RU2568677C1 - Method of identifying aerial objects - Google Patents

Abstract

FIELD: radio engineering, communication.

SUBSTANCE: invention employs integrated processing of information from an on-board radar station and a data communication system at the end of the space scanning cycle of the on-board radar station, which is based on a procedure for determining the number of possible combinations of true values of identification features of aerial objects detected by the on-board radar station, followed by generation of a vector of refined estimates of the identification features thereof based on a criterion of the maximum of a likelihood function of all possible combinations of the identification features of given aerial objects, which enables to correct identification errors arising when identifying spatial coordinates of the same data communication system subscriber with spatial coordinates of multiple aerial objects detected by the on-board radar station, by taking into account to the effect of the spatial position of aerial objects on the current estimates of the identification features thereof.

EFFECT: high probability of correct identification of aerial objects detected by an on-board radar station in a multi-target environment.

2 dwg

Description

The invention relates to the field of radio engineering and can be used to create means of identification of air objects.

The closest in technical essence to the claimed method (prototype) is a coordinate-connected recognition method using a statistical estimation of the difference in spatial coordinates (see, for example, patent for invention No. 2461019 dated September 10, 2012), based on pairwise identification of spatial coordinates of air objects detected by the airborne radar station (radar), with the spatial coordinates of their airborne objects (subscribers of the data exchange system) transmitted through the channels of the exchange system data (SOD), an example of which can be a multifunctional integrated communication, navigation and identification system (see, for example, Radar systems of multifunctional aircraft. T. 1. Radar - the information basis of military operations of multifunctional aircraft. Systems and algorithms for the primary processing of radar signals. / Under the editorship of A.I. Kanaschenkov and V.I. Merkulov. - M .: Radio engineering, 2006. S. 647).

The main disadvantage of the prototype is the low probability of correct identification of airborne objects in the mode of viewing the space of the airborne radar, in the presence of single measurements from the airborne radar and SOD in a multipurpose environment. One of the reasons for this is the occurrence of identification errors when identifying the spatial coordinates of the same SOD subscriber with the spatial coordinates of several airborne objects detected by the airborne radar in a multipurpose environment.

The technical result of the invention is to increase the likelihood of correct identification of airborne objects detected by an airborne radar in a multipurpose environment by taking into account the influence of the spatial position of these airborne objects on the assessment of their identification features, formed according to the results of pairwise identification (current estimates of identification features) by complex processing of information from airborne radar and SOD at the end of the space review cycle.

, $$j=\overline{\mathrm{1,}I}$$

, I - число воздушных объектов, обнаруженных бортовой РЛС, рассчитывают вероятности формирования текущих оценок идентификационных признаков воздушных объектов для каждой возможной комбинации их истинных значений, рассчитывают значения функций правдоподобия каждой возможной комбинации истинных значений идентификационных признаков воздушных объектов по отношению к их текущим оценкам, уточняют оценки идентификационных признаков воздушных объектов по критерию максимума функции правдоподобия из всех возможных комбинаций их истинных значений.The specified result is achieved by the fact that in the known method of coordinate-connected recognition, at the end of the on-board radar space review cycle, the number of SOD subscribers is determined, the spatial coordinates of which are identified with the spatial coordinates of air objects, the number of air objects whose spatial coordinates are identified with the spatial coordinates of SOD subscribers is determined, determine the number of possible combinations of the true values of the identification features of air objects, extrapoli they estimate the spatial coordinates of i-air objects and the corresponding variances at time instants of measuring the spatial coordinates j ≠ i-air objects, where $$i=\overline{\mathrm{one,}I}$$

, $$j=\overline{\mathrm{one,}I}$$

, I - the number of airborne objects detected by the airborne radar, calculate the probabilities of generating current estimates of the identification characteristics of airborne objects for each possible combination of their true values, calculate the likelihood functions of each possible combination of true values of the identification characteristics of airborne objects in relation to their current estimates, refine estimates identification features of air objects by the criterion of the maximum likelihood function of all possible combinations of their true beginnings.

