Group target radar detection and identification method and system, electronic device and storage medium
By marking and grouping suspicious target groups at radar stations, and combining gridded processing and multi-station radar information exchange, the problem of limited detection performance of traditional radar when detecting UAV swarm targets has been solved, and effective identification and accurate detection of multiple targets have been achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- 四川九洲防控科技有限责任公司
- Filing Date
- 2023-01-19
- Publication Date
- 2026-07-10
AI Technical Summary
Traditional radars struggle to effectively detect swarms of drones, especially under conditions of weak scattering signals and strong clutter interference, which limits their detection performance. Furthermore, traditional angle measurement methods cannot effectively distinguish between multiple targets.
By marking and grouping suspicious targets at each radar station, combining range and azimuth dimension gridding processing, extracting pulse compression signals, and performing clutter and zero-frequency processing, target matching and fusion are performed using multi-station radar information interaction to improve azimuth resolution.
It improves the radar's detection performance against swarm targets, solves the problem of azimuth resolution of multiple targets within the same range cell, and enhances the signal-to-noise ratio and detection accuracy.
Smart Images
Figure CN116087980B_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of radar detection, specifically relating to a method, system, electronic device and storage medium for radar detection and identification of group targets. Background Technology
[0002] In recent years, drone swarm warfare has emerged as a novel combat mode on the battlefield, posing increasingly higher demands on future defense systems. Currently, counter-drone swarm warfare systems propose a multi-pronged approach combining reconnaissance, defense, jamming, interception, and strike capabilities, featuring tiered deployment, ring coverage, and rapid response. However, drone swarm targets generally exhibit weak scattered signals due to their smaller RCS (Radar Cross Section) and closer formation spacing compared to conventional targets, increasing the difficulty of radar detection and tracking. Furthermore, traditional radars often employ single-pulse and difference amplitude methods for angle measurement of conventional targets. This method has limited ability to detect multiple targets within a single beamwidth at equal distances, thus restricting the detection performance of traditional radars against swarm targets. Moreover, in existing deconvolution azimuth high-resolution techniques, performance degrades when the target's azimuth echo signal is interfered with by strong clutter and noise, necessitating clutter suppression to improve the signal-to-noise ratio. Summary of the Invention
[0003] Based on the above technical problems, this application proposes a method, system, electronic device and storage medium for radar detection and identification of group targets.
[0004] Firstly, this application proposes a method for detecting and identifying group targets using radar, comprising the following steps:
[0005] Suspicious groups of targets are marked in the images detected by each radar station;
[0006] Based on the movement speed of each suspicious target, the marked suspicious groups of targets are grouped.
[0007] Based on the distance and azimuth dimensions, the areas where the grouped suspicious targets appear in the detection images of each radar station are gridded to obtain multiple grid cells.
[0008] Extract the pulse compression signal of each suspicious target in the grid cell;
[0009] The pulse compression signals of multiple suspicious targets in the grid cell are processed for identification of multiple targets at equal distances to obtain the initial identification results of the current radar station;
[0010] The initial identification results of all radar stations are matched with the same suspicious target in different directions to obtain the final identification results of the suspicious group of targets.
[0011] The step of grouping the marked suspicious targets based on the movement speed of each suspicious target includes: grouping suspicious targets with the same movement speed into a group to obtain the grouped suspicious targets.
[0012] The step of performing gridding processing on the areas where the grouped suspicious target groups appear in the detection images of each radar station according to the distance and azimuth dimensions includes the following steps:
[0013] The distance value corresponding to the moment when the suspicious group of targets appears is taken as the starting point of the distance dimension. Based on the movement speed of the suspicious group of targets and the observation time of the suspicious group of targets, the distance value corresponding to the end point of the distance dimension is calculated.
[0014] The starting point of the location is the location corresponding to the time when the suspicious group of targets appears, and the ending point is the location corresponding to the time when the suspicious group of targets disappears.
[0015] In the region between the start and end points of the distance dimension, and in the region between the start and end points of the azimuth dimension, the areas in the detection images of each radar station after grouping of suspicious target groups are gridded using preset distance units and azimuth units, respectively. The smallest unit after gridding is a grid unit, which is the area enclosed by the distance unit and the adjacent azimuth unit.
