CN117970311A - Method, device and storage medium for scheduling radar multi-target tracking resources - Google Patents
Method, device and storage medium for scheduling radar multi-target tracking resources Download PDFInfo
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Abstract
The invention provides a radar multi-target tracking resource scheduling method, a device and a storage medium, wherein the method comprises the steps of determining the practical search time which can be adopted by search wave position arrangement, determining whether to perform output scheduling of search wave positions according to the comparison result of the practical search time and target search time, calculating the score of the search wave position to be processed, constructing a search wave position optimal selection sequence according to the score and the detection time length, calculating the practical available time of a tracking event according to the search wave position optimal selection sequence, constructing a tracking event optimal selection sequence according to the actual available time, and outputting a scheduling event queue according to the search wave position optimal selection sequence and the tracking event optimal selection sequence; the invention can realize the continuous guarantee of the search wave position coverage of the tracking target direction in the limited search time resource, and can realize the stable tracking of a plurality of targets in the dispatching cycle and simultaneously ensure the continuous search capability of the targets.
Description
Technical Field
The invention mainly relates to the technical field of radar resource scheduling, in particular to a radar multi-target tracking resource scheduling method, a device and a storage medium.
Background
The phased array radar has flexible beam pointing, has two-dimensional rapid electric scanning capability in a space domain range, can realize the functions of target searching, tracking, identifying and the like, and can monitor and track a plurality of targets simultaneously in the space domain. However, in consideration of system hardware performance, time and energy resources of the phased array radar are limited, and particularly, in view of the requirement of multi-target detection scenes, higher requirements are put on reasonable and efficient allocation of radar resources.
The radar system works by designing and arranging at scheduling intervals, wherein one design mode is to adopt scheduling periods with fixed intervals and allocate tasks to time resources in each scheduling period. Taking the task of which the radar needs to complete target searching and tracking as an example, in each scheduling period, a part of time resources need to be allocated according to the task priority order to complete target tracking events in the scheduling period, and other time resources complete target searching events. To accommodate different probing scenario requirements, search time resources and tracking time resource allocation within a scheduling period may be adaptively adjusted. According to the design, through the arrangement of search events of a plurality of scheduling periods, the whole coverage of a radar set search airspace can be completed, and meanwhile, if targets are uniformly distributed in the set airspace, all target tracking can be completed in the plurality of scheduling periods.
In order to solve the problems that the radar servo does not reach a specified rotating speed and the antenna normal direction cannot be predicted in advance due to the fact that the radar vehicle travels, a rotary phased array radar generally arranges search wave positions under a vehicle body spherical coordinate system, and generally divides a rotation period into scheduling periods with the same fixed intervals, and each scheduling period is responsible for equally dividing the search space covered by the azimuth. The time resource in each scheduling period is divided into two parts which are respectively used for the target search event and the target tracking event, and the resource scheduling process of the search event and the tracking event in the period is completed at the beginning of each scheduling period. The target search time resource is used for arranging search wave positions under the vehicle body spherical coordinate system, and the search wave positions need to ensure the coverage of the azimuth angles (the available search time resource can meet the airspace coverage requirement under the general condition), and the search wave positions are generally in the order from bottom to top from left to right. The target tracking time resource is used to schedule tracking wave positions of unscheduled tracking targets (tracking targets are prevented from being repeatedly scheduled) that fall within the electric sweep range and are in short term.
The prior art has the following defects:
If multiple targets come from the same azimuth or within a smaller azimuth range, multiple target tracking events need to be arranged in a single scheduling period, time resources required for the tracking events can be increased, and the time for setting a plurality of search wave positions is taken up. In the radar resource scheduling method, if the time resource is occupied, the search wave bits are generally deleted from back to front in sequence according to the space scanning sequence, so that the time resource of the tracking event is ensured. The method can cause the search wave position of the target to be deleted, so that the radar can not search for the target or can not keep the continuous searching capability of the target.
