An intelligence contribution calculation method and device in multi-radar collaborative detection

Abstract

The present invention discloses a method and device for calculating intelligence contribution in multi-radar collaborative detection, which can calculate the intelligence contribution ratio of radar equipment by using the original radar intelligence data reported by the radar and the target flight parameter track data. First, receive the radar track data and the target flight parameter track data, and calculate the error of the radar detecting the target within the time period of a single batch of target units. Calculate the intelligence contribution weight of the radar within the time period of the unit. Calculate the intelligence contribution value of the radar within the time period of the unit. Calculate the radar contribution value of a single batch of targets, summarize the contribution data of the radar at each track point in the fused track of a single batch of targets, and obtain the fused contribution value of each radar in the fused track of a single batch of targets. Conduct the calculation of the intelligence contribution ratio of multi-target detection radars, and according to the configuration data of the target weights in the combat scenario, weighted summarize the intelligence contribution ratios of the radar equipment to each target to obtain the overall intelligence contribution ratio of each radar equipment in the set combat scenario.

Description

Technical Field

[0001] The present invention relates to the technical field of radar intelligence, and particularly relates to a method and device for calculating intelligence contribution in multi-radar collaborative detection. Background Art

[0002] In the scenario of multi-radar collaborative detection, multiple radar equipments detect and track targets simultaneously or alternately, and report radar intelligence to the combat command agency; the combat command agency uses the radar intelligence networking system to fuse, process and conduct human intervention on the radar intelligence reported by the radar equipments. Factors such as the fusion processing and human intervention behavior of the radar intelligence networking system will all affect the effectiveness of the intelligence.

[0003] Considering the use of the original radar intelligence data reported by the radar and the target flight parameter data, the original intelligence contribution ratio of each radar equipment can be calculated and analyzed to test whether the application of key equipments has achieved the expected effect; at the same time, by calculating the intelligence contribution of the radar equipment in collaborative detection and comparing the fusion contribution of the radar equipment after the fusion processing and human intervention of the radar intelligence networking system, the intelligence processing capabilities of the radar intelligence processing system and radar intelligence processing personnel can be tested and problems existing in intelligence processing can be discovered, so as to support the improvement of the radar intelligence networking system and the improvement of the intelligence processing capabilities of intelligence processing personnel. At present, there is no relevant research report in China. Summary of the Invention

[0004] In view of this, the present invention provides a method and device for calculating intelligence contribution in multi-radar collaborative detection, which can calculate the intelligence contribution ratio of radar equipment by using the original radar intelligence data reported by the radar and the target flight parameter track data.

[0005] To achieve the above object, a method for calculating intelligence contribution in multi-radar collaborative detection of the present invention includes the following steps:

[0006] The first step: Receive radar track data and target flight parameter track data, and calculate the error of the radar detecting the target within the time period of a single batch of target units.

[0007] The second step: Calculate the intelligence contribution weight within the unit time period.

[0008] The third step: Calculate the intelligence contribution value within the unit time period.

[0009] The fourth step: Calculate the radar contribution value of a single batch of targets, summarize the contribution data of the radar at each track point in the fusion track of the single batch of targets, and obtain the fusion contribution value of each radar in the fusion track of the single batch of targets.

[0010] Step 5: Calculate the intelligence contribution ratio of the multi-target detection radar. According to the configuration data of the target weights in the combat scenario, weighted sum up the intelligence contribution ratios of the radar equipment for each target to obtain the overall intelligence contribution ratio of each radar equipment in the set combat scenario.

[0011] Further, calculate the error of the radar-detected target in the unit time period of a single batch of target units. Specifically: Take the complete flight track of a single batch of targets and sequentially divide it into several unit time periods with exactly the same duration. Calculate the error of the radar-detected target in the unit time period, that is, within the unit time period, compare and calculate using the radar track data reported by the radar equipment and the target flight parameter track data. Based on the target flight parameter track, calculate the average position error of each radar equipment detecting the target in the unit time period.

[0012] Further, calculate the intelligence contribution weight of the radar in the unit time period. Specifically: In the unit time period, use the average position error of the intelligence points reported by the radar to calculate the intelligence contribution weight of the radar equipment detecting this batch of targets in the unit time period.

