Radar optimized waveform generation method, cognitive radar system, device and storage medium

Abstract

The present application relates to a radar optimized waveform generation method, a cognitive radar system, a device, and a storage medium. The method includes constructing a corresponding optimal waveform generation model according to different game types existing in actual situations. In this way, the optimal waveform calculated under different circumstances is more accurate. For cognitive radars, the signal-to-noise ratio is improved, making it easier to detect targets. For cognitive jammers, the signal-to-noise ratio is reduced, which can interfere with the radar, making it more difficult for the radar to detect targets.

Description

Technical Field

[0001] The present application relates to the field of cognitive radar detection technology, and in particular to a radar optimized waveform generation method, a cognitive radar system, a device, and a storage medium. Background Art

[0002] Cognitive radar is an intelligent radar that perceives the environment through prior knowledge and interactive learning of the environment. On this basis, it adjusts transmitter and receiver parameters in real time to adapt to environmental changes in order to achieve the predetermined goals effectively, reliably and robustly, greatly improving target detection, tracking and anti-interference performance in complex environments.

[0003] Radar waveform optimization refers to the ability of cognitive radars to adaptively adjust the transmit waveform based on target characteristics and environmental interference, clutter, and noise, thereby maximizing certain radar system performance. For example, to improve radar target detection performance, maximizing the signal-to-noise ratio is used as the radar waveform design criterion to determine the optimal radar waveform. To improve radar target tracking performance, minimizing the minimum mean squared error (MSE) of target parameter estimates is used as the criterion to determine the optimal radar waveform.

[0004] In existing technologies, mutual information is often used as a reward function. Specifically, a non-cooperative game model of a cognitive radar and a cognitive jammer is established to improve radar target tracking performance. This model is then solved to obtain the optimal radar transmit waveform and optimal jammer waveform. However, the mutual information reward function represents the amount of information about the radar target impulse response contained in the radar echo. The greater the mutual information, the more accurate the estimation of the radar target impulse response using the radar echo. Therefore, in existing literature models, the main issues of concern are how the radar can improve target estimation performance and how the jammer can protect its own target and reduce the accuracy of the radar's target estimation. Summary of the Invention

[0005] Based on this, it is necessary to provide a radar optimized waveform generation method, cognitive radar system, device and storage medium that can improve radar target detection performance in response to the above technical problems.

[0006] A radar optimized waveform generation method, the method comprising:

[0007] Based on the signal-to-interference-noise ratio as the game payoff function, multiple optimal waveform generation models are calculated using the Steinberg game algorithm or the Nash equilibrium algorithm according to different game types;

[0008] Obtain historical data, determine the current game type based on the historical data, and select the corresponding optimal waveform generation model based on the current game type;

[0009] Acquire current parameter data, and generate an optimal radar transmit waveform of the cognitive radar and an optimal jamming waveform of the cognitive jammer based on the optimal waveform generation model according to the current parameter data;

[0010] The current parameter data includes the transmit energy constraint of the cognitive radar, the impulse response signal of the target to be measured, the thermal noise power spectrum density of the cognitive radar receiver, and the cognitive interference transmit power constraint information.

[0011] In one embodiment, selecting the optimal waveform generation model according to the current game type includes:

[0012] When the current game type is that the cognitive radar is the game leader and the cognitive jammer is the game follower, selecting a first optimal waveform generation model;

[0013] When the current game type is that the cognitive jammer is a game leader and the cognitive radar is a game follower, selecting a second optimal waveform generation model;

[0014] When the current game type is a symmetric game between the cognitive radar and the cognitive jammer, the third optimal waveform generation model is selected.

[0015] In one embodiment, the first optimal waveform generation model includes a transmission waveform calculation model and an interference waveform calculation model:

[0016] The transmission waveform calculation model is:

[0017] The interference waveform calculation model is:

[0018] Among them, X r (f) is the Fourier transform information of the optimal transmission signal of the cognitive radar, f is the frequency, λ1′ and λ2 are both Lagrange multiplication factors, H(f) is the Fourier transform information of the impulse response signal of the target to be measured, J r (f) is the optimal jamming waveform of the cognitive jammer, S nn (f) is the power spectral density of the thermal noise of the cognitive radar receiver.