Disclosure of Invention
The invention aims to solve the technical problem of providing a resource scheduling method and device based on radar multi-target tracking at fixed intervals aiming at the defects of the prior art.
The technical scheme for solving the technical problems is as follows: a radar multi-target tracking resource scheduling method based on fixed intervals comprises the following steps:
S1, determining an actual search time T' s which can be adopted for arranging the search wave position according to a scheduling period time length T sche, a schedulable target tracking event total time T t-max and a search event reserved time T s-res;
S2, comparing the actual search time T 's with the target search time T s, if T' s is smaller than T s, the tracking time corresponding to the target tracking event exceeds the initial set tracking time T t, and executing S3; otherwise, the target tracking event can meet the time requirements of tracking and searching, and the scheduling event queue is directly output according to the set sequence;
s3, calculating the fraction of the search wave position to be processed according to the wave beam pointing information corresponding to each target tracking event in the scheduling period;
S4, selecting an arrangeable search wave bit in a scheduling period according to the fraction of the search wave bit to be processed and the detection time length, and constructing a search wave bit optimal selection sequence S k according to the arrangeable search wave bit;
S5, calculating actual available time T 't of the tracking event according to a search wave position optimal selection sequence S k, selecting the tracking event to be arranged in a scheduling period according to the actual available time T' t of the tracking event, and constructing a tracking event optimal selection sequence Q l according to the tracking event to be arranged;
S6, outputting a scheduling event queue according to the searching wave position optimal selection sequence S k and the tracking event optimal selection sequence Q l.
The other technical scheme for solving the technical problems is as follows: a radar multi-target tracking resource scheduling apparatus, comprising:
The time resource determining module is used for determining the actual search time T' s which can be adopted by the search wave bit arrangement according to the scheduling period time length T sche, the total time T t-max of the schedulable target tracking event and the search event reserved time T s-res;
The search time judging module is used for comparing the actual search time T 's with the target search time T s, if T' s is smaller than T s, the tracking time corresponding to the target tracking event exceeds the initial set tracking time T t, and sending a processing signal to the search wave position scheduling module; otherwise, the target tracking event can meet the time requirements of tracking and searching, and the scheduling event queue is directly output according to the set sequence;
The searching wave position scheduling module is used for calculating the fraction of the searching wave position to be processed according to the wave beam pointing information corresponding to each target tracking event in the scheduling period when receiving the processing signal;
Selecting an arrangeable search wave bit in a scheduling period according to the fraction of the search wave bit to be processed and the detection time length, and constructing a search wave bit optimal selection sequence S k according to the arrangeable search wave bit;
Calculating actual available time T t 'of the tracking event according to the search wave position optimal selection sequence S k, selecting the tracking event to be arranged in a scheduling period according to the actual available time T t' of the tracking event, and constructing a tracking event optimal selection sequence Q l according to the tracking event to be arranged;
And outputting a scheduling event queue according to the searching wave position optimal selection sequence S k and the tracking event optimal selection sequence Q l.
The other technical scheme for solving the technical problems is as follows: a radar multi-target tracking resource scheduling device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, which when executed by the processor implements a radar multi-target tracking resource scheduling method as described above.
The other technical scheme for solving the technical problems is as follows: a computer readable storage medium storing a computer program which, when executed by a processor, implements a radar multi-target tracking resource scheduling method based on fixed intervals as described above.
The beneficial effects of the invention are as follows: determining the practical search time which can be adopted by the arrangement of the search wave positions, determining whether to perform output scheduling of the search wave positions according to the comparison result of the practical search time and the target search time, calculating the fraction of the search wave positions to be processed, constructing a search wave position optimal selection sequence according to the fraction and the detection time length, calculating the practical available time of the tracking event according to the search wave position optimal selection sequence, constructing a tracking event optimal selection sequence according to the practical available time of the tracking event, and outputting a scheduling event queue according to the search wave position optimal selection sequence and the tracking event optimal selection sequence; the method can realize continuous guarantee of search wave position coverage of the tracking target direction in limited search time resources, and can realize stable tracking of a plurality of targets in a scheduling period and ensure continuous search capability of the targets.