[0013] Further, calculate the intelligence contribution value of the radar in the unit time period. Specifically:

[0014] In the unit time period, use the intelligence contribution weight and the number of radar intelligence points of the radar to calculate the intelligence contribution value of the radar equipment, and perform normalization to obtain the intelligence contribution ratio of the radar equipment in the unit time period.

[0015] Further, calculate the radar contribution value of a single batch of targets. Specifically, take a single batch of targets as the object and calculate the intelligence contribution ratio of each radar detecting this batch of targets.

[0016] Another embodiment of the present invention also provides an intelligence contribution calculation device in multi-radar cooperative detection, including an error calculation module, a weight calculation module, an intelligence contribution value calculation module, a fusion contribution value calculation module, and an overall intelligence contribution ratio calculation module.

[0017] The error calculation module is used to receive radar track data and target flight parameter data and calculate the error of the radar-detected target in the unit time period of a single batch of target units.

[0018] The weight calculation module is used to calculate the intelligence contribution weight of the radar in the unit time period;

[0019] The intelligence contribution value calculation module is used to calculate the intelligence contribution value of the radar in the unit time period.

[0020] The fusion contribution value calculation module is used to calculate the radar contribution value of a single batch of targets, summarize the contribution data of the radar at each track point in the fused track of the single batch of targets, and obtain the fusion contribution value of each radar in the fused track of the single batch of targets.

[0021] The overall intelligence contribution ratio calculation module is used to calculate the intelligence contribution ratio of multi-target detection radars. According to the configuration data of target weights in the combat scenario, it weights and summarizes the intelligence contribution ratio of radar equipment to each target, and obtains the overall intelligence contribution ratio of each radar equipment in the set combat scenario.

[0022] Beneficial effects:

[0023] 1. A method for calculating intelligence contribution in multi-radar cooperative detection provided by the present invention proposes a method for calculating the intelligence contribution ratio of radar equipment by using the original radar intelligence data reported by the radar and the target flight parameter track data. The calculation method proposed by the present invention first proposes an idea for calculating the intelligence contribution of radar equipment in a multi-target detection scenario by using the original radar intelligence data reported by the radar and the target flight parameter track data, excluding the influence of factors such as the fusion processing of the radar intelligence networking system and human intervention in intelligence behavior.

[0024] 2. A method for calculating intelligence contribution in multi-radar cooperative detection provided by the present invention proposes a method for calculating the radar intelligence contribution weight by using the position error data of the targets detected by each radar, solving the problem that it is difficult to quantitatively represent the radar intelligence contribution weight in the scenario of multiple radars detecting the same target;

[0025] 3. A method for calculating intelligence contribution in multi-radar cooperative detection provided by the present invention proposes an idea of calculating by segmenting the time period according to the target, which can effectively achieve the refined calculation of the intelligence contribution of multi-radar detected targets;

[0026] 4. A method for calculating intelligence contribution in multi-radar cooperative detection provided by the present invention comprehensively considers factors such as radar intelligence accuracy and the number of radar intelligence points in the calculation of the intelligence contribution of single-target detection, and the calculation result can truly reflect the operation of radar equipment;

[0027] 5. A method for calculating intelligence contribution in multi-radar cooperative detection provided by the present invention comprehensively considers the influence of the target importance factor on the intelligence contribution of radar equipment, and the calculation result can reflect the comprehensive intelligence contribution of radar equipment in the entire combat scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a design diagram of the intelligence contribution calculation process in multi-radar cooperative detection. DETAILED DESCRIPTION OF THE INVENTION

[0029] The present invention will be described in detail below with reference to the accompanying drawings and by way of examples.

