RU2586078C2 - Single-position passive radioelectronic system for determining horizontal coordinates, target motion elements and kilometric attenuation coefficient of electromagnetic radiation of target - Google Patents

Abstract

FIELD: physics, navigation.

SUBSTANCE: invention relates to radar, particularly radar stations with a passive detection mode, mounted on single carriers, and can be used to determine horizontal coordinates and motion elements of radiating targets. A single-position passive radioelectronic system comprises an antenna, a radar signal monitoring unit, a target bearing measuring unit, a unit for measuring signal power at the target, a unit for constructing the initial state vector of the initial bearing, the initial value of change of bearing, the initial value of distance to the target at the initial moment in time in each filter δ_i, a unit for parallel realisation of Kalman filters for estimating current state vectors given in each filter δ_i, a unit for calculating current coordinates of the target - bearing and distance and motion elements of the target - velocity and heading, a unit for illuminating the current environment, a unit for outputting information on a screen, a unit for obtaining prior values δ and probability densities δ (p_(δ)), a unit for determining prior values δ_i and probability densities δ_i for each filter (p_(δi)), for each filter with a number i, a unit for calculating values of posteriori random discrete value probabilities in each filter with a number i, where i=1, 2, 3, … n and a unit for weighted summation of estimates of the state vector (X_k(δi)) of all filters δ_i.

EFFECT: higher accuracy and faster single-position determination of horizontal coordinates, motion elements of a target and kilometric attenuation coefficient (δ) of electromagnetic radiation of a target.

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Description

The invention relates to the field of radar, and in particular to radar stations with a passive detection mode installed on single carriers (surface and submarine ships, coastal observation posts, etc.), and can be used to determine horizontal coordinates and movement elements emitting targets with an unknown value of the coefficient of kilometer attenuation of electromagnetic radiation of the target in the medium of propagation of radio waves.

The purpose of the invention is to improve the accuracy and speed of on-off determination of horizontal coordinates (HA) and elements of target movement (EDC) by using additional hardware to adapt the assessment of HA EDC by a single-position passive radio-electronic complex (OPREK) to certain values of the short-circuit in the medium of propagation of electromagnetic radiation (radio waves) goals, subject to secrecy of work.

State of the art

A known method of measuring distance and a device for its implementation (options) according to the RF Patent No. 2408842, 2009, IPC G01C 3/08; G01S 17/48, publ. January 10, 2011 [1].

The essence of the method is as follows. The probe radiation generated by the radiation source is directed to the object, the radiation reflected from the object is recorded by photodetectors and the distance to the object L is determined by the formula L = b / tg φ, where b is the triangulation base and φ is the triangulation angle between the axis of the probe radiation and the direction to photodetector of radiation reflected from the object. Prior to registration of reflected radiation by photodetectors, it is delayed in the fiber due to reflection of radiation from the inner surface of the fiber, while the input aperture of the fiber is at a distance b relative to the direction of the probe radiation. The angle φ is determined by the time Δt of propagation in the optical fiber of the radiation reflected from the object by various options.

Variants of the device comprise a probe radiation source, photodetector means for recording radiation reflected from the object, which are associated with signal processing means. In addition, the device is equipped with a light guide to delay the radiation reflected from the object. Moreover, in the first embodiment of the device, the signal processing means are equipped with time interval measuring means, and in the second embodiment, there are additionally photodetector means for detecting reflected radiation, which are made in the form of a first photodetector located at the output aperture of the fiber and a second photodetector located in the plane of the source output aperture sounding radiation and the input aperture of the fiber. An optical modulator is placed between the probe radiation source and the photodetectors, on the one hand, and the object, on the other hand. In turn, the signal processing means include an amplifier connected to the output of the first photodetector and the second input to the output of the second photodetector, an inverter, a frequency meter and a signal processing unit connected to the output of the frequency meter, the input of the inverter connected to the output of the amplifier, its first output - with the input of the control unit of the probe radiation source, and its second output with the input of the frequency meter.

