A network radar system and its operation method

Abstract

The embodiment of the present invention discloses a networked radar system, including a plurality of radar units connected to at least one main working device, including a node intelligent processing unit, the node intelligent processing unit having at least some functions of a link processing center module. When the link processing center module fails to work, the radar unit receives a data signal and processes it in the node intelligent processing unit before sending it to the main working device, so that the networked radar system resumes working. By improving the traditional radar networking system at the lowest cost and providing a more flexible processing method to cope with technical problems in emergencies or special faults, the flexibility and economy of the traditional radar networking are effectively improved, so that more diverse radar networking usage scenarios can be coped with in a more flexible manner.

Description

Technical Field

[0001] The present invention relates to the field of networked radar systems, and more specifically to a flexible networked radar system using a multi-agent architecture. Background Art

[0002] At present, in many industrial scenarios, in order to better adapt to the complex real electromagnetic environment and improve the performance and detection capability of radar systems in different environments, it is necessary to combine multiple radars and establish an effective coordination mechanism, so as to give full play to the advantages of multiple radars' coordination and combination. Networked radars are receiving more and more attention and use.

[0003] Radar networking is mainly to integrate the information detected by multiple independently working radars and coordinate between multiple radars. The entire system tends to be a whole. By rationally planning the resources of the entire collaborative detection system and efficient information interaction and sharing between radars, the comprehensive utilization rate of radar system resources is optimized, and the coverage of networked radars in the time domain, space domain, frequency domain and polarization domain is improved, effectively enhancing the ability of networked radars to cope with complex combat scenarios.

[0004] In actual industrial scenarios, the advantages of networked radars over traditional radars are greater collaboration space and improved capabilities; but they also bring related problems. The resource consumption of multiple networked radars increases due to the redundancy of the system, the control complexity of multi-energy systems increases (more false alarms or a balance between accuracy and efficiency), and the ability to deal with faults in special scenarios is weakened. The existing technical content mainly related to networked radars lacks in-depth mention of the efficiency and fault problems caused by the joint system, and is more about considering how to optimize the algorithm model to solve the problem.

[0005] Therefore, the object of the present invention is to improve the existing technical content from different angles and propose effective countermeasures to the defect problems. Summary of the invention

[0006] The technical problem to be solved by the present invention is to at least partially consider the above problems. In view of these problems, a networked radar system and an operation method are proposed. For more details, please refer to the following:

[0007] In one aspect of the present invention, a networked radar system is provided, comprising a plurality of radar units connected to at least one main working device, characterized in that:

[0008] The at least one radar unit comprises a transceiver module (11), an antenna module (12), a node intelligent processing unit NIPU (13), an anti-interference processing module (14) and a power module (15), wherein the antenna module is used to receive echo signals; the antenna module is connected to the transceiver module, the transceiver module transmits data to the node intelligent processing unit for processing, and the node intelligent processing unit is connected to the anti-interference module and the power module;

[0009] The main working device includes a link processing center module, a parameter set processing module, a main device transceiver module, an operation center and a judgment module; the operation center is connected to the parameter set processing module, and the link center processing module is connected to the parameter set processing module, the judgment module and the main device transceiver module;

[0010] The node intelligent processing unit has at least some functions of the link processing center module. When the link processing center module fails to work, the radar unit receives the data signal and processes it in the node intelligent processing unit before sending it to the main working device, so that the networked radar system resumes working.

[0011] Preferably, the NIPU may be configured in multiple single radars of the radar system.

[0012] Preferably, NIPU can be configured in all single radars of the radar system.

[0013] Preferably, when executing the task instruction, the NIPU needs to first determine whether it can connect to the link processing center module. If so, the NIPU is not started, otherwise the local NIPU is started.

[0014] Preferably, after starting the local NIPU, it is first determined whether there is an emergency task that the single radar needs to perform. If so, the current task is processed by using the local NIPU as a common processing node.

[0015] Preferably, if there is no emergency task that the single radar needs to perform, it is determined whether the local NIPU has complete link processing center functions, and if so, the local NIPU is used as a new link processing center to process data.

