Dual-band cooperative anti-drone radar system and method

Abstract

This invention proposes a dual-band cooperative anti-UAV radar system and method. An X-band search and early warning radar searches for and tracks interception targets in the warning airspace at first-cycle intervals, and sends the acquired target information to its corresponding Ka-band command guidance radar. The Ka-band command guidance radar, based on the received target information, controls the interceptor to carry out the interception, thereby achieving the purpose of countering UAVs. By using the X-band search and early warning radar to search for and track the target, and the Ka-band command guidance radar to control the interceptor to carry out the interception, the system can ensure the accuracy of task execution by dividing the target objects. Furthermore, because the number of tasks that each radar needs to handle is reduced, the number of tasks it can handle is increased, thereby improving the system's comprehensive interception capability in multi-target, clustered, and saturation attack scenarios.

Description

Technical Field

[0001] This invention relates to the field of drone defense, and more specifically, to a dual-band cooperative anti-drone radar system and method. Background Technology

[0002] Existing anti-drone defense systems typically employ a collaborative architecture involving radar detection, command and control, and interceptors. The system first uses air search radar to detect drone targets, establish their tracks, and continuously track them, acquiring information such as target distance, azimuth, speed, and heading. Subsequently, the command and control or fire control module performs threat assessment, target allocation, and interception calculations, and sends guidance commands to the interceptor to achieve target interception and strike. In practice, existing technologies often use single-band radar for search, tracking, and guidance support, or employ a division of labor between surveillance and fire control radars. X-band radar is typically used for medium- to long-range target detection and tracking, while high-frequency radar is typically used for high-precision measurement, narrow-beam tracking, or guidance assistance.

[0003] Existing solutions can intercept drone targets to a certain extent, but in saturation attack scenarios with multiple batches, multiple directions, and multiple targets attacking simultaneously, there are still problems such as significant competition for detection, tracking, and guidance resources, limited single-channel engagement capability, and insufficient continuous and stable tracking and high-precision guidance capability of the system for medium- and long-range small targets. It is difficult to balance the needs of medium- and long-range detection coverage capability and the precise command guidance of the interceptor. Summary of the Invention

[0004] The purpose of this invention is to provide a dual-band cooperative anti-drone radar system and method to improve the above-mentioned problems.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows: In a first aspect, embodiments of the present invention provide a dual-band cooperative anti-drone radar system, including at least one antenna array, wherein the antenna array includes an X-band search and early warning radar and a Ka-band command guidance radar; The X-band search and warning radar is used to search for and track interception targets in the warning airspace according to the first cycle interval, and to send the acquired interception target information to its corresponding Ka-band command guidance radar. The interception target is an unmanned aerial vehicle (UAV), and the interception target information includes the interception target coordinates and the interception target identifier. Ka-band command guidance radar is used to control the interceptor to carry out interception based on the received information about the target, in order to counter drones.

[0006] Secondly, embodiments of the present invention provide a dual-band cooperative anti-drone radar method, applied to the aforementioned dual-band cooperative anti-drone radar system, the method comprising: The X-band search and early warning radar searches for and tracks interception targets in the warning airspace according to the first cycle interval, and sends the acquired interception target information to its corresponding Ka-band command guidance radar. The interception target is an unmanned aerial vehicle (UAV), and the interception target information includes the interception target coordinates and the interception target identifier. Ka-band command-guided radar controls the interceptor to intercept drones based on received information about the target, thereby achieving the goal of countering drones.