The disadvantages of this method are the use of unmasking probe radiation to measure the distance, as well as the base of the triangulation, which should be known.

A known method for determining the motion parameters of a maneuvering object according to the RF Patent No. 2196341, 2001, IPC G01S 3/80; G01S 11/14, publ. January 10, 2003 [2].

The method is based on the reception of an acoustic noise signal of a maneuvering object approaching a moving observer along a path along which its velocity vector is continuously directed at the observer, a hydroacoustic antenna of the observer, converting the acoustic noise signal into an electric one, automatically tracking the maneuvering object by angle, its classification and sequential measurement course angles P_one, P₂ ... P_i to a maneuvering object at given intervals t_i determining the observer's own velocity V_n from the array of speeds of the object of the class by which the maneuvering object is classified, choosing one of the possible values of speed V₀ maneuvering object, calculating the initial value of the distance D_one and the current value of the distance D_i, calculated at the i-th moment of time, the value of the heading angle P_{calc. i}comparing the values of P_i and P_{calc. i} and if the modulus of difference | P_i-P_{calc. i}| equal to or less than the specified value, consider the selected speed of the maneuvering object and the calculated distance D_i before it is true, with a different comparison result, from the array of possible speeds of an object of this class, select a different value of the speed of the maneuvering object and repeat the calculation procedure until the specified condition is met for the module of the difference between the calculated and measured values of the course angles.

The known method can be used to determine the motion parameters of an object approaching the observer along a curved path, and provides the ability to work in a passive mode of a hydroacoustic station (GAS) without carrying out its own maneuver of the GAS carrier.

The disadvantages of this method is the low accuracy and insufficient speed of determining the parameters of the movement of the object, due to the use in solving the problem of a priori knowledge about the speed of the object. In addition, the procedure for determining the speed and distance is an enumeration algorithm with random input parameters and to reduce the options for enumerating the possible values of speeds and distances to the object, it requires knowledge of the class of the object, which is not always known.

Known passive electronic complex (PREC) for one-position determination of horizontal coordinates and elements of the object’s motion by the linear Kalman-Bucy filtering method according to the patent of the Russian Federation for utility model No. 112446, IPC G01S 11/12, G01S 5/00, 2011, publ. 01/10/2012, bull. No. 1 [3].

The known complex contains an antenna (OPREK antenna *, * ⁾ - hereinafter the name in the claimed complex), a radar signal detection unit, a signal tracking unit for a bearing (radar signal tracking unit *), a signal and bearing measurement unit (bearing measurement unit to the target * and the unit for measuring the power of the signals from the target *), the unit for statistical estimation of the initial bearing (P _o ), the initial value of the change in bearing (VIP _o ) and the initial value of the change in distance (VIR _o ) [block for constructing the initial vector with state (NBC) By, VIP _o , VIR _o and distance to the target at the initial moment of time (D ₀ ) in each filter KKZ *], block for constructing a set of Kalman filters (block for parallel implementation of Kalman filters for estimating the state vector with the specified in each filter KKZ *), unit for assessing the distance to the object and elements of the object’s movement (ED) [block for calculating the current coordinates of the target — bearing and distance (P _t and D _t ) and EDC — speed and course (V _t and K _t ) *], screen (information display unit *) and the current situation lighting unit.

A well-known complex works as follows.

The antenna continuously receives radiation from the object, the signals are processed by the radar signal detecting unit and fed to the signal and bearing measurement unit, the received bearing values are sent to the signal tracking unit in which the bearing sequence is formed, which is necessary to obtain statistical estimates of P _o , VIP _o and VIR _about in the block of statistical estimation of P _about , VIP _about and VIR _about , the received estimates together with the measured signal levels allow in the block for constructing a lot of Kal filters Mana build many Kalman filters to obtain estimates of coordinates and EDI in the unit for estimating the distance to the object and EDI, based on the received coordinates, which are displayed on the screen, data is generated in the lighting unit of the current situation for making an operational decision.