[0016] The process of identifying multiple suspicious targets at equal distances using pulse compression signals within a grid cell to obtain the initial identification results for the current radar station includes the following steps:
[0017] Clutter removal processing is performed on the pulse compression signals of multiple suspected targets in the grid cell;
[0018] The Doppler frequency of the pulse compression signal after clutter removal is moved to zero.
[0019] The pulse compression signal after zero-frequency processing is subjected to multiple target identification processing at equal distances to obtain the initial identification results of the current radar station.
[0020] The process of identifying multiple targets at equal distances by processing the pulse compression signal after zero-frequency processing includes: identifying multiple targets in the same distance cell within a beamwidth by deconvolution in the frequency domain.
[0021] The process of matching the initial identification results of all radar stations with the same suspicious target in different orientations includes the following steps:
[0022] Step S6.1: If a radar station identifies the same suspicious target as two targets, then the same suspicious target is identified as two targets;
[0023] Step S6.2: For radar stations that identify the same suspicious target as one target, copy the same suspicious target in the grid cell of the radar station, so that all radar stations get two targets;
[0024] Step S6.3: Standardize the target measurement values of the two targets;
[0025] Step S6.4: Based on the standardized target measurement values, perform multi-target batching on the two targets to obtain the batched results;
[0026] Step S6.5: Based on the batched results, the measurement values of all targets matched as the same target after batching are weighted and fused to obtain the final target identification result;
[0027] Step S6.6: Process all suspicious target groups according to steps S6.1 to S6.5 to obtain the final suspicious target group identification results.
[0028] The existence of a radar station identifying the same suspicious target as two targets after fusion includes the following situations:
[0029] If one radar station identifies a target in the same range cell within the same beamwidth, while another radar station identifies the same target as two targets in different range cells within the same beamwidth, then the same suspected target is identified as two targets.
[0030] If one radar station identifies one target within the same range cell of the same beamwidth, while another radar station identifies the same target as two targets within the same range cell of different beamwidths, then the same suspected target is identified as two targets.
[0031] Secondly, this application proposes a group target radar detection and identification system, including: a group target marking module, a group target grouping module, a gridding processing module, a pulse compression signal extraction module, a target identification module, and an information fusion module;
[0032] The target group marking module is used to mark suspicious target groups in the images detected by each radar station;
[0033] The target grouping module is used to group marked suspicious targets based on the movement speed of each suspicious target.
[0034] The gridding processing module is used to perform gridding processing on the areas in the detection images of each radar station after grouping suspicious group targets according to the distance dimension and the azimuth dimension, so as to obtain multiple grid cells;
[0035] The pulse compression signal extraction module is used to extract the pulse compression signal of each suspicious target in the grid cell;
[0036] The target identification module is used to perform equidistant identification processing on the pulse compression signals of multiple suspicious targets in the grid cell to obtain the initial identification result of the current radar station.
[0037] The information fusion module is used to perform target matching of the same suspicious target in different directions using the initial identification results of all radar stations, so as to obtain the final identification result of the suspicious group target.
[0038] Thirdly, this application proposes an electronic device, comprising: one or more processors, and a memory storing instructions that, when executed by the one or more processors, cause the one or more processors to perform the group target radar detection and identification method as described above.
[0039] Fourthly, this application proposes a storage medium storing executable instructions that, when executed, cause a machine to perform the group target radar detection and identification method described above.
[0040] Beneficial technical effects:
[0041] This application proposes a method, system, electronic device, and storage medium for detecting and identifying swarm targets using radar. It helps to solve the problem of difficulty in resolving the azimuth of multiple targets within one beamwidth on an equidistant cell. The process is of reference value for improving the azimuth resolution of single-station radars. It improves the radar's performance in detecting swarm targets. The method has low computational complexity and is easy to implement in engineering. Attached Figure Description
[0042] Figure 1 This is a flowchart of a group target radar detection and identification method according to an embodiment of this application;
[0043] Figure 2 This is a flowchart illustrating the meshing process in an embodiment of this application.
[0044] Figure 3 This is a schematic diagram of the meshing process in an embodiment of this application;
[0045] Figure 4 This is a schematic diagram showing the azimuth resolution result of three equally spaced targets within one beamwidth of an embodiment of this application.