[0007] Compared to existing technologies, the dual-band cooperative anti-UAV radar system and method provided in this invention involves an X-band search and early warning radar that searches for and tracks interception targets in the warning airspace at first cycle intervals, and sends the acquired interception target information to its corresponding Ka-band command guidance radar. The interception target is a UAV, and the interception target information includes the target's coordinates and identifier. The Ka-band command guidance radar, based on the received interception target information, controls the interceptor to carry out the interception, thereby achieving the purpose of countering the UAV. The X-band search and early warning radar searches for and tracks the interception target, while the Ka-band command guidance radar controls the interceptor to carry out the interception. By dividing the target into different tasks, the accuracy of task execution can be ensured. Furthermore, because the number of tasks that each radar needs to handle is reduced, the number of tasks it can handle is increased, thereby improving the system's comprehensive interception capability in multi-target, clustered, and saturation attack scenarios. In saturation attack scenarios where multiple batches, multiple directions, and multiple targets attack simultaneously, it can balance medium- and long-range detection coverage capabilities with the precise command guidance requirements of the interceptor.

[0008] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0009] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of a dual-band cooperative anti-drone radar system provided in an embodiment of the present invention.

[0011] Figure 2This is a schematic diagram of the operation of a dual-band cooperative anti-drone radar system provided in an embodiment of the present invention. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0013] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0014] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0015] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0016] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0017] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0018] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0019] Please refer to Figure 1 , Figure 1 This is a schematic diagram of a dual-band cooperative anti-drone radar system provided in an embodiment of the present invention. The dual-band cooperative anti-drone radar system includes at least one antenna array (in an optional embodiment, the dual-band cooperative anti-drone radar system includes four antenna arrays, each antenna array covering a ±45° azimuth airspace), and the antenna arrays include an X-band search and early warning radar and a Ka-band command guidance radar, both of which adopt phased array technology.

[0020] The X-band search and surveillance radar is used to search for and track intercepted targets in the surveillance airspace according to the first cycle interval, and sends the acquired intercepted target information to its corresponding Ka-band command guidance radar (both belong to the same antenna array). The intercepted target is an unmanned aerial vehicle (UAV), and the intercepted target information includes the intercepted target coordinates and the intercepted target identifier.

[0021] Ka-band command guidance radar is used to control the interceptor to carry out interception based on the received information about the target, in order to counter drones.

[0022] Compared to single-band radars that simultaneously perform the tasks of searching and detecting targets and tracking their trajectory, as well as the interceptor's interception task, the dual-band cooperative anti-UAV radar system provided in this embodiment of the invention uses an X-band search and early warning radar to search for and detect targets and track their trajectory, while a Ka-band command-guided radar controls the interceptor to carry out the interception. By dividing the target tasks, the accuracy of task execution can be ensured. Furthermore, because the number of tasks each radar needs to handle is reduced, the number of tasks it can handle is increased, thereby improving the system's comprehensive interception capability in multi-target, clustered, and saturation attack scenarios. In saturation attack scenarios where multiple waves, multiple directions, and multiple targets attack simultaneously, it can balance medium- and long-range detection coverage capabilities with the need for precise command guidance from the interceptor.

[0023] In this embodiment of the invention, an interception period is divided into multiple time windows, and a corresponding number of time windows can be assigned to each task.

[0024] Optionally, the Ka-band command guidance radar is used to add the first type of interceptor and its corresponding remaining interception count and remaining window count to the task list of the current interception cycle after entering a new interception cycle, so as to continue to perform the transition tracking task for the first type of interceptor; if the number of consecutive interceptions of the first type of interceptor within the corresponding remaining window count reaches the remaining interception count, the task of the first type of interceptor pair is adjusted to the tracking and maintenance task, and the tracking and maintenance task is performed in the corresponding time window of the next interception cycle.

[0025] If the number of consecutive interceptions of the first type of interceptor within the corresponding remaining window number does not reach the remaining interception count, it is determined that the transfer to tracking task has failed, and the transfer to tracking task is added to the blacklist. In the next interception cycle, the interception object corresponding to the transfer to tracking task will be reassigned to an interceptor.

[0026] Among them, the first type of interceptor is an interceptor that matches any first type of interception target and is in a state of being in arrears. The state of being in arrears means that the Ka-band command guidance radar performed a transition tracking task on the interceptor in the previous interception cycle, but the transition tracking task was not completed at the end of the previous interception cycle. However, the previous interception cycle has ended, and it is necessary to continue tracking this interceptor in the new interception cycle until it completes stable tracking.