[0019] In one embodiment, the second optimal waveform generation model includes a transmission waveform calculation model and an interference waveform calculation model:

[0020] The emission waveform calculation model is: j (f)| 2 =E x δ(ff i );

[0021] The interference waveform calculation model is: j (f)=max[0,λ4-S nn (f)];

[0022] Among them, X j (f) is the Fourier transform information of the optimal transmission signal of the cognitive radar, f is the frequency, E x is the energy of the waveform emitted by the cognitive radar, J j (f) is the optimal interference waveform of the cognitive jammer, λ4 is the Lagrange multiplication factor, H(f) is the Fourier transform information of the impulse response signal of the target to be measured, S nn (f) is the power spectral density of the thermal noise of the cognitive radar receiver.

[0023] In one embodiment, the third optimal waveform generation model includes a transmission waveform calculation model and an interference waveform calculation model:

[0024] The emission waveform calculation model is:

[0025] The interference waveform calculation model is:

[0026] Where, X(f) is the optimal radar transmission waveform, E x is the energy of the signal waveform transmitted by the cognitive radar, J(f) is the optimal interference waveform of the cognitive jammer, P J is the energy of the interference signal of the cognitive jammer, and BW is the frequency band range of the transmitted signal spectrum and the interference signal power spectrum density.

[0027] In one embodiment, before determining that the current game type is a symmetric game, Fourier transform information of the impulse response signal of the target to be measured and the power spectrum density of the thermal noise of the cognitive radar receiver are further calculated;

[0028] If both are constant within the frequency band of the transmitted signal spectrum and the interference signal power spectrum density, then the current game type is determined to be a symmetric game;

[0029] If both are not constant within the frequency band of the transmitted signal spectrum and the interference signal power spectrum density, the first optimal waveform generation model or the second optimal waveform generation model is selected as the robust solution for the current situation.

[0030] The present application also provides a cognitive radar system, which includes a cognitive radar, a cognitive jammer, and a waveform generation device respectively configured in the cognitive radar and the cognitive jammer, wherein the waveform generation device is used to execute the above-mentioned radar optimization waveform generation method.

[0031] A computer device includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned radar optimized waveform generation method when executing the computer program.

[0032] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned radar optimized waveform generation method.

[0033] The above-mentioned radar optimized waveform generation method, cognitive radar system, device and storage medium construct corresponding optimal waveform generation models according to different game types existing in actual situations. This makes the optimal waveform calculated in different situations more accurate. For cognitive radar, the signal-to-noise ratio is improved, making it easier to detect targets. For cognitive jammer, the signal-to-noise ratio is reduced, which can interfere with the radar, making it more difficult for the radar to detect targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 1 is a flow chart of a radar optimized waveform generation method according to an embodiment;

[0035] Figure 2 A schematic diagram of an application environment of a cognitive radar system in one embodiment;

[0036] Figure 3 Schematic diagram of target spectrum characteristics under two conditions in one embodiment;

[0037] Figure 4 A schematic diagram of radar energy and jammer power in a Steinberg equilibrium strategy when the radar is a leader in one embodiment;

[0038] Figure 5 A schematic diagram of radar energy and jammer power in a Steinberg equilibrium strategy when the jammer is a leader in one embodiment;

[0039] Figure 6 A schematic diagram of radar energy and jammer power in a Nash equilibrium strategy in one embodiment;

[0040] Figure 7 is a structural block diagram of a radar optimized waveform generating device in one embodiment;

[0041] Figure 8 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0043] like Figure 1 As shown, a radar optimized waveform generation method is provided, the method comprising the following steps:

[0044] Step S100, based on the signal-to-interference-and-noise ratio as the game payoff function, and using the Steinberg game algorithm or the Nash equilibrium algorithm according to different game types, multiple optimal waveform generation models are calculated;

[0045] Step S110, acquiring historical data, determining the current game type based on the historical data, and selecting a corresponding optimal waveform generation model based on the current game type;

[0046] Step S120, obtaining current parameter data, and generating an optimal radar transmission waveform of the cognitive radar and an optimal jamming waveform of the cognitive jammer based on the optimal waveform generation model according to the current parameter data;

[0047] Among them, the current parameter data includes the transmission energy constraint of the cognitive radar, the impulse response signal of the target to be measured, the thermal noise power spectrum density of the cognitive radar receiver, and the cognitive interference transmission power constraint information.

[0048] In response to the existing technology that focuses more on parameter estimation of the target to be detected and adopts mutual information as the benefit function, this application proposes a method for improving the probability of target detection by using signal-to-interference-noise ratio as the benefit function. Based on the different game situations between cognitive radar and cognitive jammer in actual situations, this method proposes a Steinberg game model of cognitive radar and cognitive jammer, as well as a symmetric model (that is, Nash equilibrium) of cognitive radar and cognitive jammer. By solving each model, the optimal radar transmission waveform of the cognitive radar in each game situation and the optimal interference waveform of the cognitive jammer are obtained.