Drawings
Fig. 1 is a schematic flow chart of a radar multi-target tracking resource scheduling method according to an embodiment of the present invention;
FIG. 2 is a block diagram of a radar multi-target tracking resource scheduling device according to an embodiment of the present invention;
fig. 3 is a schematic diagram of time resource allocation according to an embodiment of the present invention.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
The radar multi-target tracking resource scheduling method based on the fixed interval solves the problem of searching wave position arrangement caused by the fact that tracking time resources occupy more time in a fixed interval period. According to the method, the search wave positions in the original set time resource are prioritized according to the spatial distribution position of the tracking target, the search wave position arrangement problem after the time resource is squeezed is converted into a search wave position problem with higher priority, and the search wave position problem is solved, so that scheduling optimization in the limited time resource is realized.
As shown in fig. 1 and fig. 3, the method for scheduling radar multi-target tracking resources provided by the embodiment of the invention includes the following steps:
S1, determining an actual search time T' s which can be adopted for arranging the search wave position according to a scheduling period time length T sche, a schedulable target tracking event total time T t-max and a search event reserved time T s-res;
S2, comparing the actual search time T 's with the target search time T s, if T' s is smaller than T s, the tracking time corresponding to the target tracking event exceeds the initial set tracking time T t, and executing S3; otherwise, the target tracking event can meet the time requirements of tracking and searching, and the scheduling event queue is directly output according to the set sequence;
s3, calculating the fraction of the search wave position to be processed according to the wave beam pointing information corresponding to each target tracking event in the scheduling period;
S4, selecting an arrangeable search wave bit in a scheduling period according to the fraction of the search wave bit to be processed and the detection time length, and constructing a search wave bit optimal selection sequence S k according to the arrangeable search wave bit;
S5, calculating actual available time T t 'of the tracking event according to a search wave position optimal selection sequence S k, selecting the tracking event to be arranged in a scheduling period according to the actual available time T t' of the tracking event, and constructing a tracking event optimal selection sequence Q l according to the tracking event to be arranged;
S6, outputting a scheduling event queue according to the searching wave position optimal selection sequence S k and the tracking event optimal selection sequence Q l.
In the embodiment of the invention, the practical search time which can be adopted for arranging the search wave position is determined, whether the output scheduling of the search wave position is carried out is determined according to the comparison result of the practical search time and the target search time, the search wave position optimal selection sequence is constructed according to the score of the search wave position to be processed and the detection time length, the practical available time of the tracking event is calculated according to the search wave position optimal selection sequence, the tracking event optimal selection sequence is constructed according to the search wave position optimal selection sequence, and finally the scheduling event queue is output according to the search wave position optimal selection sequence and the tracking event optimal selection sequence; the method can realize continuous guarantee of search wave position coverage of the tracking target direction in limited search time resources, and can realize stable tracking of a plurality of targets in a scheduling period and ensure continuous search capability of the targets.
In step S1, if a total of M t schedulable target tracking events are set, the time length corresponding to the M t target tracking events is the total schedulable target tracking event time T t-max, and the search event reservation time T s-res is determined according to the search coverage rate and the scheduling period in the system index;
Determining an actual search time which can be adopted for arranging the search wave position according to a search time calculation formula, a scheduling period time length T sche, a schedulable target tracking event total time T t-max and a search event reserved time T s-res, wherein the search time calculation formula is as follows:
T′s＝max{Tsche-Tt-max,Ts-res}，
Where T' s is the actual search time and T sche-Tt-max is the time within the scheduling period except for the schedulable target tracking event.