[0027] Among them, the transition to tracking mission refers to the mission of Ka-band command guidance radar to continuously intercept the corresponding interceptor N times. The first type of interception object is the current interception object identifier that exists in the mission list of the previous interception cycle and matches the interceptor. The current interception object identifier is the interception object identifier sent by the X-band search and warning radar in the previous interception cycle.

[0028] The tracking task is initiated after a suspected interceptor is detected by the search and detection mission (first handshake successful). Additional observations are then conducted on the suspected interceptor. If a handshake is successfully completed with the suspected interceptor for N consecutive frames, and the suspected interceptor's flight trajectory is consistent, it is considered an interceptor. The flight attitude (range, azimuth, and pitch angle) of the suspected interceptor in these N frames is filtered to generate continuously updated current trajectory information for the interceptor.

[0029] Optionally, the Ka-band command guidance radar is used to add the second type of interceptor and its corresponding remaining window number (the remaining window number is the difference between the number of tracking windows allocated to it in the previous interception cycle and the number of windows for which tracking and maintenance tasks have been performed) to the task list of the current interception cycle after entering a new interception cycle, so as to continue to perform tracking and maintenance tasks on the second type of interceptor.

[0030] If, within the corresponding remaining window period, a handshake is successfully performed with the second type of interceptor and the trace of the second type of interceptor is detected and matches its corresponding current track, then the second type of interceptor is considered to have been successfully tracked, and the tracking and maintenance mission is considered to have been successful.

[0031] If no second-type interceptor is successfully tracked within the corresponding remaining window period, the tracking maintenance task is determined to have failed, and the tracking maintenance task is added to the blacklist. In the next interception cycle, the interception object corresponding to the tracking maintenance task will be reassigned an interceptor.

[0032] Among them, the second type of interceptor is an interceptor that matches any first type of interceptor and is in a state of consecutive failures. The state of consecutive failures means that the Ka-band command guidance radar performed a tracking and maintenance task on the interceptor in the previous interception cycle, but the tracking and maintenance task was not completed at the end of the previous interception cycle. However, the previous interception cycle has ended, and it is necessary to continue tracking the interceptor in the new interception cycle until it completes stable tracking. The tracking and maintenance task means that the Ka-band command guidance radar tracks the interceptor in a preset number of time windows based on the current track information of the interceptor.

[0033] The tracking and maintenance mission is considered successful when the return handshake is successful and the detected interceptor's trace matches its corresponding current track. If the tracking and maintenance mission fails after a preset number of time windows, the tracking and maintenance mission is considered to have failed.

[0034] It should be noted that the tracking and maintenance task spans multiple time windows. During the tracking and maintenance of the interceptor, if the interceptor is not successfully tracked before the last tracking time window, track maintenance can be performed. Even without matching points, the interceptor's track will still be updated to facilitate point-track matching in subsequent time windows. After successfully tracking the interceptor, its track can be corrected based on the points acquired during the tracking process to improve the stability of subsequent tracking.

[0035] Optionally, the Ka-band command guidance radar is used to add the Type III interceptor and its corresponding tracking window number to the task list of the current interception cycle after entering a new interception cycle, so as to perform tracking and maintenance tasks for the Type III interceptor.

[0036] If, within the corresponding tracking window, a handshake is successfully performed with a Type 3 interceptor and the detected point of the Type 3 interceptor matches its corresponding current track, the Type 3 interceptor is considered successfully tracked, and the tracking and maintenance mission is considered successful. If, within the corresponding tracking window, a Type 3 interceptor is not successfully tracked, the tracking and maintenance mission is considered to have failed, and the tracking and maintenance mission is added to the blacklist. In the next interception cycle, the interception target corresponding to this tracking and maintenance mission will be reassigned to an interceptor.