[0049] In step S100, different optimal waveform generation models are constructed according to different game situations. In each case, the signal-to-interference-and-noise ratio is used as the profit function, and its frequency domain approximate expression is:

[0050]

[0051] In formula (1), the signal-to-interference-plus-noise ratio (SJNR) is the Fourier transform information X(f) of the cognitive radar's transmitted signal, the Fourier transform information H(f) of the impulse response signal of the target to be detected, and the thermal noise power spectral density S of the cognitive radar's receiver. nn (f) is related to the Fourier transform information J(f) of the interference signal of the cognitive jammer. Where BW is the frequency band of the transmitted signal spectrum and the power spectrum density of the interference signal.

[0052] In a Stackelberg equilibrium (SE) game, the optimal strategies for radar and jammers are determined in one scenario: the cognitive radar is the leader and the cognitive jammer is the follower. This means the cognitive radar sends its signal first and knows the jammer will optimize its waveform to maximize the SJNR. In this scenario, the cognitive radar desires a maximum SJNR, which improves target detection performance. The cognitive jammer, as a follower, prefers a minimum SJNR, which degrades radar target detection performance. This "minimum-maximum" problem can be expressed as follows:

[0053]

[0054] Among them, st∫ BW |X(f)| 2 df = E x ,∫ BW J(f)df=P J , J(f)≥0,f∈BW.

[0055] In formula (2), E x and P J are the energy of the transmitted waveform of the cognitive radar and the power of the interference signal emitted by the cognitive jammer, respectively.

[0056] According to formula (2), the optimal equilibrium strategy in this case can be obtained, that is, the optimal waveform generation model when the cognitive radar is the game leader and the cognitive jammer is the game follower, which is also the first optimal waveform generation model. The first optimal waveform generation model includes the transmission waveform calculation model and the interference waveform calculation model:

[0057] The transmit waveform calculation model is:

[0058] The interference waveform calculation model is:

[0059] Among them, X r(f) is the Fourier transform information of the optimal transmission signal of the cognitive radar, f is the frequency, λ1′ and λ2 are both Lagrange multiplication factors, H(f) is the Fourier transform information of the impulse response signal of the target to be measured, J r (f) is the optimal jamming waveform of the cognitive jammer, S nn (f) is the power spectral density of the thermal noise of the cognitive radar receiver.

[0060] From the above results, it can be seen that the radar waveform |X(f)| 2 Both the radar and jammer power J(f) increase with the increase of the target spectrum H(f), which means that both the radar and the jammer concentrate more energy / power in the larger frequency band of the target spectrum.

[0061] Based on the Stackelberg equilibrium (SE), the optimal strategies for the radar and jammer are also determined. Another scenario involves a cognitive radar capable of perceiving cognitive jamming signals, and the cognitive jammer knowing that the cognitive radar will optimize its waveform by maximizing the SJNR. In other words, the cognitive jammer is the leader, and the cognitive radar is the follower. The cognitive jammer seeks to minimize the SJNR, while the cognitive radar seeks to maximize it. This Stackelberg game problem can be expressed as a minimax problem as shown below:

[0062]

[0063] Among them, st∫ BW |X(f)| 2 df = E x ,∫ BW J(f)df=P J , J(f)≥0,f∈BW.

[0064] According to formula (3), the optimal equilibrium strategy in this case can be obtained. That is, when the cognitive jammer is the game leader and the cognitive radar is the game follower, the optimal waveform generation model is also the second optimal waveform generation model. The second optimal waveform generation model includes the transmission waveform calculation model and the interference waveform calculation model:

[0065] The calculation model of the emission waveform is: |X j (f)| 2 =E x δ(ff i );

[0066] The interference waveform calculation model is: J j (f)=max[0,λ4-S nn (f)];

[0067] Among them, Xj (f) is the Fourier transform information of the optimal transmission signal of the cognitive radar, f is the frequency, E x is the energy of the waveform emitted by the cognitive radar, J j (f) is the optimal jamming waveform of the cognitive jammer, λ4 is the Lagrange multiplication factor, H(f) is the Fourier transform information of the impulse response signal of the target to be measured, S nn (f) is the power spectral density of the thermal noise of the cognitive radar receiver.