The essence of the invention lies in the use of integrated processing of information from an airborne radar and an SOD at the end of an on-board radar space review cycle, which is based on the procedure for determining the number of possible combinations of true values of identification features of airborne objects detected by an airborne radar, with the subsequent formation of a vector of updated estimates of their identification signs by the criterion of the maximum likelihood function of all possible combinations of identification features of these airborne objects. This allows you to correct identification errors that occur when identifying the spatial coordinates of the same SOD subscriber with the spatial coordinates of several air objects detected by the airborne radar, by taking into account the influence of the spatial position of air objects on the current estimates of their identification features.

This method includes the following steps:

1. During the on-board radar space review cycle:

и соответствующих дисперсий $$D[{\widehat{X}}_{ц}(i)]$$

в моменты времени t_ик(i);- detection of airborne radar of air objects, the formation of estimates of their spatial coordinates $${\widehat{X}}_c(i)$$

and corresponding variances $$D[{\widehat{X}}_c(i)]$$

at times t _ik (i);

, соответствующих дисперсий $$D[{\widehat{X}}_{ц}(i)]$$

и моментов времени их формирования t_ик(i);- input estimates of the spatial coordinates of airborne objects detected by the airborne radar $${\widehat{X}}_c(i)$$

corresponding variances $$D[{\widehat{X}}_c(i)]$$

and the times of their formation t _ic (i);

, соответствующих дисперсий $$D[{\widehat{X}}_{ц}(i)]$$

и моментов времени их формирования t_ик(i);- recording and storage of spatial coordinates estimates of airborne objects detected by the airborne radar $${\widehat{X}}_c(i)$$

corresponding variances $$D[{\widehat{X}}_c(i)]$$

and the times of their formation t _ic (i);

, соответствующих дисперсий $$D[{\widehat{X}}_a]$$

и моментов времени их формирования t_a={t_a(n)}, где $$n=\overline{\mathrm{1,}N}$$

, N - число абонентов СОД;- input from SOD estimates of the spatial coordinates of SOD subscribers $${\widehat{X}}_a=\left\{{\widehat{X}}_a(n)\right\}$$

corresponding variances $$D[{\widehat{X}}_a]$$

and the times of their formation t _a = {t _a (n)}, where $$n=\overline{\mathrm{one,}N}$$

, N - the number of subscribers of SOD;

, соответствующих дисперсий $$D[{\widehat{X}}_a]$$

и моментов времени их формирования t_a;- recording and storing estimates of the spatial coordinates of SOD subscribers $${\widehat{X}}_a$$

corresponding variances $$D[{\widehat{X}}_a]$$

and times of their formation t _a ;

;- input from read-only memory (ROM) the values of the width of the spectrum of fluctuations of air objects α and dispersions of their acceleration $${\sigma }_m^{}$$$${}_2^{}$$

;

и формирование текущих оценок идентификационных признаков воздушных объектов, обнаруженных бортовой РЛС, $$\widehat{q}(i)$$

в соответствии с известным способом координатно-связного опознавания, где $${\widehat{q}}_{no}(i,n)=\overline{\mathrm{0,1}}$$

; $${\widehat{q}}_{no}(i,n)=1$$

- результат попарного отождествления пространственных координат i-го воздушного объекта с пространственными координатами n-го абонента СОД, соответствующий решению о принадлежности координат n-го абонента СОД i-му воздушному объекту; $${\widehat{q}}_{ксо1}(i,n)=0$$

- результат попарного отождествления пространственных координат i-го воздушного объекта с пространственными координатами n-го абонента СОД, соответствующий решению о непринадлежности координат n-го абонента СОД i-му воздушному объекту; $$\widehat{q}(i)=\overline{\mathrm{0,1}}$$

- оценка идентификационного признака i-го воздушного объекта, сформированная по результатам попарного отождествления (текущая оценка идентификационного признака); $$\widehat{q}(i)=1$$

- воздушный объект, обнаруженный бортовой РЛС, является абонентом СОД; $$\widehat{q}(i)=0$$

- воздушный объект, обнаруженный бортовой РЛС, не является абонентом СОД.- formation of the results of pairwise identification of the spatial coordinates of airborne objects detected by the airborne radar with the spatial coordinates of SOD subscribers $${\widehat{q}}_{no}(i,n)$$

and the formation of current assessments of the identification signs of airborne objects detected by the airborne radar, $$\widehat{q}(i)$$

in accordance with the known method of coordinate-connected recognition, where $${\widehat{q}}_{no}(i,n)=\overline{0.1}$$