The essence of the work of the known complex is the passive measurement of the horizontal coordinates of a moving object when assessing changes in the level of the received signal during observation and bearing on the target using PREC and is true for objects operating in the centimeter wavelength range, the initial values of the three-dimensional vector of the target state are calculated from the measured bearing containing bearing (P), the magnitude of the change in the bearing (VIP), the magnitude of the change in distance (VIR), which after measuring the signal power allow grammed four-dimensional state vector of the object, comprising besides these three values, and even the distance to the object in the further bearing on the measurement object signal and a power via the Kalman filter is determined coordinates and EDI for the plane problem.

A disadvantage of the known complex is its low accuracy and speed due to the impossibility of solving the problem under the conditions of parametric uncertainty of the parameter δ, the coefficient of kilometric attenuation, which characterizes the effect of changes in the environment (atmosphere, drive layer, etc.) on the passage of electromagnetic radiation (radio signal) of the target.

The problem to be solved is to increase the accuracy and speed of work by using additional hardware (a block for obtaining a priori values of δ and probability densities δ, a unit for determining a priori values of δ _i and probability densities δ _i for each filter with number i, and a unit for calculating the values of posterior probabilities of a random discrete value in each filter with index i and the weighted summation unit filters all estimates of the state vector δ _i) to ensure the use of the "split" adaptive method of enivaniya state vector X _(δ) and parallel implementation n Kalman filters, each independently of the other decides the state vector estimation task X _(δi), under parametric uncertainty δ _i parameter - coefficient kilometricheskogo attenuation and summing the weighted X _(δi evaluations ₎ , where i = 1, 2, 3, ... n.

Disclosure of invention

The tasks of optimal estimation under the conditions of parametric uncertainty of the model require the use of special adaptive methods, in particular, the method of split estimation, using the Bayesian approach to constructing estimates and requiring additional hardware.

We introduce a notation indicating the parametric uncertainty of the corresponding model.

where X is the state vector;

P ₀ - bearing at the initial time;

- величина изменения пеленга в начальный момент времени; $${\dot{P}}_0$$

- the magnitude of the change in the bearing at the initial time;

- величина изменения дистанции в начальный момент времени; $${\dot{D}}_0$$

- the magnitude of the change in distance at the initial time;

D ₀ - distance to the object at the initial time.

The parameter δ, as required by the Bayesian approach, is assumed to be a random variable with a given a priori probability density distribution p (δ _i ) on a finite number of points i = 1, 2, 3, ... n of the values of the parameter δ.

As a result, the equations of adaptive estimation of the state vector X (δ) take the form:

- оценка вектора состояния Х(δ_i) в i-м фильтре в k+1 момент времени;Where $${\widehat{X}}_{k+\mathrm{one}}\left({\delta }_i\right)$$

- assessment of the state vector X (δ _i ) in the i-th filter at k + 1 point in time;

cov X _{k + 1} (δ _i ) is the covariance matrix of the error in estimating the state vector X (δ _i ) at k + 1 point in time;

p (δ _i | k + 1) is the value of the posterior probability of a random parameter δ in the ith filter at the (k + 1) th moment.

p (δ _i | k) is the value of the posterior probability of the random parameter δ in the i-th filter at the k-th moment in time;

- дисперсия невязки измерения пеленга в i-м фильтре в k+1 момент времени; $${\sigma }_P^2\left(\left(k+\mathrm{one}\right)|{\delta }_i\right)$$

- variance of the discrepancy of the bearing measurement in the i-th filter at k + 1 time;

- дисперсия невязки измерения уровня сигнала в i-м фильтре в k+1 момент времени; $${\sigma }_U^2\left(\left(k+\mathrm{one}\right)|{\delta }_i\right)$$

- variance of the residual of measuring the signal level in the ith filter at k + 1 time;

P (X _k | δ _i ) and U (X _k | δ _i ) are the predictions of the bearing and signal level in the i-th filter at the k-th point in time.