[0068] From the above formula, we can see that the Steinberg equalization strategy of the jammer is a water injection solution. If the noise power spectrum density S nn (f) is a constant S within BW nn (f)=σ n 2 , Lagrange multiplication factor The jammer power is also constant, f i = argmax|H(f)|, the cognitive radar concentrates its energy on the mode where the target energy is the largest. If the noise power spectrum density S nn (f) is not constant within BW, so the jammer power is also not constant.

[0069] In the above-mentioned Steinberg equilibrium strategy, the cognitive radar and cognitive jammer participating in the game are asymmetric. If it is a symmetric game, that is, the relationship between the radar and the jammer is equal and there is no order of decision-making, then the game equilibrium is a Nash equilibrium.

[0070] In the Steinberg game, the Steinberg equilibrium when the cognitive radar is the leader is (|X r (f)| 2 ,J r (f)), the Steinberg equilibrium when the cognitive jammer is the leader is (|X j (f)| 2 ,J j (f)).

[0071] If a Nash equilibrium exists, then:

[0072] SJNR(|X r (f)| 2 ,J r (f))=SJNR(|X j (f)| 2 ,J j (f)) (4)

[0073] According to the target impulse response H(f) and noise power spectrum density S nn(f) Whether it is constant within the BW band is divided into the following two cases.

[0074] Case 1: Target impulse response H(f) and noise power spectral density S nn (f) is not a constant within the BW band, the inequality SJNR(|X r (f)| 2 ,J r (f))<SJNR(|X j (f)| 2 ,J j (f)) holds true, then Nash equilibrium does not exist.

[0075] Case 2: Target impulse response H(f) and noise power spectral density S nn (f) is constant within the BW band, and the equation SJNR(|X r (f)| 2 ,J r (f))=SJNR(|X j (f)| 2 ,J j (f)) holds true, then a Nash equilibrium exists.

[0076] At this time, that is, when the cognitive radar and the cognitive jammer are symmetrical, the optimal waveform generation model is the third optimal waveform generation model, which includes the transmission waveform calculation model and the interference waveform calculation model:

[0077] The transmit waveform calculation model is:

[0078] The interference waveform calculation model is:

[0079] Among them, X(f) is the optimal radar transmission waveform, E x is the energy of the cognitive radar transmission signal waveform, J(f) is the optimal interference waveform of the cognitive jammer, P J is the energy of the cognitive jammer's jamming signal, and BW is the frequency band of the transmitted signal spectrum and the power spectral density of the jamming signal. It can be seen that when Nash equilibrium is achieved, both the cognitive radar and the cognitive jammer distribute their energy / power evenly within the frequency band BW.

[0080] In step S100, corresponding optimal waveform generation models are constructed according to different situations: the cognitive radar is the game leader and the cognitive jammer is the game follower, or the cognitive radar is the game follower and the cognitive jammer is the game leader, or the cognitive radar and the cognitive jammer are symmetric games.

[0081] In one embodiment, optimal waveform generation models established for different situations can be pre-built and directly called in subsequent calculations.

[0082] In step S110, the historical data obtained is the prior data previously obtained by the cognitive radar or cognitive jammer. Based on this data, it can be known which game type the current cognitive radar or cognitive jammer is processing, and the corresponding optimal waveform generation model is selected according to the game type. Through the explanation of the model constructed in step S100, it can be known that there are three types of games, and there are also three corresponding optimal waveform generation models.

[0083] Specifically, when the current game type is that the cognitive radar is the game leader and the cognitive jammer is the game follower, the first optimal waveform generation model is selected; when the current game type is that the cognitive jammer is the game leader and the cognitive radar is the game follower, the second optimal waveform generation model is selected; when the current game type is that the cognitive radar and the cognitive jammer are a symmetric game, the third optimal waveform generation model is selected.

[0084] In one embodiment, to determine whether a game is symmetric, the Fourier transform of the target's impulse response signal and the power spectral density of the cognitive radar receiver's thermal noise are first calculated. If both are constant within the frequency bands of the transmitted signal spectrum and the jammer's power spectral density, the game is determined to be symmetric. In this case, the third optimal waveform generation model can be used to calculate the optimal waveform for the cognitive radar or cognitive jammer.

[0085] If both are not constant within the frequency band of the transmitted signal spectrum and the interference signal power spectrum density, the first optimal waveform generation model or the second optimal waveform generation model is selected as the robust solution for the current situation.

[0086] In step S120, after obtaining the current parameters of the cognitive radar or cognitive jammer, the parameters are substituted into the selected optimal waveform generation model to calculate the optimal waveform accordingly.