[0030] The calculation of intelligence contribution in multi-radar cooperative detection focuses on realizing the intelligence contribution ratio of radar equipment before the fusion processing of the radar intelligence networking system. In the post-event data processing of drills or training, the original radar intelligence data reported by each radar and the flight parameter data of air targets can be obtained simultaneously. Therefore, it is possible to consider using the radar intelligence data reported by radar equipment and the target flight parameter data obtained afterwards for calculation, and the following technical problems need to be solved:

[0031] 1) When multiple radars detect the same target, there are differences in the detection accuracy of each radar for the target, and its intelligence contribution ratio is positively correlated with the detection accuracy of the radar for the target;

[0032] 2) For any batch of targets, when multiple radars detect the target simultaneously or in succession, there are differences in the number of intelligence points and time periods detected and reported by each radar equipment. It is necessary to comprehensively consider the number of points or time for each radar equipment to detect and track each batch of targets;

[0033] 3) In a combat operation or an important time period, the roles of different targets in combat are different. It is necessary to consider the weight configuration of the targets to evaluate and calculate the comprehensive contribution of each radar equipment in the entire combat operation or important time range.

[0034] The technical solution for calculating the intelligence contribution in multi-radar cooperative detection mainly includes five parts: calculating the radar detection error within the time period of a single batch of target units, calculating the intelligence contribution weight of the radar within the time period of a single batch of target units, calculating the intelligence contribution ratio within the time period of a single batch of target units, calculating the radar intelligence contribution ratio of a single batch of targets, and calculating the radar intelligence contribution ratio of multi-target detection. The specific steps are as follows:

[0035] The first step: Calculate the error of the radar detecting the target within the time period of a single batch of target units. The complete flight track of a single batch of targets is sequentially divided into several unit time periods with exactly the same duration, and the error of the radar detecting the target within the unit time period is calculated. That is, within the unit time period, the radar track data reported by the radar equipment and the target flight parameter track data are used for comparison calculation. Based on the target flight parameter track, the average position error of each radar equipment detecting the target within the unit time period is calculated;

[0036] The second step: Calculate the intelligence contribution weight of the radar within the time period of the unit. Within the time period of the unit, the average position error of the intelligence points reported by the radar is used to calculate the intelligence contribution weight of the radar equipment detecting this batch of targets within the time period of the unit;

[0037] Step 3: Calculate the radar intelligence contribution value within the unit time period. Calculate the intelligence contribution value of the radar equipment using the radar intelligence contribution weight and the radar intelligence points within the unit time period, and perform normalization to obtain the intelligence contribution ratio of the radar equipment within the unit time period;

[0038] Step 4: Calculate the radar contribution value for a single batch of targets (taking a single batch of targets as the object, calculate the intelligence contribution ratio of each radar to the detection of this batch of targets), summarize the contribution data of the radars at each track point in the fused track of the single batch of targets, and obtain the fused contribution value of each radar in the fused track of the single batch of targets;

[0039] Step 5: Calculate the radar intelligence contribution ratio for multi-target detection. According to the configuration data of the target weights in the combat scenario, weighted summarize the intelligence contribution ratios of the radar equipment to each target to obtain the overall intelligence contribution ratio of each radar equipment in the set combat scenario.

[0040] (1) Calculation of the radar detection error of a single batch of targets within the unit time period

[0041] For the calculation of the radar detection error of a single batch of targets within the unit time period, taking the flight parameter track of each batch of targets as the object, sequentially divide its flight process into several unit time periods with the same duration to obtain the set of track unit time periods HT = {T 1 , T 2 , … T n}. For any unit time period T = [t 1 , t 2 ), calculate the average position error between the radar intelligence reported by each radar equipment and this flight parameter track. The specific steps are as follows:

[0042] Step 001: Obtain the target flight parameter track H A , and correspondingly load the set of radar tracks H R = {H r1 , H r2 , … H rm}

[0043] Step 002: Load the set of track points of the target flight parameter track H A within the time period T = [t 1 , t 2 ):

[0044] P A = {P A1 , P A2 , … P As}

[0045] Step 003: For each batch of tracks H A in the set of radar tracks H R associated with the target flight parameter track Hrj (1 ≤ j ≤ m), load track H rj At T = [t 1 , t 2 ), the set of radar track points P r = {P r1 , P r2 , … P rk}.