If, in a certain scheduling period, according to the target tracking scheduling logic, a maximum of N t target tracking events can be scheduled, and the total time required for the schedulable target tracking events is T t-max, then the time length available for target searching in the scheduling is at least T sche-Tt-max. In the system design process, in order to ensure the coverage of the search airspace, the time length reserved for target search is designed to be not less than the search event reserved time T s-res(Ts-res and is far greater than the initially set search time length T s in the scheduling period. Thus, according to the target tracking schedule and system design requirements, the actual search time available for the search wave bit arrangement in the schedule period is T 's, where T' s＝min{Tsche-Tt-max,Ts-res, and the length of time actually available for the corresponding target tracking event is T t′＝Tsche-T′s.
It should be understood that in step S2, the actual search time T s 'is compared with the target search time T s, if T s' is smaller than T s, it means that the tracking time corresponding to the target tracking event exceeds the initial set tracking time T t, and the search time resource originally set in the schedule needs to be squeezed, so that the number of corresponding spatial search wave numbers will be smaller than M s, and the third step is skipped, so as to complete the subsequent scheduling step. If T s' is not less than T s, the time resource allocation which indicates the scheduling setting can meet the tracking and searching requirements, and the searching wave bits are arranged according to the scanning sequence. Thereby obtaining the search wave position to be processed.
Optionally, the step S3 specifically includes:
S301, the prediction information of the kth target in the set scheduling period is expressed as (R tgt(k),Atgt(k),Etgt (k)), wherein k=0, 1,2, …, M t-1,Rtgt (k) is the distance of the predicted tracking target, A tgt (k) is the azimuth angle of the predicted tracking target, E tgt (k) is the pitch angle of the predicted tracking target,
Setting the m s th searching wave position to be processed and the corresponding wave beam position information under the same coordinate system of the tracking target as (R s(ms),As(ms),Es(ms)), wherein m s＝0,1,2,…,Ms-1,Rs(ms) is the distance of the wave beam position of the searching wave position to be processed, A s(ms) is the azimuth angle of the wave beam position of the searching wave position to be processed, and E s(ms) is the pitch angle of the wave beam position of the searching wave position to be processed;
S302, calculating a space difference delta A (m s, k) between the azimuth angle of the beam position of the mth s to-be-processed search wave bit and the azimuth angle of the kth tracking target:
ΔA(ms,k)＝|As(ms)-Atgt(k)|，
And calculating a spatial difference delta E (m s, k) between the pitch angle of the m s th search-wave-position beam position to be processed and the pitch angle of the kth tracking target:
ΔE(ms,k)＝|Es(ms)-Etgt(k)|，
setting the calculation score of the m s th search wave phase to be processed relative to the kth tracking target as Deltascore (m s, k), and calculating Deltascore (m s, k) according to the space difference DeltaA (m s, k) and the space difference DeltaE (m s, k), wherein the specific steps are as follows:
1) When deltaa (m s,k)＜θa and deltae (m s,k)＜θe,
Δscore(ms,k)＝2000，
2) When deltaa (m s,k)＜θa and deltae (m s,k)≥θe,
3) When deltaa (m s,k)≥θa and deltae (m s,k)＜θe,
4) When deltaa (m s,k)＞θa and deltae (m s,k)＞θe,
Wherein θ a is the azimuth beam width of the search beam, and θ e is the elevation beam width of the search beam;
Traversing Mt tracking targets in sequence to obtain score of all search wave bits to be processed as score (m s):
in the embodiment of the invention, the search wave position fraction is calculated according to the relative relation between the predicted position information of the tracking target and the search wave position center, wherein the closer the search wave position center is to the center of the tracking target wave beam, the larger the obtained fraction is, and the larger the probability of the search wave position in the scheduling is.
Optionally, step S4 specifically includes:
Setting the ith search wave bit to comprise two parameters, namely a score s (i) corresponding to the ith search wave bit and a corresponding detection time length st (i), setting eta i to represent whether the ith search wave bit is selected, wherein eta i∈{0,1},ηi is 1 to represent that the search wave bit i is selected, and eta i is 0 to represent that the ith search wave bit is not selected;
determining an arrangeable search wave bit according to the selection conditions corresponding to all the search wave bits, and constructing a search wave bit selection sequence set S according to the arrangeable search wave bit, wherein the search wave bit selection sequence set S is as follows:
Setting the optimal selection sequence of the search wave position as S k and S k epsilon S And solving the selection sequence S k by a first formula:
Wherein the search wave position optimal selection sequence S k needs to satisfy
M s is the number of search bits that can be arranged within the target search time T s, T s' is the actual search time, and st (i) is the length of time that the ith search bit occupies.