[0087] This application also conducts experimental simulation based on the above radar optimized waveform generation method, specifically including:

[0088] Assume that the environment includes a single-station radar, a target to be detected, and a jammer. The frequency band range is [0.995GHz, 1.005GHz].

[0089] Assume there are two target impulse responses. The target impulse response in the first case is:

[0090] |H(f)| 2 =βexp{-α(f-f0) 2} (5)

[0091] In formula (5), α = 10 -13 s 2 , which describes |H(f)| 2 The speed of decrease as |f-f0| increases. β describes the amplitude of the target spectrum. Assume β=4.5354×10 -15 .

[0092] In the second case, assuming that the target impulse response is constant within the BW range, α = 0, β = 2.4755 × 10 -12 .

[0093] like Figure 3 As shown, Figure 3 (a) is the target spectrum characteristic in the first case, Figure 3 (b) shows the target spectrum characteristics in the second case where the spectrum is constant.

[0094] For the receiver noise, it is assumed to be additive white Gaussian noise with a constant power spectrum density, S nn (f) = kT s , where k is the Boltzmann constant, T s =300K is the effective noise temperature.

[0095] (1) Case 1: Strategies of cognitive radar and cognitive jammer under general target spectrum characteristics:

[0096] 1) Cognitive Radar and Cognitive Jammer Steinberg Game and Steinberg Equilibrium

[0097] When the cognitive radar is the leader, the Steinberg equilibrium strategy is as follows Figure 4 As shown. Among them, Figure 4 (a) is the fixed jammer power P J =10W, the radar Steinberg equalization strategy is obtained by changing the energy of the cognitive radar's transmitted waveform. Figure 4 (b) is the fixed radar transmit waveform energy E x =10kJ, the jammer Steinberg equilibrium strategy obtained by changing the jammer power.

[0098] When the jammer is the leader, the strategies of the radar and jammer at Steinberg equilibrium are as follows: Figure 5 As shown. Among them, Figure 5 (a) is the fixed jammer power P J =10W, radar Steinberg equalization strategy obtained by changing the radar transmission waveform energy. Figure 5 (b) is the fixed radar transmit waveform energy E x =10kJ, the jammer Steinberg equilibrium strategy obtained by changing the jammer power.

[0099] (2) Case 2: When the target spectrum is constant, the strategy of the radar and jammer game

[0100] When the target spectrum is constant, the radar strategy and jamming strategy remain unchanged regardless of whether the radar is the leader or the jammer is the leader. Figure 6 As shown in Figure 2, both the radar and the jammer distribute energy / power evenly within the BW band. Therefore, in case 2, a Nash equilibrium exists, and the Nash equilibrium is the same as the Steinberg equilibrium.

[0101] In this embodiment, if Figure 2 As shown, a cognitive radar system is also provided, which includes a cognitive radar, a cognitive jammer, and a waveform generating device respectively configured in the cognitive radar and the cognitive jammer, wherein the waveform generating device is used in the above-mentioned radar optimized waveform generating method.

[0102] In this embodiment, the cognitive radar transmits a radar waveform for target detection, and the cognitive jammer transmits a jamming waveform to prevent the radar from detecting the target. The optimal waveforms used by the radar waveform generator and the jammer waveform generator depend on the dynamic scenario and the target. If, in a dynamic scenario, the cognitive radar is the leader and the cognitive jammer is the follower, the SE strategy with the radar as the leader is adopted, that is, the first optimal waveform generation model described above is adopted. If, in a dynamic scenario, the cognitive jammer is the leader and the cognitive radar is the follower, the SE strategy with the jammer as the leader is adopted, that is, the second optimal waveform generation model described above. If, in a dynamic scenario, the spectrum of the target impulse response and the noise power spectral density are both constant within the detection band, then a Nash equilibrium exists in the game. This application provides the optimal transmission waveforms for the radar and jammer when this Nash equilibrium exists, that is, the third optimal waveform generation model described above.

[0103] In one embodiment, the waveform generator can be used as a processor chip embedded in the cognitive radar and the cognitive jammer, respectively, to calculate the optimal transmitting radar waveform of the cognitive radar and the optimal jamming waveform of the cognitive jammer according to actual conditions, and enable the cognitive radar and the cognitive jammer to transmit to the target to be detected according to the calculated optimal waveforms.