[0046] Figure 5 This application embodiment illustrates information observation of the same suspicious target by multiple radar stations;
[0047] Figure 6 This is a schematic diagram of a group target radar detection and identification system according to an embodiment of this application. Detailed Implementation
[0048] The present application will be further described below with reference to the embodiments shown in the accompanying drawings.
[0049] In recent years, drone swarm warfare has emerged as a novel combat mode on the battlefield, posing increasingly higher demands on future defense systems. Currently, counter-drone swarm warfare systems propose a multi-pronged approach combining reconnaissance, defense, jamming, interception, and strike capabilities, featuring tiered deployment, ring coverage, and rapid response. However, drone swarm targets generally exhibit weak scattered signals due to their smaller RCS (Radar Cross Section) and closer formation spacing compared to conventional targets, increasing the difficulty of radar detection and tracking. Furthermore, traditional radars often employ single-pulse and difference amplitude methods for angle measurement of conventional targets. This method has limited ability to detect multiple targets within a single beamwidth at equal distances, thus restricting the detection performance of traditional radars against swarm targets. Moreover, in existing deconvolution azimuth high-resolution techniques, performance degrades when the target's azimuth echo signal is interfered with by strong clutter and noise, necessitating clutter suppression to improve the signal-to-noise ratio.
[0050] The existing technology has the following problems: First, conventional monopulse and differential amplitude radars have limited performance when detecting multiple targets within the same range cell within a single beamwidth, and do not have the advantage of detecting swarm targets. Therefore, it is necessary to improve the azimuth resolution of single-station radars. Second, when the target azimuth echo signal is interfered with by strong clutter and noise, the performance of the deconvolution azimuth high-resolution method degrades, and clutter suppression is required to improve the signal-to-noise ratio. Third, the deconvolution azimuth high-resolution method is simple and easy to implement, but it is greatly affected by the target echo signal-to-noise ratio, and the improvement in azimuth resolution is limited. Therefore, other means can be considered as supplementary methods to achieve information interaction and fusion, and further improve the radar's detection performance against swarm targets.
[0051] Theoretical analysis shows that the target echo signal received by radar is obtained by convolving the target azimuth signal with the horizontal information of the antenna pattern. Theoretically, the target azimuth signal can be reconstructed using convolution inversion. Multi-station radar can observe the same target from different angles. Through target area management and information fusion between multiple stations, the radar's detection performance can be significantly improved. Based on the above technical issues, this application proposes a method, system, electronic equipment, and storage medium for group target radar detection and identification, integrating the high azimuth resolution of single-station radar with information interaction from multiple stations to address group target radar detection strategies.
[0052] Example 1:
[0053] This embodiment proposes a method for detecting and identifying group targets using radar, such as... Figure 1 As shown, it includes the following steps:
[0054] Step S1: Mark suspicious target groups in the images detected by each radar station;
[0055] When radar detects a suspicious target, the suspicious group of targets is first marked in the detection images of each radar station.
[0056] Step S2: Group the marked suspicious targets based on the movement speed of each suspicious target;
[0057] Based on the movement speed of each suspicious target, suspicious targets with the same movement speed are grouped together to obtain grouped suspicious targets. Each group of suspicious targets is then monitored and managed in real time.
[0058] Step S3: Based on the range and azimuth dimensions, the areas where the grouped suspicious targets appear in the detection images of each radar station are gridded to obtain multiple grid cells, such as... Figure 2 As shown, it includes the following steps:
[0059] Step S3.1: Using the distance value corresponding to the moment when the suspicious group of targets appears as the starting point of the distance dimension, calculate the distance value corresponding to the end point of the distance dimension based on the movement speed of the suspicious group of targets and the observation time of the suspicious group of targets;
[0060] Step S3.2: Take the azimuth value corresponding to the time when the suspicious group of targets appears as the starting point of the azimuth, and take the azimuth value corresponding to the time when the suspicious group of targets disappears as the ending point of the azimuth;
[0061] The grid-based processing needs to be determined based on the distance and azimuth coverage of the suspected target group. Specifically: in the azimuth dimension, it is based on the azimuth θ at the time the suspected target appears. s Starting from the position θ at the time of its disappearance. e The endpoint is defined as the distance R at the moment the suspicious target appears; in the distance dimension, the endpoint is defined as the distance R at the moment the suspicious target appears. s The starting point is R, and the ending point is R. e =R s +vt, where v is the movement speed of the suspicious target group and t is the observation time of the suspicious target group.