и $${\sigma }_U^2\left(\left(k+1\right)|{\delta }_i\right)$$

вычисляются на каждом шаге фильтрации по известным формулам вычисления дисперсии для линеаризованных функций многих переменных. $${\sigma }_P^2\left(\left(k+\mathrm{one}\right)|{\delta }_i\right)$$

and $${\sigma }_U^2\left(\left(k+\mathrm{one}\right)|{\delta }_i\right)$$

are calculated at each filtration step according to well-known dispersion calculation formulas for linearized functions of many variables.

T is the sign of transposition.

SUMMARY OF THE INVENTION

The essence of the invention lies in the fact that in a single-position passive electronic complex (OPREK) for determining horizontal coordinates (GK), elements of target movement (EDC) and kilometer attenuation coefficient (KKZ, δ) of electromagnetic radiation from a target containing an OPREK antenna, a radar tracking unit signals (BSRLS), a unit for measuring bearings on a target (BIP), a unit for measuring power of signals on a target (BIMS), a unit for constructing an initial state vector - an initial bearing (П _о ), an initial value for changing bearings a (VIP _o ), the initial value of the distance (VIR _o ) and the distance to the target at the initial instant of time (D _o ) in each filter KKZ (δ _i ) (BPNVS), a parallel implementation block of Kalman filters for estimating the current state vectors (FA - X _(δi) ) with the specified in each filter (δ _i ) (BPRFK), the unit for calculating the current coordinates of the target - bearing and distance (П _t and D _t ) and EDC - speed and course (V _t and K _t ) (BVTK and EDC), a current situation lighting unit (BOTO) and a screen information output unit (BIE), an additional unit for obtaining a priori values of δ and density has been added to the composition probability δ (P _{(δ)) (BPAZ} δ and p _(δ)), determination unit priori values δ _i and the probability densities δ _i for each filter (P _(δi)) for each filter with the i number (Boaz δ _i and p _(δi) ), a unit for calculating the values of posterior probabilities of a random discrete quantity in each filter with number i (BVAZV δ), for i = 1, 2, 3, ... n and a weighted summation block for estimating the state vector (X _{to (δi)} ) of all filters δ _i (BVCO X _{to (δi)} ), while the output of the OPREK antenna is connected to the BSRLS input, the first and second outputs of which are connected respectively to the BIP and BIMS inputs, you the passages of the latter are connected respectively to the first and second inputs of the BPNVS, the first and second outputs of which are connected respectively to the first inputs of the BFPRK and BVAZV δ, the output of the BPAZ δ and p _{(δ) is} connected to the input of the BOAZ δ _i and p _(δi) , the first output of which is connected with the third input of the BNVS, and its second - with the second input of the BVAZV δ, the first output of the latter is connected to the second input of the BVRFK, and its second output is connected to the second input of the BVVS X _{k (δi)} , the first input of which is connected to the output of the mentioned BPRVK, and its output - with the input of BVTK and EDTs, in addition, the first and second outputs the latter are connected respectively to the inputs of the BOTO and BVIE.

An OPREK was developed, which allows an adaptive assessment of the HA and EDC with an unknown value of the CCF of the electromagnetic radiation of a target in a radio wave propagation environment.

OPREK does not require performing special maneuvers of the carrier of a location-based meter or involving other carriers, which are usually used in traditional methods for determining the location of radiation sources of radio waves.

The OPREK description is given for flat (two-dimensional) radar in solving the problem of determining the polar coordinates of objects of various nature.