[0016] Preferably, the NIPU can be used as a data processing module of a single radar to perform data processing, and can also be networked with adjacent peripheral radar NIPUs, providing its own task execution strategy while also learning the task execution strategies of other NIPUs in the network.

[0017] A second aspect of the present invention provides an operating method of a radar networking system, characterized in that:

[0018] Step 1, after receiving a task instruction from the main device or the operator, the local NIPU determines whether it can be connected to the link processing center module of the main device through the first judgment module. If it can, the NIPU is used as a common processing node without the need to replace the function of the link processing center; if not, proceed to the next step;

[0019] Step 2: Detect whether the currently executed task is a task instruction that the emergency single radar needs to complete through the second judgment module. If so, use the current NIPU as a normal processing node to process the current emergency task instruction. If not, proceed to the next step.

[0020] Step 3, detect through the third judgment module whether the current NIPU unit itself has the function of completely replacing the link processing center module. If so, use the processing unit as a replacement for the link processing center module. If not, enter the search phase for other NIPUs. After searching for a new NIPU, enter step 1 and judge again until a suitable complete replacement NIPU is found.

[0021] Preferably, the task instruction in step 1 may be a plurality of consecutive complex task instructions.

[0022] Preferably, the multiple continuous complex task instructions are comprehensively solved through a networking system, and the networking system processes the complex tasks according to the actual priority levels of the multiple task instructions.

[0023] The present invention discloses a networked radar system, which is in urgent need of the above. The beneficial effects of the embodiments are as follows: by improving the traditional radar networking system at the lowest cost and providing a more flexible processing method to deal with technical problems in emergencies or special faults, the flexibility and economy of the traditional radar networking are effectively improved, so that more flexible methods can be used to deal with more diverse radar networking usage scenarios. In addition, a specific operation method for multi-task complex instructions is further provided, making the solution of the present invention more valuable and technically promising. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0025] Figure 1 This is the general architecture diagram of the traditional networked radar system;

[0026] Figure 2 A diagram of a networked radar architecture provided by an embodiment of the present invention;

[0027] Figure 3 An operation flow chart of multi-task instruction processing is provided for an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to facilitate the understanding of the present application, the present application is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on another element or there can be one or more centered elements therebetween. When an element is described as "connected" to another element, it can be directly connected to another element or there can be one or more centered elements therebetween. The orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "bottom" and the like used in this specification is based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" and the like are used only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0029] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification and in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0030] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0031] Refer to the attached Figure 1 As shown in the figure, the conventional networked radar system is to reasonably deploy multiple radars of the same or different types, connect them into a network through a communication network, and form a collaborative working system that is uniformly controlled and processed by a link processing center. The working frequency band, polarization mode, working mode and working system of each local radar station can be different, which greatly improves the diversity of radars in the networked radar system and gives the networked radar system the ability to handle diversified services in complex working scenarios.

[0032] Generally speaking, the link processing center of the networked radar system located in the main working equipment obtains intelligence information within the detection range of the networked radar system by comprehensively processing the observation information obtained by multiple local radars. Then, according to the actual scene task requirements and changes in the scene demand situation, it adaptively adjusts the working status of each local radar in accordance with a fixed parameter style, efficiently allocates system time, space and energy resources, and realizes joint positioning, coordinated detection and accurate tracking of targets in related areas.

[0033] However, in modern multi-demand scenarios, we find that the link system of radars usually has more tasks. Usually, after the main working equipment is connected to the data link processing center system, the data link processing center system will make the resources and parameter sets that need to be allocated to the corresponding main working equipment after comprehensive processing of the acquisition input module, data standardization processing module, time confidence processing module, spatial confidence processing module, outlier removal module and data link processing module, etc., and also according to the scene changes and emergencies of the main working equipment, etc., the data link processing center system will instruct a single radar to perform corresponding operations or instruct multiple radars to perform joint operations. The link processing center plays a decisive role in whether the working status of the entire networked radar system is intact.

[0034] For the convenience of description, we use task objectives to indicate the deployment behavior of the link processing center in the networked radar system to adaptively adjust the working status of each local radar and allocate system time, space and energy resources according to the actual scenario task requirements and changes in the scenario demand situation.