[0046] Step 004: Traverse the set of radar track points P r = {P r1 , P r2 , … P ru} for each track point P rk (1 ≤ k ≤ u), take the time T rk of the track point P rk , then find the track point P A with time T rk in the set of target flight parameter track points P At (1 ≤ t ≤ s), and then calculate the planar position error E rk between the radar track point P At and the target flight parameter track point P rk based on the coordinate information (longitude, latitude, not considering altitude) of the radar track point P At and the target flight parameter track point P rk ;

[0047] Step 005: According to the position error E rk of each radar track point, summarize and calculate the average detection error of the radar track H 1 on the target flight parameter track H 2 during T = [t rj , t A ):

[0048]

[0049] Step 006: After the above steps are calculated, the position errors of each radar detection track on the target flight parameter track H0 during T = [t 1 , t 2 ) are obtained as follows:

[0050] E RT = {E 1 , E 2 , …, E x}

[0051] where x ≤ m, and there is a situation where some radar tracks have no track points during T = [t 1 , t 2 ).

[0052] Step 007: Repeat Steps 001 - 006 to complete the calculation of the radar detection error evaluation for all fused tracks.

[0053] It should be noted that in Step 004, according to the track point P rk at time T rk , when searching for the track point with time T A in the set P rk of the target flight parameter track points, if there is no track point with time T A in the set P rk , then take the track point in the set P A that is closest to time T rk ;

[0054] Since there are differences in the altitude measurement capabilities of different models of radar equipment and the altitude measurement data is unstable, the altitude factor is not considered when calculating the deviation.

[0055] (2) Calculation of the radar intelligence contribution weight within the time period of a single batch of target units

[0056] Based on the position error result E RT = {E 1 , E 2 , …, E x} of the radar track relative to the target flight parameter track within the unit time period calculated according to the step "(1) Calculation of the radar detection error within the unit time period of a single batch of targets", estimate the radar intelligence contribution weight within the unit time period. The specific method is as follows:

[0057] Obtain the minimum error E RT from the radar track position error result E 1 = {E 2 , …, E x}. According to the principle that the sum of the total weights is 1 and the higher the position accuracy, the greater the fusion weight, conduct a horizontal comparison and normalization of the radar track position errors, that is: min Set the weight of the radar with the minimum position error as A, then the weights of other radars are:

[0058]

[0059]

[0060] Perform normalization processing:

[0061]

[0062] Solve to obtain:

[0063]

[0064] ​The intelligence contribution weights of each radar within the computing unit time period are as follows:

[0065] W R ={W 1 ,W 2 ,…,W x}

[0066] For the radars without corresponding track point data within the unit time period T = [t 1 ,t 2 ), set their intelligence contribution weights to 0, and obtain the intelligence contribution weights of all radars within the unit time period as:

[0067] W R-ALL ={W 1 ,W 2 ,…,W m}

[0068] When performing intelligence fusion when there is only one radar with corresponding target track data within the unit time period T = [t 1 ,t 2 ), the intelligence contribution weight of this one radar calculated through the above calculation method is 1.0; when there are multiple radars, the sum of the intelligence contribution weight coefficients of each radar calculated through the above calculation method is 1.0.

[0069] (3) Calculation of the intelligence contribution ratio within the unit time period of a single batch of targets

[0070] Within the unit time period of a single batch of targets, calculate the intelligence contribution ratio of each radar for this single batch of targets according to the intelligence contribution weight of the radar and the number of intelligence points reported by the radar. The specific steps are as follows:

[0071] Step 001: For the target flight parameter track H A , correspondingly load the radar track set H R ={H r1 ,H r2 ,…H rm} associated with this target flight parameter track, and count the number of track points reported by each radar within the time period T = [t 1 ,t 2 ):

[0072] V R ={V r1 ,V r2 ,…V rx}

[0073] Step 002: Calculate the intelligence contribution value of each radar within the time period T = [t 1 ,t 2 ):

[0074] CR = W R* V R = {W 1 * V r1 , W 2 * V r2 , …, W x * V rx}}

[0075] Among them, the intelligence contribution value C of a single radar Rj is as follows:

[0076] C Rj = W j * V rj

[0077] For a radar without corresponding track point data within the unit time period T = [t 1 , t 2 ), its number of track points is 0.