[0062]
[0063] Where w is the radar rotation speed.
[0064] The radar range resolution is calculated using the following method:
[0065] dR = c / 2B
[0066] Where dR is the radar range resolution, c is the electromagnetic wave propagation speed, and B is the radar bandwidth; the radar 3dB beamwidth is taken.
[0067] Step S3.3: In the region between the start and end points of the range dimension, and in the region between the start and end points of the azimuth dimension, the areas where the grouped suspicious targets appear in the detection images of each radar station are gridded using preset range units and azimuth units, respectively. The smallest unit after gridding is a grid unit, which is the area enclosed by the range unit and the adjacent azimuth unit, such as... Figure 3 As shown.
[0068] Step S4: Extract the pulse compression signal of each suspicious target in the grid cell;
[0069] like Figure 3 As shown, assuming Figure 3 Six targets are considered a suspected target group, spanning four range cells and three azimuth cells. In high-resolution processing by a single-station radar, the suspected target group is processed separately for each range cell.
[0070] S4.1: Positioning unit [θ] s ,θ e The radar echo signal on the [ ] is orthogonally sampled and then pulse compressed to obtain a range-azimuth two-dimensional matrix, the result of which is denoted as s;
[0071] S4.2: In the distance cell [R s ,R e On the [top], the pulse compression signal of each suspicious target is extracted according to the distance unit, and the result is recorded as y. d y d That is, the distance unit i located in the azimuth unit [θ] s ,θ e The pulse pressure signal.
[0072] Step S5: Perform equidistant multi-target identification processing on the pulse compression signals of multiple suspicious targets in the grid cell to obtain the initial identification results of the current radar station, including the following steps:
[0073] Step S5.1: Perform clutter removal processing on the pulse compression signals of multiple suspicious targets in the grid cell;
[0074] This embodiment uses the pulse compression signal y d Clutter removal and signal-to-noise ratio improvement include the following steps:
[0075] First, design a bandpass FIR filter with a controllable center frequency, the passband range of which depends on the speed resolution requirements. Assuming the passband width is aHz, design a low-pass FIR filter in the 0-fr frequency band (fr is the radar pulse repetition frequency), with a cutoff frequency of a / 2Hz.
[0076] Secondly, based on the target's Doppler frequency fd The filter order N gives a set of pilot vectors exp(j2πf) d kT), k=0,1,2,...,N-1.
[0077] Finally, by multiplying the low-pass filter coefficients by the pilot vector, the center frequency f can be obtained. d A bandpass FIR filter is used to compress the pulse signal y. d With a center frequency of f d A bandpass FIR filter is used to obtain the echo signal y′ after clutter removal. d .
[0078] Step S5.2: Move the Doppler frequency of the clutter-removed pulse compression signal to zero frequency;
[0079] The formula for calculating the pulse compression signal after clutter removal is as follows:
[0080] y=y′ d exp(-j2πf d nT)
[0081] Where n is the number of pulses, j is the imaginary part, T is the pulse repetition period, and f d y represents the target Doppler frequency and y represents the pulse compression signal after clutter removal.
[0082] Step S5.3: Perform multiple target identification processing at equal distances on the pulse compression signal after zero-frequency processing to obtain the initial identification result of the current radar station. The calculation formula is as follows:
[0083] X(ω)=Y(ω)·H(ω),
[0084] Where H(ω) is the initial identification result of the current radar station, and Y(ω) is the Fourier transform of the signal y. G represents the estimated coordinates of a suspicious target within a grid cell, and G(ω) is the Fourier transform of the antenna direction. * (ω) is the complex conjugate of G(ω), α is the adjustment factor, and SNR is the signal-to-noise ratio of the target echo signal y.
[0085] The step of performing equidistant target identification processing on the pulse compression signal after zero-frequency processing includes: achieving the identification of multiple targets within the same distance cell within one beamwidth through deconvolution in the frequency domain. In this embodiment, as... Figure 4 The image shows the azimuth resolution of three targets at equal distances within a single radar station when the movement speed of a group of suspected targets is v = 10 m / s.
[0086] Step S6: Perform target matching on the same suspicious target in different directions based on the initial identification results of all radar stations to obtain the final identification results of the suspicious group targets.