[0037] Among them, the second type of interceptor is an interceptor that matches any first type of interceptor and is in a state of consecutive failures. The state of consecutive failures means that the Ka-band command guidance radar performed a tracking and maintenance task on the interceptor in the previous interception cycle, but the tracking and maintenance task was not completed at the end of the previous interception cycle (but the previous interception cycle has ended, and the interceptor needs to be tracked again in the new interception cycle until it achieves stable tracking). The tracking and maintenance task means that the Ka-band command guidance radar tracks the interceptor in a preset number of time windows based on the interceptor's current track information.

[0038] Optionally, when adding the third type of interceptor and its corresponding tracking window number to the task list for the current interception cycle, the Ka-band command guidance radar is used to synchronously add its corresponding latest tracking window to the task list. The latest tracking window is the window in which a third-type interceptor was successfully tracked in the previous interception cycle; Ka-band command guidance radar is used to directly initiate tracking and maintenance tasks for Category III interceptors if the tracking and maintenance task has not been performed by the latest tracking window.

[0039] In one alternative implementation, after the tracking and maintenance mission is successful, the coordinates of the interceptor and the target object corresponding to the tracking and maintenance mission can be sent to the interceptor so that the interceptor's flight control system can adjust its trajectory based on the coordinate information and intercept the target object.

[0040] If there is still a free time window after all the search and detection tasks, transition tracking tasks, and tracking maintenance tasks have been completed in the current interception cycle, the tasks in the blacklist can be extracted and executed again.

[0041] Optionally, the Ka-band command guidance radar is used to add the fourth type interceptor and its corresponding target acquisition count and target window number to the task list of the current interception cycle after entering a new interception cycle, so as to perform a transition tracking task for the fourth type interceptor; if the number of consecutive acquisitions of the fourth type interceptor within the corresponding target window number reaches the target acquisition count, the task of the fourth type interceptor pair is adjusted to a tracking and maintenance task, and the tracking and maintenance task is executed in the corresponding time window of the next interception cycle; if the number of consecutive acquisitions of the fourth type interceptor within the corresponding target window number does not reach the target acquisition count, the transition tracking task is determined to have failed, the transition tracking task is added to the blacklist, and in the next interception cycle, the interception target corresponding to the transition tracking task will be reassigned to an interceptor.

[0042] The fourth type of interceptor is the interceptor identified by the search and detection task in the previous interception cycle, and it matches any of the first type of interception objects.

[0043] For targets in the interception state, set them to be continuously tracked until they change from the interception state to the tracking state. Set their longest consecutive interception window (i.e., the number of times the target is intercepted) and the longest consecutive interception failure number (i.e., the number of target windows) to ensure that interceptors that cannot complete tracking do not occupy a large number of scheduling windows.

[0044] Optionally, when multiple Type IV interceptors exist, the Ka-band command guidance radar is used to obtain the time margin corresponding to each Type IV interceptor in each time window at which the transition tracking task begins, including: determining the remaining required window number (the number of target windows minus the number of executed windows) based on the number of target windows and the number of executed windows corresponding to the Type IV interceptor; and determining the time margin corresponding to the Type IV interceptor based on the remaining required window number, the current scheduling time stamp, the safety margin, and the deadline time window identifier corresponding to the Type IV interceptor. Among them, the number of executed windows is the number of windows that have executed the transition to tracing task for the fourth type of interceptor; Ka-band command guidance radar is used to determine the execution order of transition tracking tasks based on the time margin corresponding to each Type IV interceptor. The smaller the time margin of the Type IV interceptor, the higher the execution priority of the transition tracking task.

[0045] For the A fourth type of interceptor, defining the following variables: : The number of target windows for target i, i.e., the total amount of resources it needs to capture within the current large cycle; : The number of execution windows for target i, i.e., the amount of resources currently acquired; The remaining demand window for target i, i.e., the remaining demand quantity, is:

[0046] : The deadline window identifier for target i, i.e., the latest completion time or the effective interception deadline boundary; : Current scheduling timestamp; Safety margin, used to reserve intervals; Therefore, the time margin for objective i can be defined as:

[0047] Among them: when The smaller the time available for the goal, the less time is left and the higher the urgency. when This indicates that, under the current resource consumption model, the target has entered a state of debt, and if resource allocation is not increased immediately, it may not be able to complete the interception on time.