; $${\widehat{q}}_{no}(i,n)=\mathrm{one}$$

- the result of pairwise identification of the spatial coordinates of the i-th air object with the spatial coordinates of the n-th SOD subscriber, corresponding to the decision on the coordinates of the n-th SOD subscriber belonging to the i-th air object; $${\widehat{q}}_{\mathrm{to}\mathrm{from}\mathrm{about}\mathrm{one}}(i,n)=0$$

- the result of pairwise identification of the spatial coordinates of the i-th air object with the spatial coordinates of the n-th SOD subscriber, corresponding to the decision on the non-belonging of the coordinates of the n-th SOD subscriber to the i-th air object; $$\widehat{q}(i)=\overline{0.1}$$

- assessment of the identification sign of the i-th air object, formed according to the results of pairwise identification (current assessment of the identification sign); $$\widehat{q}(i)=\mathrm{one}$$

- an airborne object detected by an airborne radar is a subscriber to the SOD; $$\widehat{q}(i)=0$$

- the airborne object detected by the airborne radar is not a subscriber to the SOD.

2. At the end of the onboard radar space review cycle:

- determination of the number of subscribers of SOD, the spatial coordinates of which are identified with the spatial coordinates of air objects N _oa in accordance with the expression:

;Where

;

- determination of the number of airborne objects whose spatial coordinates are identified with the spatial coordinates of subscribers SOD N _sc in accordance with the expression:

- determining the number of possible combinations of the true values of the identification features of airborne objects detected by the airborne radar, N _q in accordance with the expression

- the formation of extrapolated estimates of the spatial coordinates of i-aerial objects and the corresponding variances at time instants of measuring spatial coordinates j ≠ i-aerial objects in accordance with the expressions:

, $$j=\overline{\mathrm{1,}I}$$

, k - номер оси системы координат, в которой осуществляется попарное отождествление, Δt[i,j]=t_ик[i]-t_ик[j], D[·] - дисперсия;Where $$i=\overline{\mathrm{one,}I}$$

, $$j=\overline{\mathrm{one,}I}$$

, k is the axis number of the coordinate system in which pairwise identification is performed, Δt [i, j] = t _ik [i] -t _ik [j], D [·] is the dispersion;

- calculation of the probabilities of forming current estimates of the identification features of airborne objects for each possible combination of their true values in accordance with the expressions:

и

and

;Where

;

в соответствии с выражением:- calculation of the values of the likelihood functions of each possible combination of the true values of the identification features of air objects in relation to their current estimates

in accordance with the expression:

- the formation of a vector of updated estimates of the identification features of airborne objects q ^* according to the criterion of the maximum likelihood function of all possible combinations of their true values in accordance with the expression:

This method can be implemented, for example, using a device whose structural diagram is shown in figure 1, where it is indicated: 1 - random access memory (RAM), 2 - read-only memory (ROM); 3 - extrapolator; 4 - block calculation of probabilities; 5 - block pairwise identification; 6 - RAM; 7 - block analysis of the results of pairwise identification; 8 - block calculation of the likelihood functions; 9 - RAM; 10 - synchronizer; 11 - block refinement of estimates.

, $$D[{\widehat{X}}_{ц}(i)]$$

, t_ик(i). ПЗУ 2 предназначено для хранения и выдачи значений ширины спектра флуктуации воздушных объектов α и значений дисперсий их ускорения $${\sigma }_m^2$$

. Экстраполятор 3 предназначен для формирования экстраполированных оценок пространственных координат i-х воздушных объектов $${\widehat{x}}_{ц}\left(i,t_{ик}\left[j\right],k\right)$$

и соответствующих дисперсий $$D[{\widehat{x}}_{ц}\left(i,t_{ик}\left[j\right],k\right)]$$

на моменты времени измерения пространственных координат j≠i-х воздушных объектов в соответствии с выражениями (4) и (5). Блок расчета вероятностей 4 предназначен для расчета вероятностей формирования текущих оценок идентификационных признаков воздушных объектов для каждой возможной комбинации их истинных значений:

и

в соответствии с выражениями (6) и (7). Блок попарного отождествления 5 предназначен для формирования результатов попарного отождествления пространственных координат воздушных объектов, обнаруженных бортовой РЛС, с пространственными координатами абонентов СОД $${\widehat{q}}_{\ddot{l}\widehat{l}}(i,n)$$

и формирования текущих оценок идентификационных признаков воздушных объектов, обнаруженных бортовой РЛС, $$\widehat{q}(i)$$

в соответствии с известным способом координатно-связного опознавания. ОЗУ 6 предназначено для записи и временного хранения результатов попарного отождествления пространственных координат воздушных объектов, обнаруженных бортовой РЛС, с пространственными координатами абонентов СОД $${\widehat{q}}_{no}(i,n)$$

и текущих оценок идентификационных признаков воздушных объектов, обнаруженных бортовой РЛС, $$\widehat{q}(i)$$

. Блок анализа результатов попарного отождествления 7 предназначен для определения числа абонентов системы обмена данными, пространственные координаты которых отождествлены с пространственными координатами воздушных объектов N_oa в соответствии с выражением (1), определения числа воздушных объектов, пространственные координаты которых отождествлены с пространственными координатами абонентов системы обмена данными N_оц в соответствии с выражением (2) и определения числа возможных комбинаций истинных значений идентификационных признаков воздушных объектов N_q в соответствии с выражением (3). Блок расчета функций правдоподобия 8 предназначен для расчета значений функций правдоподобия каждой возможной комбинации истинных значений идентификационных признаков воздушных объектов по отношению к их текущим оценкам

в соответствии с выражением (8). ОЗУ 9 предназначено для записи и хранения данных, поступающих от СОД: $${\widehat{X}}_a$$

, $$D[{\widehat{X}}_a]$$

, t_a. Синхронизатор 10 предназначен для синхронизации работы элементов устройства. Блок уточнения оценок 11 предназначен для формирования вектора уточненных оценок идентификационных признаков воздушных объектов q^* в соответствии с выражением (9).RAM 1 is designed to record and store data coming from the airborne radar: $${\widehat{X}}_c(i)$$

, $$D[{\widehat{X}}_c(i)]$$

, t _ik (i). ROM 2 is designed to store and issue the values of the width of the spectrum of fluctuations of air objects α and the dispersion values of their acceleration $${\sigma }_m^{}$$$${}_2^{}$$

. Extrapolator 3 is designed to form extrapolated estimates of the spatial coordinates of i-air objects $${\widehat{x}}_c\left(i,t_{\mathrm{and}\mathrm{to}}\left[j\right],k\right)$$

and corresponding variances $$D[{\widehat{x}}_c\left(i,t_{\mathrm{and}\mathrm{to}}\left[j\right],k\right)]$$

at time instants of measuring spatial coordinates j ≠ i-x airborne objects in accordance with expressions (4) and (5). The probability calculation block 4 is intended to calculate the probabilities of forming current estimates of the identification features of airborne objects for each possible combination of their true values:

and

in accordance with expressions (6) and (7). The pairing identification unit 5 is intended for generating the results of pairing identification of the spatial coordinates of air objects detected by the airborne radar with the spatial coordinates of the SOD subscribers $${\widehat{q}}_{\ddot{l}\widehat{l}}(i,n)$$

and the formation of current assessments of the identification features of airborne objects detected by the airborne radar, $$\widehat{q}(i)$$

in accordance with the known method of coordinate-connected recognition. RAM 6 is intended for recording and temporary storage of the results of pairwise identification of the spatial coordinates of airborne objects detected by the airborne radar with the spatial coordinates of SOD subscribers $${\widehat{q}}_{no}(i,n)$$

and current assessments of the identification features of airborne objects detected by the airborne radar, $$\widehat{q}(i)$$