[0087] The process of matching the initial identification results of all radar stations with the same suspicious target in different orientations includes the following steps:
[0088] Step S6.1: If a radar station identifies the same suspicious target as two targets, then the same suspicious target is identified as two targets;
[0089] Step S6.2: For radar stations that identify the same suspicious target as one target, copy the same suspicious target in the grid cell of the radar station, so that all radar stations get two targets;
[0090] Step S6.3: Standardize the target measurement values of the two targets;
[0091] Each radar station detects many targets, and all radar detection information (i.e. target measurement values) needs to be transformed into coordinate information relative to the same reference, which is the station location coordinates of the command center or fusion center.
[0092] Step S6.4: Based on the standardized target measurement values, perform multi-target batching on the two targets to obtain the batched results;
[0093] Multi-target batching can be done manually or automatically. Its main purpose is to overcome the influence of various interference factors and make full use of target measurement values, including range, azimuth, elevation, and velocity. The affiliation of each batch of suspicious targets is determined by channel thresholds, namely, setting range threshold, azimuth threshold, elevation threshold, and velocity threshold. If the target measurement value of the radar station is less than the above threshold, the two targets are the same target. Batching is to prepare for fusion processing.
[0094] Step S6.5: Based on the batched results, the measurement values of all targets matched as the same target after batching are weighted and fused to obtain the final target identification result;
[0095] Step S6.6: Process all suspicious target groups according to steps S6.1 to S6.5 to obtain the final suspicious target group identification results.
[0096] The existence of a radar station identifying the same suspicious target as two targets after fusion includes the following situations:
[0097] If one radar station identifies a target in the same range cell within the same beamwidth, while another radar station identifies the same target in different range cells within the same beamwidth as two targets, then the same suspected target is identified as two targets.
[0098] If one radar station identifies one target within the same range cell of the same beamwidth, while another radar station identifies the same target as two targets within the same range cell of different beamwidths, then the same suspected target is identified as two targets.
[0099] In this embodiment, considering that swarm targets maintain a relatively strict formation and have little lateral maneuvering when not performing an attack mission, this characteristic is utilized to fuse observation information of the same suspicious target from multiple radar stations at different angles. This achieves spatial conversion between the radar's lateral resolution (azimuth dimension) and the longitudinal resolution (range dimension) of other radar stations, which helps improve the radar's detection performance against swarm targets. Specifically, as follows:
[0100] like Figure 5 As shown, cells 1-12 represent the gridded processing areas for suspected swarm targets A and B. A and B are two targets within the same range cell of radar station 1 within one beamwidth. Typically, radar station 1 can only observe one target at this time, meaning it cannot distinguish suspected target A and suspected target B as two targets. However, for radar station 2, suspected target A and suspected target B are two targets within the same beamwidth of the radar station but at different range cells, making them easily detectable as two targets by radar station 2. Considering that radar range resolution enhancement methods are more abundant than azimuth resolution enhancement methods, the detection of swarm targets can fully utilize the range resolution of multi-station radars.
[0101] (1) If the observation results of radar station 1 are processed by the high resolution in step S5, the initial identification results of radar station 1 are obtained: suspicious target A and suspicious target B can be identified as two targets. At the same time, since radar station 2 also detects that there are two targets, suspicious target A and suspicious target B, in grid cells 6 and 7 through the range cell, it can be confirmed that grid cells 6 and 7 are two targets instead of one target.
[0102] (2) If the observation results of radar station 1 are processed using the high-resolution method in step S5, the initial identification result of radar station 1 is obtained: suspicious target A and suspicious target B are not identified as two targets, but radar station 2 detects two targets, A and B, in grid cells 6 and 7 through range cell resolution. At this time, it is confirmed that grid cells 6 and 7 are two targets instead of one target. The weighted fusion of all target measurements matched as the same target after batching is performed to obtain the final target identification result. The following weighted fusion is achieved by measuring the same target at the same time from different radar stations to improve the detection accuracy of suspicious target groups:
[0103]
[0104] Where Z represents the fused value of different radars corresponding to the same target at the same time, R represents the fused value of the measurement error corresponding to the state variable, and Z1, Z2, ..., Zn N For measurements of the same target by different radars at the same time, R1, R2...R N This represents the measurement error corresponding to the state variable.