[0048] Optionally, the Ka-band command guidance radar is used to perform a search and detection mission if a second type of interception target exists after entering a new interception cycle, and to assign the newly searched interceptor to the second type of interception target; The second type of interception target is the current interception target identifier that does not have a matching interceptor in the task list of the previous interception cycle.

[0049] Optionally, the Ka-band command guidance radar is used to periodically scan the interceptor's airspace according to a preset airspace coverage strategy, beam pointing sequence, dwell time, and waveform parameters. By transmitting BPSK-modulated communication signals, the receiver on the interceptor receives and demodulates the signals and obtains the handshake signals fed back from the receiver to the Ka-band command guidance radar, thereby establishing a tracking correlation link between the Ka-band command guidance radar and the interceptor, thus completing the search and detection mission.

[0050] During operation, each mission competes for available system resources, and the unified scheduling and control unit in the radar, guided by Ka-band commands, arbitrates and allocates time windows within the interception cycle based on mission attributes (tracking and sustaining mission, transitioning to tracking mission, search and detection mission), time requirements, target status, and system load level.

[0051] Please refer to Figure 2 , Figure 2 This is a schematic diagram illustrating the operation of a dual-band cooperative anti-drone radar system provided in an embodiment of the present invention. The X-band search and warning radar searches for and tracks targets in the warning airspace at first cycle intervals, identifying the target drone as the interception target. The Ka-band command guidance radar, based on the received interception target information, controls the interceptor to carry out the interception, thereby achieving the purpose of countering the drone.

[0052] Both the X-band search radar and the Ka-band guidance radar are equipped with GPS, which can be used to obtain the second of the week as a reference time for their data. For an interceptor that has been stably tracked, the guidance radar uploads the detection data (coordinate information) of the corresponding interceptor and the matched interceptor to the current time according to standard GPS time at fixed time intervals to the corresponding interceptor's flight control system.

[0053] This invention also provides a dual-band cooperative anti-drone radar method, applied to the aforementioned dual-band cooperative anti-drone radar system. The dual-band cooperative anti-drone radar method includes S10 and S20, which are described in detail below.

[0054] S10, the X-band search and early warning radar searches for and tracks the interception target in the warning airspace according to the first cycle interval, and sends the acquired interception target information to its corresponding Ka-band command guidance radar. The interception target is an unmanned aerial vehicle, and the interception target information includes the interception target coordinates and the interception target identifier. The S20, a Ka-band command-guided radar, controls the interceptor to intercept drones based on received information about the target, thereby achieving the purpose of countering drones.

[0055] Optionally, in S20, the Ka-band command-guided radar controls the interceptor to carry out interception based on the received interception target information, including: S201, after entering a new interception cycle, add the first type of interceptor and its corresponding remaining interception count and remaining window count to the task list of the current interception cycle, so as to continue to execute the transition tracking task for the first type of interceptor.

[0056] S202, if the number of times the first type of interceptor is intercepted within the corresponding remaining window number reaches the remaining interception count, then the task of the first type of interceptor pair is adjusted to the tracking and maintenance task.

[0057] Among them, the first type of interceptor is an interceptor that matches any first type of interception target and is in a state of being in arrears. The state of being in arrears means that the Ka-band command guidance radar performed a transfer tracking task on the interceptor in the previous interception cycle but the transfer tracking task was not completed at the end of the previous interception cycle. The transfer tracking task means that the Ka-band command guidance radar intercepts the corresponding interceptor N times in a row. The first type of interception target is the current interception target identifier that has an interceptor that matches it in the task list of the previous interception cycle. The current interception target identifier is the interception target identifier sent by the X-band search and warning radar in the previous interception cycle.