The invention is illustrated in the structural diagram, where:

1 - antenna OPREK;

2 - block tracking radar signals (BSRLS);

3 - block measuring bearings on the target (BIP);

4 - unit for measuring the power of signals from the target (BIMS);

5 - block for constructing the initial state vector — the initial bearing (P _o ), the initial value of the bearing change (VIP _o ), the initial distance (VIR _o ) and the distance to the target at the initial moment of time (D _o ) in each filter of the kilometer attenuation coefficient ( KKZ - δ _i ) (BPNVS);

6 is a block for the parallel implementation of Kalman filters for estimating current state vectors (FAs - X _(δi) ) with δ _i specified in each filter (BPRFK);

7 - a block for obtaining a priori values of δ and probability densities δ (p _(δ) ) (BPAS δ and p _(δ) );

8 is a block for determining a priori values of δ _i and probability densities δ _i p _(δi) for each filter with number i (BOAZ δ _i and p _(δi) );

9 is a block for calculating the values of posterior probabilities of a random discrete value δ in each filter with number i (BVAZV δ);

10 is a block weighted summation of estimates of the state vector X _{to (δi) of} all filters δ _i (BVSO X _{to (δi)} );

11 is a block for calculating the current coordinates of the target - bearing P _t and distance D _t and EDC - speed V _t and course K _t (BVTC and EDC);

13 - block display information (BIE);

12 - current situation lighting unit (BOTO).

The implementation of the invention

The inventive single-position passive radio-electronic complex (OPREK) for determining horizontal coordinates (GK), elements of the target’s movement (EDC) and kilometric attenuation coefficient (CCL, δ) of the electromagnetic radiation of the target works as follows.

Signals from the target received by the OPREK 1 antenna are processed in the tracking unit for radar signals 2 for their tracking and subsequent measurement of bearings to the target in the unit for measuring signal parameters to target 3 and measuring the power of the signals from the target in the unit for measuring signals from target 4 this, in the block for obtaining a priori values of δ and probability densities δ (p _(δ) ) 7, we obtain a priori values of δ and probability densities δ (p _(δ) ), and in the block for determining a priori values of δ _i and probability densities δ _i (P _{(δi )} ) for each fil with number i 8, determine the a priori values of δ _i and probability densities δ _i (p _(δi) ), in parallel, data from the block for measuring signal parameters to target 3 and the block for measuring signal power from target 4, as well as data from the block for determining a priori values δ _i and probability densities δ _i (p _(δi) ) for each filter with number i 8 are used to build the NVS - P _o , VIP _o , VIR _o and D _o in each filter δ _i in the block for constructing the NVS 5, from the values of P _o , VIP _o , VIR _o and D _o and δ _i and (p _(δi) ) values from the block for determining a priori values of δ _i and probability densities δ _i ( p _(δi) ) for each filter with number i 8 enter the block for calculating the values of posterior probabilities of a random discrete quantity δ in each filter with number i 9 for calculating a posteriori values of the probability of a random discrete quantity δ in each filter with number i, simultaneously from the construction block NAF 5 values P _{o, of} VIP, and VIR _{on the} D _o and the calculated a posteriori probabilities of a random discrete value δ in each filter with the number i of the calculation unit posteriori probabilities of a random discrete variables values δ in each filter with index i 9 enter the block parallel implementation of the Kalman filter for estimating FA - X _(δi) to specify each filter (δi) 6 for the purpose of parallel implementation operation of the Kalman filter for estimating FA - X _(δi) to specify a for each filter δ _i , these estimates and the calculated posterior probability values of a random discrete quantity δ in each filter with number i from the unit for calculating the values of a posteriori probabilities of a random discrete quantity δ in each filter with number i 9 go to the weighted summation block estimates of the state vector (X _{to (δi)} ) of all filters δ _i 10 for organizing a weighted summation of estimates of the state vector (X _{to (δi)} ) of all filters δ _i , followed by calculation of the current coordinates of the target - П _t and D _t and EDC - V _t and K _t in the block for calculating the current coordinates of the target - bearing and distance (П _t and D _t ) and EDC - speed and course (V _t and K _t ) 11, based on the received coordinates of the target and EDC, which are displayed on the BIE 13 , data is generated to cover the current situation in BOTO 12 and make an operational decision.

The input information for determining the coordinates and the EDC can be the output forms of the target tracking system in the passive channels of radar stations and the data of geographic information systems.