[0104] In one embodiment, the waveform generator can also be independent of the cognitive radar and cognitive jammer's host computer, server, personal computer, or tablet, and can be a terminal device with computing and data processing capabilities, such as a processor. The terminal device communicates with the corresponding cognitive radar and cognitive jammer via wired or wireless communication. After collecting the corresponding parameters, the terminal device calculates the optimal radar transmit waveform or optimal jamming waveform and transmits it to the cognitive radar and cognitive jammer.

[0105] The above radar optimized waveform generation method constructs optimal waveform generation models based on the three game types that may occur in actual situations. The optimal waveform generation model is then selected from each game type to generate the optimal waveform. This makes the calculated optimal waveform more accurate in different situations. This improves the signal-to-noise ratio for cognitive radars, making it easier to detect targets, while reducing the signal-to-noise ratio for cognitive jammers, which can interfere with radars and make it more difficult to detect targets. This application also proposes optimal transmission waveforms for cognitive radars and cognitive jammers when the most common Nash equilibrium exists in actual situations.

[0106] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0107] In one embodiment, Figure 7 As shown, a radar optimized waveform generation device is provided, comprising: an optimal waveform generation model construction module 200, an optimal waveform generation model selection module 210 and an optimal waveform generation module 220, wherein:

[0108] The optimal waveform generation model construction module 200 is used to calculate multiple optimal waveform generation models based on the signal-to-interference-noise ratio as the game payoff function and using the Steinberg game algorithm or the Nash equilibrium algorithm according to different game types;

[0109] The optimal waveform generation model selection module 210 is used to obtain historical data, determine the current game type based on the historical data, and select the corresponding optimal waveform generation model based on the current game type;

[0110] The optimal waveform generation module 220 is configured to obtain current parameter data and generate an optimal radar transmission waveform of the cognitive radar and an optimal jamming waveform of the cognitive jammer based on the optimal waveform generation model according to the current parameter data;

[0111] The current parameter data includes the transmission signal of the cognitive radar, the impulse response signal of the target to be measured, the thermal noise of the cognitive radar receiver, and the cognitive interference transmission power constraint information.

[0112] The specific definition of the radar optimized waveform generation device can be found in the definition of the radar optimized waveform generation method above and will not be repeated here. The various modules in the above-mentioned radar optimized waveform generation device can be implemented in whole or in part through software, hardware, or a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each of the above modules.

[0113] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 8 As shown. The computer device includes a processor, memory, network interface, display screen, and input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a radar optimized waveform generation method is implemented. The display screen of the computer device can be a liquid crystal display or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a key, trackball, or touchpad provided on the computer device housing, or an external keyboard, touchpad, or mouse.

[0114] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0115] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0116] Based on the signal-to-interference-noise ratio as the game payoff function, multiple optimal waveform generation models are calculated using the Steinberg game algorithm or the Nash equilibrium algorithm according to different game types;

[0117] Obtain historical data, determine the current game type based on the historical data, and select the corresponding optimal waveform generation model based on the current game type;

[0118] Acquire current parameter data, and generate an optimal radar transmit waveform of the cognitive radar and an optimal jamming waveform of the cognitive jammer based on the optimal waveform generation model according to the current parameter data;

[0119] The current parameter data includes the transmission energy constraint of the cognitive radar, the impulse response signal of the target to be measured, the thermal noise power spectrum density of the cognitive radar receiver, and cognitive interference transmission power constraint information.

[0120] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0121] The selecting of the corresponding optimal waveform generation model according to the current game type includes:

[0122] When the current game type is that the cognitive radar is the game leader and the cognitive jammer is the game follower, selecting a first optimal waveform generation model;

[0123] When the current game type is that the cognitive jammer is a game leader and the cognitive radar is a game follower, selecting a second optimal waveform generation model;

[0124] When the current game type is a symmetric game between the cognitive radar and the cognitive jammer, the third optimal waveform generation model is selected.

[0125] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0126] The first optimal waveform generation model includes a transmission waveform calculation model and an interference waveform calculation model:

[0127] The transmission waveform calculation model is:

[0128] The interference waveform calculation model is:

[0129] Among them, X r (f) is the Fourier transform information of the optimal transmission signal of the cognitive radar, f is the frequency, λ1′ and λ2 are both Lagrange multiplication factors, H(f) is the Fourier transform information of the impulse response signal of the target to be measured, J r (f) is the optimal jamming waveform of the cognitive jammer, S nn (f) is the power spectral density of the thermal noise of the cognitive radar receiver.