. The unit for analyzing the results of pairwise identification 7 is designed to determine the number of subscribers of the data exchange system whose spatial coordinates are identified with the spatial coordinates of air objects N _oa in accordance with expression (1), determine the number of air objects whose spatial coordinates are identified with the spatial coordinates of subscribers of the data exchange system N _sc in accordance with expression (2) and determining the number of possible combinations of true values of identification attributes in air objects N _q in accordance with the expression (3). The likelihood function calculation unit 8 is intended for calculating the likelihood function values of each possible combination of the true values of the identification features of air objects in relation to their current estimates

in accordance with the expression (8). RAM 9 is designed to record and store data coming from SOD: $${\widehat{X}}_a$$

, $$D[{\widehat{X}}_a]$$

, t _a . The synchronizer 10 is designed to synchronize the operation of the elements of the device. The unit of refinement of estimates 11 is intended for the formation of a vector of updated estimates of the identification signs of air objects q ^* in accordance with expression (9).

, соответствующие дисперсии $$D[{\widehat{X}}_{ц}(i)]$$

и моменты времени их формирования t_ик(i). ОЗУ 1 записывает и хранит оценки пространственных координат воздушных объектов, обнаруженных бортовой РЛС, $${\widehat{X}}_{ц}(i)$$

, соответствующие дисперсии $$D[{\widehat{X}}_{ц}(i)]$$

и моменты времени их формирования t_ик(i). На вход ОЗУ 9 от СОД поступают оценки пространственных координат абонентов СОД $${\widehat{X}}_a=\left\{{\widehat{X}}_a(n)\right\}$$

, соответствующие дисперсии $$D[{\widehat{X}}_a]$$

и моменты времени их формирования t_a. ОЗУ 9 записывает и хранит оценки пространственных координат абонентов СОД $${\widehat{X}}_a$$

, соответствующие дисперсии $$D[{\widehat{X}}_a]$$

и моменты времени их формирования t_a. С выхода ОЗУ 1 на вход блока попарного отождествления 5 поступают оценки пространственных координат воздушных объектов $${\widehat{X}}_{ц}(i)$$

, соответствующие дисперсии $$D[{\widehat{X}}_{ц}(i)]$$

и моменты времени их формирования t_ик(i). С выхода ОЗУ 9 на вход блока попарного отождествления 5 поступают оценки пространственных координат абонентов СОД $${\widehat{X}}_a$$

, соответствующие дисперсии $$D[{\widehat{X}}_a]$$

и моменты времени их формирования t_a. С выхода ПЗУ 2 на вход блока попарного отождествления поступают значения ширины спектра флуктуации воздушных объектов α и дисперсии их ускорения $${\sigma }_m^2$$

. Блок попарного отождествления 5 формирует результаты попарного отождествления пространственных координат воздушных объектов, обнаруженных бортовой РЛС с пространственными координатами абонентов СОД $${\widehat{q}}_{no}(i,n)$$

и формирует текущие оценки идентификационных признаков воздушных объектов, обнаруженных бортовой РЛС, $$\widehat{q}(i)$$

в соответствии с известным способом координатно-связного опознавания. С выхода блока попарного отождествления 5 на вход ОЗУ 6 поступают результаты попарного отождествления пространственных координат воздушных объектов, обнаруженных бортовой РЛС, с пространственными координатами абонентов СОД $${\widehat{q}}_{no}(i,n)$$

и текущие оценки идентификационных признаков воздушных объектов, обнаруженных бортовой РЛС, $$\widehat{q}(i)$$

. По окончании цикла обзора пространства бортовой РЛС с выхода ОЗУ 1 на вход экстраполятора 3 поступают оценки пространственных координат воздушных объектов, обнаруженных бортовой РЛС, $${\widehat{X}}_{ц}(i)$$

, соответствующие дисперсии $$D[{\widehat{X}}_{ц}(i)]$$

и моменты времени их формирования t_ик(i). С выхода ПЗУ 2 на вход экстраполятора 3 поступают значения ширины спектра флуктуации воздушных объектов α и дисперсии их ускорения $${\sigma }_m^2$$

. Экстраполятор 3 формирует экстраполированные оценки пространственных координат i-х воздушных объектов $${\widehat{x}}_{ц}\left(i,t_{ик}\left[j\right],k\right)$$

, соответствующие дисперсии $$D[{\widehat{x}}_{ц}\left(i,t_{ик}\left[j\right],k\right)]$$