[0078] Therefore, the intelligence contribution values of all radars within the unit time period are:

[0079] C R-ALL = W R* V R = {W 1 * Vr1, W 2 * V r2 , …, W m * V rm}}

[0080] Step 004: Normalize the intelligence contribution values of each radar within the time period T = [t 1 , t 2 ), and take

[0081]

[0082] to obtain the intelligence contribution ratio of each radar within T = [t 1 , t 2 ) as:

[0083] D R = {L × C R1 , L × C R2 , …, L × C Rm}}

[0084] (4) Calculation of the intelligence contribution ratio of the radar for a single batch of targets

[0085] For the flight parameter track H of a single batch of targets A , the set of track unit time periods HT = {T 1 , T 2 , … T n}, repeat steps (1), (2), and (3) to calculate the intelligence contribution ratio of all radars for each unit time period. If the set P of radar track points of all radar tracks associated with the target flight parameter track is r all zero in a certain unit time period, then this unit time period T is counted as an invalid time period.

[0086] For the target flight parameter track H A After removing the invalid time periods from the track unit time period set HT of the target, the intelligence contribution ratio of all radars in each unit time period is obtained:

[0087] D T ={D TR1 ,D TR2 ,…,D TRz}

[0088] Calculate the intelligence contribution ratio G of each radar for this target Hj as:

[0089]

[0090] According to the above calculation relationship, the intelligence contribution ratio G of each radar to a single batch of targets Hj satisfies:

[0091]

[0092] (5) Calculation of the intelligence contribution ratio of multi-target detection radars

[0093] Repeat the previous steps (1), (2), (3), and (4) to complete the calculation of the radar intelligence contribution ratio for each target in the combat scenario.

[0094] According to the target weight coefficient F = {f 1 ,f 2 ,…,f v} set in the combat scenario, and the radar intelligence contribution ratio G of each radar to all target flight parameter tracks Hf ={G Hf1 ,G Hf2 ,G Hf3 ,…,G Hfv}, the overall intelligence contribution ratio of each radar in multi-target detection can be summarized as:

[0095] H j = f 1 * G Hf1 + f 2 * G Hf2 +…+ f v * G Hfv

[0096] According to the above calculation relationship, it can be determined that in the multi-target detection combat scenario, the intelligence contribution ratios of each radar satisfy:

[0097]

[0098] It should be noted that in the calculation of the multi-target detection intelligence contribution ratio, generally, a time range and a key batch or multiple batches of targets are used as conditions to determine the target flight parameter dataset and radar intelligence dataset for evaluation and calculation, and the intelligence contribution ratios of multiple radars for collaborative detection of multiple targets are calculated.

[0099] Another embodiment of the present invention also provides an intelligence contribution calculation device in multi-radar collaborative detection, including an error calculation module, a weight calculation module, an intelligence contribution value calculation module, a fusion contribution value calculation module, and an overall intelligence contribution ratio calculation module.

[0100] The error calculation module is used to receive radar track data and target flight parameter data and calculate the error of the radar detecting the target within the unit time period of a single batch of target units.

[0101] The weight calculation module is used to calculate the radar intelligence contribution weight within the unit time period;

[0102] The intelligence contribution value calculation module is used to calculate the radar intelligence contribution value within the unit time period.

[0103] The fusion contribution value calculation module is used to calculate the radar contribution value of a single batch of targets, summarize the contribution data of each radar at each track point in the fusion track of a single batch of targets, and obtain the fusion contribution value of each radar in the fusion track of a single batch of targets.

[0104] The overall intelligence contribution ratio calculation module is used to calculate the radar intelligence contribution ratio in multi-target detection, and according to the configuration data of the target weights in the combat scenario, weighted summarize the intelligence contribution ratios of the radar equipment to each target to obtain the overall intelligence contribution ratio of each radar equipment in the set combat scenario.

[0105] Each functional module in this intelligence contribution calculation device is used to implement the foregoing intelligence contribution calculation method.