In the embodiment of the invention, the search wave bits which can be arranged are determined according to the time length occupied by the search wave bits and the selection conditions corresponding to all the search wave bits, a search wave bit selection sequence set is constructed according to the search wave bits which can be arranged, and the scheduling event is determined through the search wave bit selection sequence set.
Optionally, the step S5 specifically includes:
constructing a set of selection sequences of trace events Wherein, α i∈{0,1},αi represents whether the ith trace event is selected, α i is 1 represents that the ith trace event is selected, and α i is 0 represents that the ith trace event is not selected;
setting the optimal selection sequence Q l of tracking events, and Q l epsilon Q Solving a best selection sequence Q l of tracking events according to a second formula:
wherein the tracking event best choice sequence Q l needs to satisfy
Wherein tt (i) is the tracking time length corresponding to the ith search wave bit, M t is the schedulable target tracking event, T t' is the actual available time of the tracking event,
In the embodiment of the invention, the set of the trace event selection sequences is constructed through the condition that the trace event is selected, and the scheduling event is determined through the set of the trace event selection sequences.
Optionally, the step S6 specifically includes:
And traversing the search wave position optimal selection sequence S k and the tracking event optimal selection sequence Q l respectively, and determining to output the search wave position or the tracking event to a scheduling event queue according to the value of 1 or 0 in the sequence elements.
And outputting a scheduling event queue according to the search wave position optimal selection sequence S k and the tracking event optimal selection sequence Q l.
Specifically, the sequences S k and Q l are traversed respectively, and the search wave bit or the trace event with the value of 1 in the sequence element is output to the schedule event queue. The event queue is the result of one scheduling by the fixed interval scheduler.
In the solving method, the selection process of the tracking target is similar to that of the search wave position, and the score t(mt)＝tt(mt of the tracking target is obtained.
As shown in fig. 2, the radar multi-target tracking resource scheduling device provided by the embodiment of the invention includes:
The time resource determining module is used for determining the actual search time T s' which can be adopted by the search wave bit arrangement according to the scheduling period time length T sche, the total time T t-max of the schedulable target tracking event and the search event reserved time T s-res;
The search time judging module is used for comparing the actual search time T s 'with the target search time T s, if T s' is smaller than T s, the tracking time corresponding to the target tracking event exceeds the initial set tracking time T t, and sending a processing signal to the search wave position scheduling module; otherwise, the target tracking event can meet the time requirements of tracking and searching, and the scheduling event queue is directly output according to the set sequence;
The searching wave position scheduling module is used for calculating the fraction of the searching wave position to be processed according to the wave beam pointing information corresponding to each target tracking event in the scheduling period when receiving the processing signal;
Selecting an arrangeable search wave bit in a scheduling period according to the fraction of the search wave bit to be processed and the detection time length, and constructing a search wave bit optimal selection sequence S k according to the arrangeable search wave bit;
Calculating actual available time T t 'of the tracking event according to the search wave position optimal selection sequence S k, selecting the tracking event to be arranged in a scheduling period according to the actual available time T t' of the tracking event, and constructing a tracking event optimal selection sequence Q l according to the tracking event to be arranged;
And outputting a scheduling event queue according to the searching wave position optimal selection sequence S k and the tracking event optimal selection sequence Q l.
The radar multi-target tracking resource scheduling device provided by the embodiment of the invention comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the radar multi-target tracking resource scheduling method is realized when the processor executes the computer program.
The embodiment of the invention provides a computer readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the radar multi-target tracking resource scheduling method based on fixed intervals is realized.