[0105] Based on the above methods, multi-station radar observations of the same target from different angles and information fusion can help improve the radar's detection performance against swarm targets.
[0106] This embodiment proposes a method for detecting and identifying swarm targets using radar. By using range and azimuth dimensions, the regions in the detection images of each radar station after grouping are gridded to obtain multiple grid cells. Then, the pulse compression signals of multiple suspicious targets within each grid cell are used for identification of multiple targets at equal distances, yielding the initial identification result for the current radar station. However, this initial identification result has limitations. When A and B are two targets within the same range cell across one beamwidth of radar station 1, using the above identification method, radar station 1 can only observe one target, meaning it cannot distinguish suspicious target A and suspicious target B as two targets. Therefore, this application utilizes information exchange between multiple radar stations to obtain the number of swarm targets. Data fusion is used to improve the detection accuracy of the swarm target motion state, such as range, azimuth, and elevation information. This application solves the problem of difficult azimuth resolution of multiple targets within one beamwidth across the same range cell, improving the radar's detection performance for swarm targets. This embodiment is of reference value for improving the azimuth resolution of single-station radar; it provides a technical approach to solve the problem of low detection performance of traditional radar for swarm targets. The method in this embodiment has low computational complexity and is easy to implement in engineering.
[0107] Example 2:
[0108] This embodiment proposes a radar detection and identification system for multiple targets, such as... Figure 6 As shown, it includes: a group target marking module, a group target grouping module, a gridding processing module, a pulse compression signal extraction module, a target identification module, and an information fusion module;
[0109] The target group marking module is used to mark suspicious target groups in the images detected by each radar station;
[0110] The target grouping module is used to group marked suspicious targets based on the movement speed of each suspicious target.
[0111] The gridding processing module is used to perform gridding processing on the areas in the detection images of each radar station after grouping suspicious group targets according to the distance dimension and the azimuth dimension, so as to obtain multiple grid units;
[0112] The pulse compression signal extraction module is used to extract the pulse compression signal of each suspicious target in the grid cell;
[0113] The target identification module is used to perform equidistant identification processing on the pulse compression signals of multiple suspicious targets in the grid cell to obtain the initial identification result of the current radar station.
[0114] The information fusion module is used to perform target matching of the same suspicious target in different directions using the initial identification results of all radar stations, so as to obtain the final identification result of the suspicious group target.
[0115] The gridding processing module includes: a distance dimension calculation unit, an orientation dimension calculation unit, and a grid processing unit;
[0116] The distance dimension calculation unit is used to calculate the distance value corresponding to the end point of the distance dimension, with the distance value corresponding to the time when the suspicious group of targets appears as the starting point of the distance dimension, based on the movement speed of the suspicious group of targets and the observation time of the suspicious group of targets.
[0117] The orientation dimension calculation unit is used to start the orientation with the orientation value corresponding to the time when the suspicious group of targets appears and end the orientation with the orientation value corresponding to the time when the suspicious group of targets disappears.
[0118] The grid processing unit is used to perform grid processing on the areas in each radar station's detection image where the grouped suspicious targets appear, in the area between the start point and the end point of the range dimension, and in the area between the start point and the end point of the azimuth dimension, respectively, using preset range units and azimuth units. The smallest unit after grid processing is a grid unit, which is the area enclosed by the range unit and the adjacent azimuth unit.
[0119] The target identification module includes: a clutter processing unit, a frequency shifting unit, and a target identification unit;
[0120] The clutter processing unit is used to perform clutter removal processing on the pulse compression signals of multiple suspicious targets in the grid cell;
[0121] The frequency shifting unit is used to shift the Doppler frequency of the clutter-removed pulse compression signal to zero frequency.
[0122] The target identification unit is used to perform multiple target identification processing at equal distances on the pulse compression signal after zero-frequency processing to obtain the initial identification result of the current radar station.
[0123] The information fusion module includes: a target batching unit, a target matching unit, and an identification unit;
[0124] The target batching unit is used to batch the suspicious group of targets into multiple targets;
[0125] The target matching unit is used to fuse the initial identification results of each radar station in different range cells within a beamwidth for the same suspected target after multiple radar stations have been batched.
[0126] The identification unit is used to identify the same suspicious target after fusion as two targets if a radar station identifies the same suspicious target after fusion as two targets.