[0106] The above device can be implemented in a computer storage medium. Computer instructions are stored on this storage medium for implementing the above functional modules. This storage medium is computer-readable, and when the instructions are executed by a processor, the functional modules in the foregoing intelligence contribution calculation device can be implemented.

[0107] The above device can also be an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the functional modules in the foregoing intelligence contribution calculation device are implemented.

[0108] In summary, the above are only the preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for calculating intelligence contribution in multi-radar collaborative detection, characterized in that, it includes the following steps: The first step: Receive radar track data and target flight parameter track data, and calculate the error of radar detecting targets within the time period of a single batch of target units; The second step: Calculate the intelligence contribution weights of radars within the time period of the unit, and obtain the intelligence contribution weights of each radar within the time period of the unit; The third step: Within the time period of a single batch of targets, calculate the intelligence contribution value of the radar within the time period according to the intelligence contribution weight of the radar and the number of intelligence points reported by the radar; Normalize the intelligence contribution values of each radar within the time period, and calculate the intelligence contribution ratio of each radar within the time period of this single batch of targets; The fourth step: Repeat the first step to the third step, calculate the intelligence contribution ratios of all radars in each time period of a single batch of targets, and obtain the intelligence contribution ratios of all radars in each time period; Calculate the intelligence contribution ratio of each radar to a single batch of targets; The fifth step: Calculate the intelligence contribution ratio of multi-target detection radars: Calculate the intelligence contribution ratio of each radar equipment to a single batch of targets one by one for multiple batches of targets in the combat scenario, and then, according to the configuration data of target weights in the combat scenario, weighted sum the intelligence contribution ratios of the radar equipment to each target to obtain the overall intelligence contribution ratio of each radar equipment in the set combat scenario.

2. The method according to claim 1, characterized in that, the calculation of the error of radar detecting targets within the time period of a single batch of target units is specifically: Using the complete flight track of a single batch of targets, sequentially divide it into several unit time periods with exactly the same duration, and calculate the error of radar detecting targets within the unit time period, that is, within the unit time period, compare and calculate using the radar track data and target flight parameter track data reported by the radar equipment, and take the target flight parameter track as the benchmark to calculate the average position error of each radar equipment detecting the target within the unit time period.

3. The method according to claim 1 or 2, characterized in that, the calculation of the intelligence contribution weights of radars within the time period of the unit is specifically: Within the time period of the unit, use the average position error of the intelligence points reported by the radar to calculate the intelligence contribution weight of the radar equipment detecting this batch of targets within the time period of the unit.

4. An intelligence contribution calculation device in multi-radar collaborative detection, characterized in that, it includes an error calculation module, a weight calculation module, an intelligence contribution ratio calculation module, a fusion contribution ratio calculation module, and an overall intelligence contribution ratio calculation module; The error calculation module is used to receive radar track data and target flight parameter data, and calculate the error of radar detecting targets within the time period of a single batch of target units; The weight calculation module is used to calculate the intelligence contribution weights of radars within the time period of the unit, and obtain the intelligence contribution weights of each radar within the time period of the unit; The intelligence contribution ratio calculation module is used to calculate the intelligence contribution ratio of the radar within the time period of the unit, including: within the time period of a single batch of targets, calculate the intelligence contribution value of the radar within the time period according to the intelligence contribution weight of the radar and the number of intelligence points reported by the radar; Normalize the intelligence contribution values of each radar within a unit time period, and calculate the intelligence contribution ratios of each radar for the single batch of targets within the unit time period; The fusion contribution ratio calculation module is used to calculate the intelligence contribution ratios of all radars for each unit time period of a single batch of targets, so as to obtain the intelligence contribution ratios of all radars within each unit time period; calculate the intelligence contribution ratios of each radar for the single batch of targets; The overall intelligence contribution ratio calculation module is used to calculate the intelligence contribution ratios of multi-target detection radars. For each batch of targets in the combat scenario, calculate the intelligence contribution ratios of each radar equipment for a single batch of targets one by one, and then, according to the configuration data of the target weights in the combat scenario, weighted aggregate the intelligence contribution ratios of the radar equipment for each target to obtain the overall intelligence contribution ratios of each radar equipment in the set combat scenario.

Images