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.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus and units described above may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment of the present invention.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention is essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The radar multi-target tracking resource scheduling method is characterized by comprising the following steps of:
S1, determining an actual search time T s' which can be adopted for arranging the search wave position according to a scheduling period time length T sche, a schedulable target tracking event total time T t-max and a search event reserved time T s-res;
s2, comparing the actual search time T s 'with the target search time T s, if T s' is smaller than T s, the tracking time corresponding to the target tracking event exceeds the initial set tracking time T t, and executing S3; otherwise, the target tracking event can meet the time requirements of tracking and searching, and the scheduling event queue is directly output according to the set sequence;
s3, calculating the fraction of the search wave position to be processed according to the wave beam pointing information corresponding to each target tracking event in the scheduling period;
S4, selecting an arrangeable search wave bit in a scheduling period according to the fraction of the search wave bit to be processed and the detection time length, and constructing a search wave bit optimal selection sequence S k according to the arrangeable search wave bit;
S5, calculating actual available time T t 'of the tracking event according to a search wave position optimal selection sequence S k, selecting the tracking event to be arranged in a scheduling period according to the actual available time T t' of the tracking event, and constructing a tracking event optimal selection sequence Q l according to the tracking event to be arranged;
S6, outputting a scheduling event queue according to the searching wave position optimal selection sequence S k and the tracking event optimal selection sequence Q l.
2. The radar multi-target tracking resource scheduling method according to claim 1, wherein the S1 specifically includes:
Setting M t target tracking events which can be scheduled, wherein the time length corresponding to the M t target tracking events is the total time T t-max of the target tracking events which can be scheduled, and determining the reserved time T s-res of the search event according to the search coverage rate and the scheduling period in the system index;
Determining an actual search time which can be adopted for arranging the search wave position according to a search time calculation formula, a scheduling period time length T sche, a schedulable target tracking event total time T t-max and a search event reserved time T s-res, wherein the search time calculation formula is as follows:
Ts′＝max{Tsche-Tt-max,Ts-res}，
where T s' is the actual search time and T sche-Tt-max is the time within the scheduling period except for the schedulable target tracking event.
3. The method for scheduling radar multi-target tracking resources according to claim 1, wherein the step S3 specifically includes:
S301, the prediction information of the kth target in the set scheduling period is expressed as (R tgt(k),Atgt(k),Etgt (k)), wherein k=0, 1,2, …, M t-1,Rtgt (k) is the distance of the predicted tracking target, A tgt (k) is the azimuth angle of the predicted tracking target, E tgt (k) is the pitch angle of the predicted tracking target,
Setting the m s th searching wave position to be processed and the corresponding wave beam position information under the same coordinate system of the tracking target as (R s(ms),As(ms),Es(ms)), wherein m s＝0,1,2,…,Ms-1,Rs(ms) is the distance of the wave beam position of the searching wave position to be processed, A s(ms) is the azimuth angle of the wave beam position of the searching wave position to be processed, and E s(ms) is the pitch angle of the wave beam position of the searching wave position to be processed;
S302, calculating a space difference delta A (m s, k) between the azimuth angle of the beam position of the mth s to-be-processed search wave bit and the azimuth angle of the kth tracking target:
ΔA(ms,k)＝|As(ms)-Atgt(k)|，
And calculating a spatial difference delta E (m s, k) between the pitch angle of the m s th search-wave-position beam position to be processed and the pitch angle of the kth tracking target:
ΔE(ms,k)＝|Es(ms)-Etgt(k)|，
setting the calculation score of the m s th search wave phase to be processed relative to the kth tracking target as Deltascore (m s, k), and calculating Deltascore (m s, k) according to the space difference DeltaA (m s, k) and the space difference DeltaE (m s, k), wherein the specific steps are as follows:
1) When deltaa (m s,k)＜θa and deltae (m s,k)＜θe,
Δscore(ms,k)＝2000，
2) When deltaa (m s,k)＜θa and deltae (m s,k)≥θe,
3) When deltaa (m s,k)≥θa and deltae (m s,k)＜θe,
4) When deltaa (m s,k)＞θa and deltae (m s,k)＞θe,
Wherein θ a is the azimuth beam width of the search beam, and θ e is the elevation beam width of the search beam;