The implementation of the invention can be carried out by implementing the implementation of the algorithm in the software of the workstations or by manufacturing a computing unit - a set-top box for existing radars, subject to the measurement of radar bearings and target signal strengths at the input of the receiving antenna.

It is possible to manufacture a separate unit, a prefix, which, after setting up the input, can solve the problem of determining the polar coordinates and the EDC in passive mode.

The technical result from the use of the invention is to increase the accuracy and speed of work by using additional hardware to ensure the use of the adaptive method of "split" estimation of the state vector X _(δ) and the parallel implementation of n Kalman filters, each of which, independently of the others, solves the problem of assessing the state vector X _(δi) , under the conditions of parametric uncertainty of the parameter δ _i - the coefficient of kilometric attenuation, followed by the summation of the weighted estimates X _{( δi)} , where i = 1, 2, 3, ... n.

The specified technical result is achieved by a combination of distinctive features that determine the novelty of the claimed invention, namely by the additional introduction of a unit for obtaining a priori values of δ and probability densities δ (p _(δ) ), a unit for determining a priori values of δ _i and probability densities δ _i (p _(δi) ) for each filter with number i, a unit for calculating the values of posterior probabilities of a random discrete value 5 in each filter with number i, and a weighted summation block for estimating the state vector (X _{to (δi)} ) of all filters δ _i .

The presented description and structural diagram of the inventive single-position passive electronic complex allow, using purchased components, existing materials and equipment, to manufacture it industrially and use it to determine the coordinates of the target - distance and bearing and elements of the target’s movement - speed and course, taking into account the coefficient of kilometer electromagnetic attenuation radiation target.

Claims (1)

Single-position passive electronic radio complex (OPREK) for determining horizontal coordinates, target movement elements (EDC) and kilometer attenuation coefficient of electromagnetic radiation of a target (KKZ, δ), containing an OPREK antenna, a tracking unit for radar signals (BSLS), a unit for measuring bearings on a target ( BIP) signal power measurement unit at the target (BIMS), the block construction of an initial state vector - initial bearing (P _o), the initial value changes bearing (TTI _o), the distance initial value (VIR _o) and q station to the target at the initial time (D _o) in each filter CCH (δ _i) (BPNVS) block parallel implementation of the Kalman filter for estimating the current state vectors (FA - X _(δi)) to specify each filter δ _i (BPRFK ), a unit for calculating the current coordinates of the target - bearing (P _t ) and distance (D _t ) and EDC - speed (V _t ) and course (K _t ) (BVTC and EDC), a current situation lighting unit (BOTO) and an information output unit on the screen (BIE), characterized in that the composition additionally includes a block for obtaining a priori values of δ and probability densities δ (p _(δ) ) (BPAZ δ and p _(δ) ), a unit for determining a priori values δ _i and probability densities δ _i (p _(δi) ) for each filter with number i (BOAZ δ _i and p _(δi) ), a unit for calculating the values of posterior probabilities of a random discrete quantity δ in each filter with number i (BVAZV δ) and a weighted summation block of state vector estimates (X _{K (δi)} ) of all filters δ _i (BVSO X _{K (δi)} ), while the OPREK antenna output is connected to the BSRLS input, the first and second outputs which are connected respectively to the inputs of the BIP and BIMS, the outputs of the latter are connected respectively to the first and second inputs s BPNVS, the first and second outputs of which are connected respectively to the first inputs BPRFK and BVAZV δ, yield BPAZ δ and p _(δ) connected to the input Boaz δ _i and p _(δi), the first output of which is connected to the third input BPNVS and its second - with the second input of the BVAZV δ, the first output of the latter is connected to the second input of the BFFC, and its second output is connected to the second input of the BVCO X _{K (δi)} , the first input of which is connected to the output of the mentioned BPRFK, and its output is to the input of the BVFC and EDC, in addition, the first and second outputs of the latter are connected respectively to the inputs of the BOTO and BVIE.