[0058] In summary, the dual-band cooperative anti-UAV radar system and method provided by this invention involves an X-band search and early warning radar that searches for and tracks interception targets in the warning airspace at first cycle intervals, and sends the acquired interception target information to its corresponding Ka-band command guidance radar. The interception target is a UAV, and the interception target information includes the target's coordinates and identifier. The Ka-band command guidance radar controls the interceptor to intercept the UAV based on the received interception target information, thereby achieving the purpose of countering the UAV. The X-band search and early warning radar searches for and tracks the interception target, while the Ka-band command guidance radar controls the interceptor to intercept it. By dividing the target into different tasks, the accuracy of task execution can be ensured. Furthermore, because the number of tasks that each radar needs to handle is reduced, the number of tasks it can handle is increased, thereby improving the system's comprehensive interception capability in multi-target, clustered, and saturation attack scenarios. In saturation attack scenarios with multiple batches, multiple directions, and multiple targets attacking simultaneously, it can balance medium- and long-range detection coverage capabilities with the precise command guidance requirements of the interceptor.

[0059] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0060] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A dual-band cooperative anti-UAV radar system, characterized in that, Includes at least one antenna array, said antenna array including an X-band search and surveillance radar and a Ka-band command guidance radar; The X-band search and warning radar is used to search for and track interception targets in the warning airspace according to the first cycle interval, and to send the acquired interception target information to its corresponding Ka-band command guidance radar. The interception target is an unmanned aerial vehicle (UAV), and the interception target information includes the interception target coordinates and the interception target identifier. Ka-band command guidance radar is used to control the interceptor to carry out interception based on the received information about the target, in order to counter drones.

2. The dual-band cooperative anti-drone radar system as described in claim 1, characterized in that, Ka-band command guidance radar is used to add the first type of interceptor and its corresponding remaining interception count and remaining window count to the task list of the current interception cycle after entering a new interception cycle, so as to continue to perform the transition tracking task for the first type of interceptor. If the number of times the first type of interceptor is intercepted consecutively within the corresponding remaining window number reaches the remaining interception number, then the task of the first type of interceptor pair is adjusted to a tracking and maintenance task; Among them, the first type of interceptor is an interceptor that matches any first type of interception target and is in a state of being in arrears. The state of being in arrears means that the Ka-band command guidance radar performed a transfer tracking task on the interceptor in the previous interception cycle and the transfer tracking task was not completed at the end of the previous interception cycle. The transfer tracking task refers to the task of the Ka-band command guidance radar to intercept the corresponding interceptor N times in a row. The first type of interception target is the current interception target identifier that has an interceptor that matches it in the task list of the previous interception cycle. The current interception target identifier is the interception target identifier sent by the X-band search and warning radar in the previous interception cycle.

3. The dual-band cooperative anti-drone radar system as described in claim 2, characterized in that, Ka-band command guidance radar is used to add the Type II interceptor and its corresponding remaining window number to the task list of the current interception cycle after entering a new interception cycle, so as to continue to perform tracking and maintenance tasks on the Type II interceptor. If, within the corresponding remaining window number, a handshake is successfully performed with the second type of interceptor and the trace of the second type of interceptor is detected and matches its corresponding current track, then the second type of interceptor is considered to have been successfully tracked. Among them, the second type of interceptor is an interceptor that matches any of the first type of interception targets and is in a state of consecutive failures. The state of consecutive failures means that the Ka-band command guidance radar performed a tracking and maintenance task on the interceptor in the previous interception cycle, but the tracking and maintenance task was not completed at the end of the previous interception cycle. The tracking and maintenance task means that the Ka-band command guidance radar tracks the interceptor in a preset number of time windows based on the current track information of the interceptor.