на моменты времени измерения пространственных координат j≠i-х воздушных объектов в соответствии с выражениями (4) и (5). Также по окончании цикла обзора пространства бортовой РЛС с выхода ОЗУ 6 на вход блока анализа результатов попарного отождествления 7 поступают результаты попарного отождествления пространственных координат воздушных объектов, обнаруженных бортовой РЛС с пространственными координатами абонентов СОД $${\widehat{q}}_{no}(i,n)$$

и текущие оценки идентификационных признаков воздушных объектов, обнаруженных бортовой РЛС. Блок анализа результатов попарного отождествления 7 определяет число абонентов системы обмена данными, пространственные координаты которых отождествлены с пространственными координатами воздушных объектов N_oa в соответствии с выражением (1), определяет число воздушных объектов, пространственные координаты которых отождествлены с пространственными координатами абонентов системы обмена данными N_оц в соответствии с выражением (2), определяет число возможных комбинаций истинных значений идентификационных признаков воздушных объектов N в соответствии с выражением (3). Затем с выхода экстраполятора 3 на вход блока расчета вероятностей 4 поступают экстраполированные оценки пространственных координат i-x воздушных объектов $${\widehat{x}}_{ц}\left(i,t_{ик}\left[j\right],k\right)$$

и соответствующих дисперсий $$D[{\widehat{x}}_{ц}\left(i,t_{ик}\left[j\right],k\right)]$$

на моменты времени измерения пространственных координат j≠i-х воздушных объектов. Также на вход блока расчета вероятностей 4 с выхода блока анализа результатов попарного отождествления 7 поступает число СОД, пространственные координаты которых отождествлены с пространственными координатами воздушных объектов N_oa, число воздушных объектов, пространственные координаты которых отождествлены с пространственными координатами абонентов СОД N_оц, и число возможных комбинаций истинных значений идентификационных признаков воздушных объектов N_q. Блок расчета вероятностей 4 рассчитывает вероятности формирования текущих оценок идентификационных признаков воздушных объектов для каждой возможной комбинации их истинных значений

и

в соответствии с выражениями (6) и (7). С выхода блока расчета вероятностей 4 на вход блока расчета функций правдоподобия 8 поступают вероятности формирования текущих оценок идентификационных признаков воздушных объектов для каждой возможной комбинации их истинных значений

и

.The device operates as follows. The synchronizer 10 synchronizes the operation of the elements of the device. During the space review cycle, the input of RAM 1 from the airborne radar receives estimates of the spatial coordinates of airborne objects detected by the airborne radar $${\widehat{X}}_c(i)$$

corresponding variance $$D[{\widehat{X}}_c(i)]$$

and the times of their formation t _ik (i). RAM 1 records and stores estimates of the spatial coordinates of air objects detected by the airborne radar, $${\widehat{X}}_c(i)$$

corresponding variance $$D[{\widehat{X}}_c(i)]$$

and the times of their formation t _ik (i). At the input of RAM 9 from SOD received estimates of the spatial coordinates of the subscribers of SOD $${\widehat{X}}_a=\left\{{\widehat{X}}_a(n)\right\}$$

corresponding variance $$D[{\widehat{X}}_a]$$

and times of their formation t _a . RAM 9 records and stores estimates of the spatial coordinates of SOD subscribers $${\widehat{X}}_a$$

corresponding variance $$D[{\widehat{X}}_a]$$

and times of their formation t _a . From the output of RAM 1 to the input of the pairing identification block 5, the spatial coordinates of the air objects are estimated $${\widehat{X}}_c(i)$$

corresponding variance $$D[{\widehat{X}}_c(i)]$$

and the times of their formation t _ik (i). From the output of RAM 9 to the input of the pairing identification block 5, the spatial coordinates of the SOD subscribers are estimated $${\widehat{X}}_a$$

corresponding variance $$D[{\widehat{X}}_a]$$

and times of their formation t _a . From the output of the ROM 2, the values of the width of the spectrum of fluctuations of air objects α and the dispersion of their acceleration are received at the input of the pairing identification unit $${\sigma }_m^{}$$$${}_2^{}$$