[0127] This embodiment proposes a radar swarm target detection and identification system. A swarm target marking module marks suspicious swarm targets, a swarm target grouping module groups the marked suspicious swarm targets, a gridding processing module performs gridding processing on the pulse compression signals of the grouped suspicious swarm targets, and a target identification module performs equidistant multi-target identification processing on the pulse compression signals of multiple suspicious targets. The identification results are then sent to an information fusion module, which performs target matching of the same suspicious target in different azimuths based on the initial identification results of all radar stations, obtaining the final suspicious swarm target identification result. This embodiment improves the detection performance of traditional radar against swarm targets by fusing the high azimuth resolution of a single radar station and the suspicious swarm target identification results from information interaction among multiple radar stations; it also helps solve the problem of difficulty in azimuth resolution of multiple suspicious targets within a single beamwidth in the same range cell.
[0128] Example 3:
[0129] This embodiment proposes an electronic device, including: one or more processors, and a memory, wherein the memory stores instructions, and when the instructions are executed by the one or more processors, the one or more processors perform the group target radar detection and identification method as described above.
[0130] The electronic device may be a mobile phone, computer, or tablet computer, etc., and includes a memory and a processor. The memory stores a computer program, which, when executed by the processor, implements the group target radar detection and identification method as described in the embodiments. It is understood that the electronic device may also include an input / output (I / O) interface and communication components.
[0131] The processor is used to execute all or part of the steps in the group target radar detection and identification method as described in the above embodiments. The memory is used to store various types of data, which may include, for example, instructions for any application or method in the electronic device, as well as application-related data.
[0132] The processor can be implemented as an Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor, or other electronic components, and is used to execute the group target radar detection and identification method described in the above embodiments.
[0133] Example 4:
[0134] This embodiment proposes a storage medium storing executable instructions, which, when executed, cause a machine to perform the group target radar detection and identification method described above.
[0135] In the various embodiments of the present invention, the functional units can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
[0136] Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.
[0137] The aforementioned storage media include: flash memory, hard disk, multimedia card, card-type memory (e.g., SD (Secure Digital Memory Card) or DX (Memory Data Register, MDR) memory, random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, server, APP (Application) application store, and other media capable of storing program verification codes, on which computer programs are stored. When the computer programs are executed by the processor, they can implement the various steps of the aforementioned group target radar detection and identification method.
[0138] The various embodiments in this application are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.
[0139] The scope of protection of this application is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope and spirit of this application. If such modifications and variations fall within the scope of the claims of this application and their equivalents, then the intent of this application also includes such modifications and variations.
Claims
1. A method for detecting and identifying group targets using radar, characterized in that, Includes the following steps: Suspicious groups of targets are marked in the images detected by each radar station; Based on the movement speed of each suspicious target, the marked suspicious groups of targets are grouped. Based on the distance and azimuth dimensions, the areas where the grouped suspicious targets appear in the detection images of each radar station are gridded to obtain multiple grid cells. Extract the pulse compression signal of each suspicious target in the grid cell; The pulse compression signals of multiple suspicious targets in the grid cell are processed for identification of multiple targets at equal distances to obtain the initial identification results of the current radar station; The initial identification results of all radar stations are matched with the same suspicious target in different directions to obtain the final identification results of the suspicious group of targets. The method of matching the initial identification results of all radar stations for the same suspicious target in different orientations includes the following steps: Step S6.1: If a radar station identifies the same suspicious target as two targets, then the same suspicious target is identified as two targets; Step S6.2: For radar stations that identify the same suspicious target as one target, the same suspicious target is copied in the grid cell of the radar station, so that all radar stations obtain two targets; Step S6.3: The target measurement values of the two targets are standardized. Step S6.4: Based on the standardized target measurement values, perform multi-target batching on the two targets to obtain the batched result; Step S6.5: Based on the batched result, perform weighted fusion on all target measurement values that match the same target after batching to obtain the final target identification result; Step S6.6: Process all suspicious target groups according to steps S6.1 to S6.5 to obtain the final suspicious target group identification results.
2. The method for detecting and identifying group targets using radar as described in claim 1, characterized in that, The step of grouping the marked suspicious targets based on the movement speed of each suspicious target includes: grouping suspicious targets with the same movement speed into a group to obtain the grouped suspicious targets.