4. The dual-band cooperative anti-drone radar system as described in claim 2, characterized in that, Ka-band command guidance radar is used to add the Type III interceptor and its corresponding tracking window number to the task list of the current interception cycle after entering a new interception cycle, so as to perform tracking and maintenance tasks for the Type III interceptor. If, within the corresponding tracking window, a handshake is successfully performed with the Type 3 interceptor and the detected point of the Type 3 interceptor matches its corresponding current track, then the Type 3 interceptor is considered to have been successfully tracked. Among them, the second type of interceptor is an interceptor that matches any of the first type of interception targets and is in a state of consecutive failures. The state of consecutive failures means that the Ka-band command guidance radar performed a tracking and maintenance task on the interceptor in the previous interception cycle, but the tracking and maintenance task was not completed at the end of the previous interception cycle. The tracking and maintenance task means that the Ka-band command guidance radar tracks the interceptor in a preset number of time windows based on the current track information of the interceptor.

5. The dual-band cooperative anti-drone radar system as described in claim 4, characterized in that, When adding the third type of interceptor and its corresponding tracking window number to the task list for the current interception cycle, the Ka-band command guidance radar is used to synchronously add its corresponding latest tracking window to the task list. The latest tracking window is the window in which the third type of interceptor was successfully tracked in the previous interception cycle; If, upon reaching the latest tracking window, the Ka-band command guidance radar has not yet performed a tracking and maintenance task on the third type of interceptor, it will directly initiate the tracking and maintenance task on the third type of interceptor.

6. The dual-band cooperative anti-drone radar system as described in claim 2, characterized in that, Ka-band command guidance radar is used to add the Type 4 interceptor and its corresponding target acquisition count and target window count to the task list of the current interception cycle after entering a new interception cycle, so as to perform the transition tracking task for the Type 4 interceptor. If the number of times the fourth type of interceptor is intercepted consecutively within the corresponding target window reaches the target interception count, then the task of the fourth type of interceptor pair is adjusted to a tracking and maintenance task; The fourth type of interceptor is the interceptor identified by the search and detection task in the previous interception cycle, and it matches any of the first type of interception objects.

7. The dual-band cooperative anti-drone radar system as described in claim 6, characterized in that, When multiple Type IV interceptors exist, the Ka-band command guidance radar is used to obtain the time margin corresponding to each Type IV interceptor in each time window when the transition tracking task begins, including: determining the remaining demand window number based on the number of target windows and the number of executed windows corresponding to the Type IV interceptor; and determining the time margin corresponding to the Type IV interceptor based on the remaining demand window number, the current scheduling time stamp, the safety margin, and the deadline time window identifier corresponding to the Type IV interceptor. Among them, the number of executed windows is the number of windows that have executed the transition to tracing task for the fourth type of interceptor; Ka-band command guidance radar is used to determine the execution order of transition tracking tasks based on the time margin corresponding to each Type IV interceptor. The smaller the time margin of the Type IV interceptor, the higher the execution priority of the transition tracking task.

8. The dual-band cooperative anti-drone radar system as described in claim 2, characterized in that, Ka-band command guidance radar is used to perform search and detection tasks and assign newly found interceptors to the second type of interception target if a second type of interception target exists after entering a new interception cycle. The second type of interception target is the current interception target identifier that does not have a matching interceptor in the task list of the previous interception cycle.

9. The dual-band cooperative anti-drone radar system as described in claim 8, characterized in that, Ka-band command guidance radar is used to periodically scan the interceptor's airspace according to a preset airspace coverage strategy, beam pointing sequence, dwell time, and waveform parameters. By transmitting BPSK-modulated communication signals, the receiver on the interceptor receives and demodulates the signals, and obtains the handshake signals fed back from the receiver to the Ka-band command guidance radar, thereby establishing a tracking link between the Ka-band command guidance radar and the interceptor, thus completing the search and detection mission.

10. A dual-band cooperative anti-UAV radar method, characterized in that, The method, applied to the dual-band cooperative anti-UAV radar system according to any one of claims 1-9, comprises: The X-band search and early warning radar searches for and tracks interception targets in the warning airspace according to the first cycle interval, and sends the acquired interception target information to its corresponding Ka-band command guidance radar. The interception target is an unmanned aerial vehicle (UAV), and the interception target information includes the interception target coordinates and the interception target identifier. Ka-band command-guided radar controls the interceptor to intercept drones based on received information about the target, thereby achieving the goal of countering drones.

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