[0130] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0131] The second optimal waveform generation model includes a transmission waveform calculation model and an interference waveform calculation model:

[0132] The emission waveform calculation model is: j (f)| 2 =E x δ(ff i );

[0133] The interference waveform calculation model is: j (f)=max[0,λ4-S nn (f)];

[0134] Among them, X j (f) is the Fourier transform information of the optimal transmission signal of the cognitive radar, f is the frequency, E x is the energy of the waveform emitted by the cognitive radar, J j (f) is the optimal interference waveform of the cognitive jammer, λ4 is the Lagrange multiplication factor, H(f) is the Fourier transform information of the impulse response signal of the target to be measured, S nn (f) is the power spectral density of the thermal noise of the cognitive radar receiver.

[0135] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0136] The third optimal waveform generation model includes a transmission waveform calculation model and an interference waveform calculation model:

[0137] The transmission waveform calculation model is:

[0138] The interference waveform calculation model is:

[0139] Where, X(f) is the optimal radar transmission waveform, E x is the energy of the cognitive radar transmitting signal waveform, J(f) is the optimal interference waveform of the cognitive jammer, P J is the energy of the interference signal of the cognitive jammer, and BW is the frequency band range of the transmitted signal spectrum and the interference signal power spectrum density.

[0140] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0141] Before determining that the game type of the current situation is a symmetric game, Fourier transform information of the impulse response signal of the target to be measured and the power spectral density of the thermal noise of the cognitive radar receiver are calculated;

[0142] If both are constant within the frequency band of the transmitted signal spectrum and the interference signal power spectrum density, then the current game type is determined to be a symmetric game;

[0143] If both are not constant within the frequency band of the transmitted signal spectrum and the interference signal power spectrum density, the first optimal waveform generation model or the second optimal waveform generation model is selected as the robust solution for the current situation.

[0144] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0145] Based on the signal-to-interference-noise ratio as the game payoff function, multiple optimal waveform generation models are calculated using the Steinberg game algorithm or the Nash equilibrium algorithm according to different game types;

[0146] Obtain historical data, determine the current game type based on the historical data, and select the corresponding optimal waveform generation model based on the current game type;

[0147] Acquire current parameter data, and generate an optimal radar transmit waveform of the cognitive radar and an optimal jamming waveform of the cognitive jammer based on the optimal waveform generation model according to the current parameter data;

[0148] The current parameter data includes the transmission energy constraint of the cognitive radar, the impulse response signal of the target to be measured, the thermal noise power spectrum density of the cognitive radar receiver, and cognitive interference transmission power constraint information.

[0149] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0150] The selecting of the corresponding optimal waveform generation model according to the current game type includes:

[0151] When the current game type is that the cognitive radar is the game leader and the cognitive jammer is the game follower, selecting a first optimal waveform generation model;

[0152] When the current game type is that the cognitive jammer is a game leader and the cognitive radar is a game follower, selecting a second optimal waveform generation model;

[0153] When the current game type is a symmetric game between the cognitive radar and the cognitive jammer, the third optimal waveform generation model is selected.

[0154] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0155] The first optimal waveform generation model includes a transmission waveform calculation model and an interference waveform calculation model:

[0156] The emission waveform calculation model is:

[0157] The interference waveform calculation model is:

[0158] Among them, X r (f) is the Fourier transform information of the optimal transmission signal of the cognitive radar, f is the frequency, λ1′ and λ2 are both Lagrange multiplication factors, H(f) is the Fourier transform information of the impulse response signal of the target to be measured, J r (f) is the optimal jamming waveform of the cognitive jammer, S nn (f) is the power spectral density of the thermal noise of the cognitive radar receiver.

[0159] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0160] The second optimal waveform generation model includes a transmission waveform calculation model and an interference waveform calculation model:

[0161] The emission waveform calculation model is: j (f)| 2 =E x δ(ff i );

[0162] The interference waveform calculation model is: j (f)=max[0,λ4-S nn (f)];

[0163] Among them, X j (f) is the Fourier transform information of the optimal transmission signal of the cognitive radar, f is the frequency, E x is the energy of the waveform emitted by the cognitive radar, J j (f) is the optimal interference waveform of the cognitive jammer, λ4 is the Lagrange multiplication factor, H(f) is the Fourier transform information of the impulse response signal of the target to be measured, S nn (f) is the power spectral density of the thermal noise of the cognitive radar receiver.

[0164] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0165] The third optimal waveform generation model includes a transmission waveform calculation model and an interference waveform calculation model:

[0166] The transmission waveform calculation model is:

[0167] The interference waveform calculation model is:

[0168] Where, X(f) is the optimal radar transmission waveform, E x is the energy of the signal waveform transmitted by the cognitive radar, J(f) is the optimal interference waveform of the cognitive jammer, P J is the energy of the interference signal of the cognitive jammer, and BW is the frequency band range of the transmitted signal spectrum and the interference signal power spectrum density.

