acquisition device and target information of the second radar self-receiving acquired by the second self-receiving acquisition device received by the first self-receiving acquisition device, and under a unified time reference and space coordinate system, the first target information processor performs time-space conversion and data fusion judgment on the target information of the first radar and the target information of the second radar to obtain a plurality of suspected identical targets, determines the identical tracking target to be tracked from the plurality of suspected identical targets under the control of the first radar, and sends the identical tracking target to the first controller and the second target information processor, and the first controller controls the first radar to calculate and adjust the time sequence parameters of the first radar;
the second target information processor receives target information of the second radar self-receiving acquired by the second self-receiving acquisition device and target information of the first radar self-receiving acquired by the first self-receiving acquisition device received by the second self-receiving acquisition device, performs time-space conversion and data fusion judgment on the target information of the second radar and the target information of the second radar under a unified time reference and space coordinate system to obtain a plurality of suspected identical targets, finds the same target as the same tracking target of the first radar from the plurality of suspected identical targets, and sends the same tracking target to the second controller, and the second controller controls the second radar to calculate and adjust timing parameters of the second radar so as to realize that the first radar and the second radar track the same tracking target.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (10)
1. The detection method under the cooperative mode of the double-platform airborne radar is characterized by comprising the following steps of:
step 1: the first radar and the second radar respectively search targets, the first radar records target information searched by the first radar, and the second radar records target information searched by the second radar;
step 2: establishing unified time, frequency and space references of a first radar and a second radar, synchronizing the time, frequency and space of the first radar and the second radar, and entering a cooperative mode under the same frequency;
step 3: the first radar and the second radar conduct target information interaction;
step 4: under a unified time reference and space coordinate system, the first radar and the second radar respectively perform time-space conversion and data fusion judgment on the respective searched target information to obtain a plurality of suspected identical targets, and the identical tracking target to be tracked is determined from the plurality of suspected identical targets under the control of the first radar;
step 5: according to the information of tracking the same target, the first radar and the second radar respectively calculate and adjust time sequence parameters.
2. The method according to claim 1, wherein in step 1, the first radar and the second radar perform the independent operation of the autonomous self-receiving operation mode under the respective time reference and space coordinate system, and only the target echo signals of the first radar and the second radar are received and processed.
3. The method according to claim 1, wherein the first radar searches for M targets, and the target time-space information is recorded as T in a time reference and a space coordinate system of the first radar Ai (t Ai ,r Ai ,α Ai ,β Ai ) I=1, 2, … M, target T Ai At t Ai The distance of the time is r Ai Azimuth angle alpha Ai Pitch angle beta Ai 。
4. The method according to claim 1, wherein the second radar searches for N targets, and the target time-space information is recorded as T in a time reference and space coordinate system of the second radar Bj (t Bj ,r Bj ,α Bj ,β Bj ) J=1, 2,..n, target T Bj At t Bj The distance of the time is r Bj Azimuth angle alpha Bj Pitch angle beta Bj 。
5. The method for detecting the double-platform airborne radar in the cooperative mode according to claim 1, wherein in the step 2, under the control of the first radar, a unified time reference is established for the first radar and the second radar, and the working time sequences of the first radar and the second radar are restarted at the same time through respective time-frequency synchronizers of the first radar and the second radar, so that the target information of the first radar and the second radar is marked with time scale information;
the first radar and the second radar are respectively navigation systems, the coordinate of the first radar is set as an origin, and in a unified space coordinate system, the coordinate of the second radar is set as P B (x B ,y B ,z B ) And establishing a unified space coordinate system.
6. The method according to claim 1, wherein in the step 3, the first radar and the second radar can both obtain the data of the target time space information of the first radar and the target time space information of the second radar, the first radar obtains the pulse width of the second radar, and the second radar obtains the pulse width of the first radar.
7. The method according to claim 1, wherein in step 3, the first radar and the second radar perform target information interaction through the data link respectively.
8. The method according to any one of claims 1 to 7, wherein the step 4 comprises the steps of:
step 41: with only a uniform time reference, the first radar targets T Ai (t Ai ,r Ai ,α Ai ,β Ai ) I=1, 2, … M, the second radar target is T Bj (t Bj ,r Bj ,α Bj ,β Bj )，j＝1,2,...N；
The target coordinate of the first radar is T under the unified time reference and space coordinate system Ai (t Ai ,x Ai ,y Ai ,z Ai ) Wherein i=1, 2,..m; the target coordinate of the second radar is T Bj (t Bj ,x Bj ,y Bj ,z Bj ) Where j=1, 2,..n; then there is the following relationship:
target coordinates of the first radar:
x Ai ＝0+r Ai ·cos(β Ai )sin(α Ai )
y Ai ＝0+r Ai ·cos(β Ai )cos(α Ai )
z Ai ＝0+r Ai ·sin(β Ai )
target coordinates of the second radar:
x Bj ＝x B +r Bj ·cos(β Bj )sin(α Bj )
y Bj ＝y B +r Bj ·cos(β Bj )cos(α Bj )
z Bj ＝z B +r Bj ·sin(β Bj )
step 42: setting epsilon as a co-location error tolerance threshold, and obtaining a plurality of suspected identical targets if the following formula is satisfied:
where i=1, 2, … M, j=1, 2,..n;
the method comprises the steps that K suspected identical targets are arranged in M targets of a first radar and N targets of a second radar, wherein K is less than or equal to M, and K is less than or equal to N;
step 43: and determining the same tracking target to be tracked from the multiple suspected identical targets under the control of the first radar, transmitting the information of the same tracking target to the second radar through a data link, and tracking the same tracking target by the second radar.
9. The method of claim 8, wherein epsilon is 10m, 15m or 20m.
10. The method according to any one of claims 1 to 7, wherein the step 5 further comprises the steps of:
step 6: the first radar and the second radar emit orthogonal waveforms, spontaneous self-receiving and self-receiving radar echo signal processing are respectively carried out, and whether the same tracking target is a real target or not is judged and confirmed.
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