Traversing M t tracking targets in sequence to obtain score of all search wave bits to be processed as score (M s):
4. the method for scheduling radar multi-target tracking resources according to claim 1, wherein the step S4 specifically includes:
Setting the ith search wave bit to comprise two parameters, namely a score s (i) corresponding to the ith search wave bit and a corresponding detection time length st (i), setting eta i to represent whether the ith search wave bit is selected, wherein eta i∈{0,1},ηi is 1 to represent that the search wave bit i is selected, and eta i is 0 to represent that the ith search wave bit is not selected;
determining an arrangeable search wave bit according to the selection conditions corresponding to all the search wave bits, and constructing a search wave bit selection sequence set S according to the arrangeable search wave bit, wherein the search wave bit selection sequence set S is as follows:
Setting the optimal selection sequence of the search wave position as S k and S k epsilon S And solving the selection sequence S k by a first formula:
Wherein the search wave position optimal selection sequence S k needs to satisfy
M s is the number of search bits that can be arranged within the target search time T s, T s' is the actual search time, and st (i) is the length of time that the ith search bit occupies.
5. The method for scheduling radar multi-target tracking resources according to claim 4, wherein the step S5 specifically includes:
constructing a set of selection sequences of trace events Wherein, α i∈{0,1},αi represents whether the ith trace event is selected, α i is 1 represents that the ith trace event is selected, and α i is 0 represents that the ith trace event is not selected;
setting the optimal selection sequence Q l of tracking events, and Q l epsilon Q Solving a best selection sequence Q l of tracking events according to a second formula:
wherein the tracking event best choice sequence Q l needs to satisfy
Wherein tt (i) is the tracking time length corresponding to the ith search wave bit, M t is the schedulable target tracking event, T t' is the actual available time of the tracking event,
6. The method for scheduling radar multi-target tracking resources according to claim 5, wherein the step S6 specifically includes:
And traversing the search wave position optimal selection sequence S k and the tracking event optimal selection sequence Q l respectively, and determining to output the search wave position or the tracking event to a scheduling event queue according to the value of 1 or 0 in the sequence elements.
7. A radar multi-target tracking resource scheduling apparatus, comprising:
The time resource determining module is used for determining the actual search time T s' which can be adopted by the search wave bit arrangement according to the scheduling period time length T sche, the total time T t-max of the schedulable target tracking event and the search event reserved time T s-res;
The search time judging module is used for comparing the actual search time T s 'with the target search time T s, if T s' is smaller than T s, the tracking time corresponding to the target tracking event exceeds the initial set tracking time T t, and sending a processing signal to the search wave position scheduling module; otherwise, the target tracking event can meet the time requirements of tracking and searching, and the scheduling event queue is directly output according to the set sequence;
The searching wave position scheduling module is used for calculating the fraction of the searching wave position to be processed according to the wave beam pointing information corresponding to each target tracking event in the scheduling period when receiving the processing signal;
Selecting an arrangeable search wave bit in a scheduling period according to the fraction of the search wave bit to be processed and the detection time length, and constructing a search wave bit optimal selection sequence S k according to the arrangeable search wave bit;
Calculating actual available time T t 'of the tracking event according to the search wave position optimal selection sequence S k, selecting the tracking event to be arranged in a scheduling period according to the actual available time T t' of the tracking event, and constructing a tracking event optimal selection sequence Q l according to the tracking event to be arranged;
And outputting a scheduling event queue according to the searching wave position optimal selection sequence S k and the tracking event optimal selection sequence Q l.
8. A radar multi-target tracking resource scheduling apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the radar multi-target tracking resource scheduling method according to any one of claims 1 to 6 is implemented when the computer program is executed by the processor.
9. A computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the fixed interval based radar multi-target tracking resource scheduling method according to any one of claims 1 to 6.
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