3. The method for detecting and identifying group targets using radar as described in claim 1, characterized in that, The step of performing gridding processing on the areas where the grouped suspicious target groups appear in the detection images of each radar station according to the distance and azimuth dimensions includes the following steps: The distance value corresponding to the moment when the suspicious group of targets appears is taken as the starting point of the distance dimension. The distance value corresponding to the end point of the distance dimension is calculated based on the movement speed of the suspicious group of targets and the observation time of the suspicious group of targets. The starting point of the location is the location corresponding to the time when the suspicious group of targets appears, and the ending point is the location corresponding to the time when the suspicious group of targets disappears. In the region between the start and end points of the distance dimension, and in the region between the start and end points of the azimuth dimension, the areas in the detection images of each radar station after grouping of suspicious target groups are gridded using preset distance units and azimuth units, respectively. The smallest unit after gridding is a grid unit, which is the area enclosed by the distance unit and the adjacent azimuth unit.
4. The method for detecting and identifying group targets using radar as described in claim 1, characterized in that, The process of identifying multiple suspicious targets at equal distances using pulse compression signals within a grid cell to obtain the initial identification results for the current radar station includes the following steps: Clutter removal processing is performed on the pulse compression signals of multiple suspected targets in the grid cell; The Doppler frequency of the pulse compression signal after clutter removal is moved to zero. The pulse compression signal after zero-frequency processing is subjected to multiple target identification processing at equal distances to obtain the initial identification results of the current radar station.
5. The method for detecting and identifying group targets using radar as described in claim 4, characterized in that, The process of identifying multiple targets at equal distances by processing the pulse compression signal after zero-frequency processing includes: identifying multiple targets in the same distance cell within a beamwidth by deconvolution in the frequency domain.
6. The method for detecting and identifying group targets using radar as described in claim 1, characterized in that, The existence of a radar station identifying the same suspicious target as two targets includes the following situations: If one radar station identifies a target in the same range cell within the same beamwidth, while another radar station identifies the same target in different range cells within the same beamwidth as two targets, then the same suspected target is identified as two targets. If one radar station identifies one target within the same range cell of the same beamwidth, while another radar station identifies the same target as two targets within the same range cell of different beamwidths, then the same suspected target is identified as two targets.
7. A group target radar detection and identification system, characterized in that, include: Group target marking module, group target grouping module, gridding processing module, pulse compression signal extraction module, target identification module, and information fusion module; The target group marking module is used to mark suspicious target groups in the images detected by each radar station; The target grouping module is used to group marked suspicious targets based on the movement speed of each suspicious target. The gridding processing module is used to perform gridding processing on the areas in the detection images of each radar station after grouping suspicious group targets according to the distance dimension and the azimuth dimension, so as to obtain multiple grid units; The pulse compression signal extraction module is used to extract the pulse compression signal of each suspicious target in the grid cell; The target identification module is used to perform equidistant identification processing on the pulse compression signals of multiple suspicious targets in the grid cell to obtain the initial identification result of the current radar station. The information fusion module is used to perform target matching of the same suspicious target in different directions on the initial identification results of all radar stations to obtain the final suspicious group target identification results. The method of matching the initial identification results of all radar stations for the same suspicious target in different orientations includes the following steps: Step S6.1: If a radar station identifies the same suspicious target as two targets, then the same suspicious target is identified as two targets; Step S6.2: For radar stations that identify the same suspicious target as one target, the same suspicious target is copied in the grid cell of the radar station, so that all radar stations obtain two targets; Step S6.3: The target measurement values of the two targets are standardized. Step S6.4: Based on the standardized target measurement values, perform multi-target batching on the two targets to obtain the batched result; Step S6.5: Based on the batched result, perform weighted fusion on all target measurement values that match the same target after batching to obtain the final target identification result; Step S6.6: Process all suspicious target groups according to steps S6.1 to S6.5 to obtain the final suspicious target group identification results.
8. An electronic device, characterized in that, include: One or more processors, and a memory storing instructions that, when executed by the one or more processors, cause the one or more processors to perform the group target radar detection and identification method according to any one of claims 1 to 6.
9. A storage medium, characterized in that, It stores executable instructions that, when executed, cause the machine to perform the group target radar detection and identification method according to any one of claims 1 to 6.