. The pairwise identification unit 5 generates the results of pairwise identification of the spatial coordinates of the air objects detected by the airborne radar with the spatial coordinates of the SOD subscribers $${\widehat{q}}_{no}(i,n)$$

and generates current estimates of the identification features of airborne objects detected by the airborne radar, $$\widehat{q}(i)$$

in accordance with the known method of coordinate-connected recognition. From the output of the pairing identification block 5 to the input of the RAM 6, the results of pairing the spatial coordinates of the air objects detected by the airborne radar with the spatial coordinates of the SOD subscribers are received $${\widehat{q}}_{no}(i,n)$$

and current assessments of the identification of airborne objects detected by the airborne radar, $$\widehat{q}(i)$$

. At the end of the review cycle of the space of the airborne radar from the output of RAM 1 to the input of the extrapolator 3 receives estimates of the spatial coordinates of airborne objects detected by the airborne radar, $${\widehat{X}}_c(i)$$

corresponding variance $$D[{\widehat{X}}_c(i)]$$

and the times of their formation t _ik (i). From the output of the ROM 2 to the input of the extrapolator 3 receives the width of the spectrum of fluctuations of air objects α and the dispersion of their acceleration $${\sigma }_m^{}$$$${}_2^{}$$

. Extrapolator 3 generates extrapolated estimates of the spatial coordinates of i-aerial objects $${\widehat{x}}_c\left(i,t_{\mathrm{and}\mathrm{to}}\left[j\right],k\right)$$

corresponding variance $$D[{\widehat{x}}_c\left(i,t_{\mathrm{and}\mathrm{to}}\left[j\right],k\right)]$$

at time instants of measuring spatial coordinates j ≠ i-x airborne objects in accordance with expressions (4) and (5). Also, at the end of the review cycle of the space of the airborne radar from the output of RAM 6, the results of pairwise identification of the spatial coordinates of the air objects detected by the airborne radar with the spatial coordinates of the SOD subscribers are received at the input of the analysis unit for the results of pairwise identification 7 $${\widehat{q}}_{no}(i,n)$$

and current assessments of the identification of airborne objects detected by the airborne radar. The unit for analyzing the results of pairwise identification 7 determines the number of subscribers of the data exchange system whose spatial coordinates are identified with the spatial coordinates of the air objects N _oa in accordance with expression (1), determines the number of air objects whose spatial coordinates are identified with the spatial coordinates of the subscribers of the data exchange system N _oa in accordance with expression (2), determines the number of possible combinations of the true values of the identification features of airborne objects N in accordance with the expression (3). Then, from the output of extrapolator 3 to the input of the probability calculation block 4, extrapolated estimates of the spatial coordinates ix of air objects are received $${\widehat{x}}_c\left(i,t_{\mathrm{and}\mathrm{to}}\left[j\right],k\right)$$

and corresponding variances $$D[{\widehat{x}}_c\left(i,t_{\mathrm{and}\mathrm{to}}\left[j\right],k\right)]$$

at time instants of measuring spatial coordinates j ≠ i-x airborne objects. Also, the input of the probability calculation block 4 from the output of the analysis unit for the results of pairwise identification 7 receives the number of SOD, the spatial coordinates of which are identified with the spatial coordinates of the air objects N _oa , the number of air objects, the spatial coordinates of which are identified with the spatial coordinates of the SOD subscribers N _sc, and the number of possible combinations of the true values of the identification features of air objects N _q . The probability calculation unit 4 calculates the probabilities of generating current estimates of the identification features of airborne objects for each possible combination of their true values

and

in accordance with expressions (6) and (7). From the output of the probability calculation block 4 to the input of the likelihood function calculation block 8, the probabilities of generating current estimates of the identification features of airborne objects for each possible combination of their true values

and

.

в соответствии с выражением (8). С выхода блока расчета функций правдоподобия 8 на вход блока уточнения оценок 11 поступают значения функций правдоподобия каждой возможной комбинации истинных значений идентификационных признаков воздушных объектов по отношению к их текущим оценкам

.The likelihood function calculation unit 8 calculates the likelihood function values of each possible combination of the true values of the identification features of the air objects with respect to their current estimates

in accordance with the expression (8). From the output of the block for calculating the likelihood functions 8, the values of the likelihood functions of each possible combination of the true values of the identification features of airborne objects with respect to their current estimates are received at the input of the block for refinement of estimates 11

.