[0169] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0170] Before determining that the game type of the current situation is a symmetric game, Fourier transform information of the impulse response signal of the target to be measured and the power spectral density of the thermal noise of the cognitive radar receiver are calculated;

[0171] If both are constant within the frequency band of the transmitted signal spectrum and the interference signal power spectrum density, then the current game type is determined to be a symmetric game;

[0172] If both are not constant within the frequency band of the transmitted signal spectrum and the interference signal power spectrum density, the first optimal waveform generation model or the second optimal waveform generation model is selected as the robust solution for the current situation.

[0173] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0174] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0175] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A radar optimized waveform generation method, characterized in that: The method comprises: Based on the signal-to-interference-noise ratio as the game payoff function, a Steinberg game algorithm or a Nash equilibrium algorithm is used to calculate multiple optimal waveform generation models according to different game types, wherein the game types include three game types: a cognitive radar is a game leader and a cognitive jammer is a game follower; a cognitive jammer is a game leader and a cognitive radar is a game follower; and a cognitive radar and a cognitive jammer are symmetric games. Before determining that the current game type is a symmetric game, the Fourier transform information of the impulse response signal of the target to be measured and the power spectral density of the thermal noise of the cognitive radar receiver are also calculated. If both are constant within the frequency band of the transmitted signal spectrum and the interference signal power spectral density, the current game type is determined to be a symmetric game. If both are not constant within the frequency band of the transmitted signal spectrum and the interference signal power spectral density, the first optimal waveform generation model or the second optimal waveform generation model is selected as the robust solution for the current situation. Obtain historical data, determine the current game type based on the historical data, and select the corresponding optimal waveform generation model based on the current game type, including: When the current game type is that the cognitive radar is the game leader and the cognitive jammer is the game follower, a first optimal waveform generation model is selected; the first optimal waveform generation model includes a transmission waveform calculation model and an interference waveform calculation model: The emission waveform calculation model is: ; The interference waveform calculation model is: ; in, is the Fourier transform information of the optimal transmission signal of the cognitive radar, is the frequency, and are all Lagrange multiplication factors, is the Fourier transform information of the impulse response signal of the target to be measured, is the optimal jamming waveform of the cognitive jammer, is the power spectral density of the thermal noise of the cognitive radar receiver; When the current game type is that the cognitive jammer is a game leader and the cognitive radar is a game follower, selecting a second optimal waveform generation model; When the current game type is a symmetric game between the cognitive radar and the cognitive jammer, selecting the third optimal waveform generation model; Acquire current parameter data, and generate an optimal radar transmit waveform of the cognitive radar and an optimal jamming waveform of the cognitive jammer based on the optimal waveform generation model according to the current parameter data; The current parameter data includes the transmission energy constraint of the cognitive radar, the impulse response signal of the target to be measured, the thermal noise power spectrum density of the cognitive radar receiver, and cognitive interference transmission power constraint information.

2. The radar optimized waveform generation method according to claim 1, characterized in that: The second optimal waveform generation model includes a transmission waveform calculation model and an interference waveform calculation model: The emission waveform calculation model is: ; The interference waveform calculation model is: ; in, is the Fourier transform information of the optimal transmission signal of the cognitive radar, is the frequency, is the energy of the waveform emitted by the cognitive radar, , is the optimal jamming waveform of the cognitive jammer, is the Lagrange multiplication factor, is the Fourier transform information of the impulse response signal of the target to be measured, is the power spectral density of the thermal noise of the cognitive radar receiver.

3. The radar optimized waveform generation method according to claim 1, characterized in that: The third optimal waveform generation model includes a transmission waveform calculation model and an interference waveform calculation model: The emission waveform calculation model is: ; The interference waveform calculation model is: ; in, is the optimal radar transmit waveform, is the energy of the signal waveform transmitted by the cognitive radar, is the optimal jamming waveform of the cognitive jammer, is the energy of the cognitive jammer jammer signal, It is the frequency band range of the transmitted signal spectrum and the interference signal power spectrum density.

4. Cognitive radar system, characterized in that The cognitive radar system includes a cognitive radar, a cognitive jammer, and a waveform generating device respectively configured in the cognitive radar and the cognitive jammer, wherein the waveform generating device is used to execute the method according to any one of claims 1 to 3.

5. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

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