The evaluation refinement unit generates a vector of updated estimates of the identification features of air objects q ^* according to the criterion of the maximum likelihood function of all possible combinations of their true values in accordance with expression (9).

To determine the effectiveness of the proposed method, the following indicators were evaluated:

- the probability of correct identification of airborne objects in the coordinate-connected identification subsystem functioning in accordance with the proposed method, P _xi ;

- the probability of correct identification of airborne objects in a coordinate-connected identification subsystem that operates in accordance with the known method of coordinate-connected identification using a statistical estimate of the difference in spatial coordinates (see, for example, patent for invention No. 2461019 dated September 10, 2012) P _xi1 .

The indicators P _xi , P _xi1 were estimated by conducting statistical tests on the corresponding simulation models of the coordinate-connected identification subsystem under the same initial conditions.

To characterize the effectiveness of the proposed method, the increase in the probability of correct identification of air objects in the coordinate-connected identification subsystem was determined by applying the proposed method in relation to this indicator using the known method ΔP = P _xi -P _xi1 .

, а график 2 - значению

.Figure 2 shows graphs of the dependence of ΔP on the distance to an airborne object D _c (km) detected by the airborne radar for various values of the spatial densities of airborne objects ρ. In this case, graph 1 corresponds to the spatial density of airborne objects

, and graph 2 - value

.

на дальности до воздушного объекта, обнаруженного бортовой РЛС, равной Д_ц=100 км, прирост вероятности правильной идентификации составляет ΔP≈0,05, в то время как для

, при прочих равных условиях прирост вероятности правильной идентификации составляет ΔP≈0,32.From the analysis of the graphs shown in figure 2, it is seen that the application of the proposed method leads to a significant increase in the probability of correct identification of airborne objects in a multi-purpose environment. In this case, the greatest positive effect is achieved at higher spatial densities of airborne objects. So, for example, for

at a distance to an airborne object detected by an airborne radar equal to D _c = 100 km, the increase in the probability of correct identification is ΔP≈0.05, while for

, ceteris paribus, the increase in the probability of correct identification is ΔP≈0.32.

The proposed technical solution is new, because from publicly available information there is no known way to identify airborne objects based on integrated processing of information from airborne radar and SOD.

The proposed technical solution has an inventive step, since it does not explicitly follow from published scientific data and known technical solutions that the use of integrated information processing from airborne radar and SOD increases the likelihood of correct identification of airborne objects.

The present invention is industrially applicable, since for its implementation elements that are widespread in the field of electronic and electrical engineering can be used.

Claims (1)

A method for identifying airborne objects based on their detection by an airborne radar station (radar), generating estimates of their spatial coordinates and corresponding dispersions, inputting, recording and storing estimates of the spatial coordinates of airborne objects detected by an airborne radar, corresponding dispersions and times of their formation, input, recording and storing from the data exchange system (SOD) estimates of the spatial coordinates of the subscribers of the data exchange system, the corresponding variances and the moments of their formation inputting from the permanent storage device the values of the width of the spectrum of fluctuations of airborne objects and dispersions of their acceleration, generating the results of pairwise identification of the spatial coordinates of airborne objects detected by the airborne radar, with the spatial coordinates of the subscribers of the data exchange system, generating current estimates of the identification signs of airborne objects detected by the airborne radar , characterized in that at the end of the review cycle of the space of the airborne radar determine the number of subscribers WITH the spatial coordinates of which are identified with the spatial coordinates of airborne objects, determine the number of airborne objects whose spatial coordinates are identified with the spatial coordinates of SOD subscribers, determine the number of possible combinations of the true values of the identification features of airborne objects, extrapolate estimates of the spatial coordinates of i-airborne objects and the corresponding variances spatial measurement moments j ≠ i-x airborne objects, where

,

, I - the number of airborne objects detected by the airborne radar, calculate the probabilities of generating current estimates of the identification characteristics of airborne objects for each possible combination of their true values, calculate the likelihood functions of each possible combination of true values of the identification characteristics of airborne objects in relation to their current estimates, refine estimates identification features of air objects by the criterion of the maximum likelihood function of all possible combinations of their true beginnings.

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