[0035] Each mission objective represents a specific instruction issued by the link processing center after processing the radar data within the regional scope, but the specific instruction is not limited to specific contents such as switching working modes or adjusting radar posture, but also includes the result judgment of function or goal achievement, tracking of specific task completion status, etc. More specifically, for example, if the actual working environment changes badly, the link processing center will issue a confirmation mission instruction to inquire whether the previously formed radar coordination area is still in a reasonable working state, without involving more specific mission mode or mission status change instructions.

[0036] In the traditional mode, if a failure or disaster occurs in the link processing center in the device or region, resulting in damage to the link processing center or processing module, a series of failures will occur. The data results of the networked radar cannot be normally transmitted to the device processing center for operation. The changes in the situation within the regional detection range cannot constitute intelligent control of the task instructions of the networked radar. Although the detection data can still be received between individual task groups, it cannot be integrated with other related data content in the associated group, resulting in the inability to complete the task instructions. These failures usually cause the main working equipment to be unavailable or discontinuously available. After losing the task instruction feedback from the link processing center, the specific radar network cannot adjust the working strategy in time, resulting in reduced efficiency and waste of resources. In extreme cases, disasters may even occur.

[0037] See attached Figure 2 In the present invention, by embedding a simplified processing module with certain link processing center functions in the bottom node controlled by the radar, the simplified processing module can have a complete link processing center function or a partial link processing center function to deal with specific problems in emergency scenarios. The networked radar system of the present invention includes a plurality of radar units and at least one main working device, wherein the radar unit is used to receive echo signals, and the unit radar includes a transceiver module 11, an antenna module 12, a node intelligent processing unit 13, an anti-interference processing module 14, and a power supply. The antenna module 12 is connected to the transceiver module 11, and the transceiver module transmits data to the node intelligent processing unit for processing, and the node intelligent processing unit is connected to the anti-interference module and the power module.

[0038] The main working equipment module includes a link processing center module, a judgment module, a parameter set processing module, a parameter set database (static parameters, dynamic parameters, mixed parameters, etc.) and an operation center; the operation center is connected to the parameter set processing module, and the link center processing module is connected to the parameter set processing module, the judgment module and the main equipment transceiver module.

[0039] A traditional single radar device is usually equipped with a receiver / transmitter (T / R) 11, a receiving / transmitting antenna 12, an anti-interference device 14, and auxiliary equipment such as a display, a power supply device, a data acquisition device, etc. (not marked in the attached figure). The networked radar system usually realizes the communication connection between the radar device and the link processing center system through the specific level of system settings. The single radar transmits the received signal of the data acquisition sensor carried by itself or the echo signal received by the antenna component 11 to the link processing center for data processing. The link processing center performs parameterized processing and classification according to the specific data content collected, and divides different fields of the data set according to different needs and scenarios for retrieval and use when executing specific tasks. Such processing is usually monotonous, that is, each time the link processing center system communicates data with a single radar or a predetermined radar combination, and cannot achieve flexible response to emergency fault processing. In addition, due to the monotonous characteristics of the processing program, the flexible configuration of the radar components cannot be used more effectively, resulting in more resource consumption.

[0040] Traditional use of such a basic architecture can meet daily use, but in the event of an emergency, the existing solution of using a single link processing center is too complicated and cost-inefficient, while conventional solutions are inevitably inefficient in troubleshooting. In more serious cases, the entire main working equipment may not work.

[0041] In the solution of the present invention, this problem is solved by adding a simplified node intelligent processing unit (NIPU) with the function of a link processing center module in a separated radar entity. The NIPU unit can be a complete link processing center module, but from a cost perspective, it can also be a simplified link processing center module, which is placed or integrated with the radar design at the same time. The more complex processing modules (such as specific data removal or allocation, etc.) in the simplified module may not be included, and only the functions of communication link data processing, status monitoring of adjacent processing units, collaborative preprocessing, switching of normal working states, anti-interference suppression, etc. are configured. It can be regarded as a simplified node intelligent processing unit.

[0042] Under more preferred conditions, the NIPU in the network can be preferably a multi-agent system, using the enhanced distributed computing features of MAS to cope with the specific processing of more complex tasks; under acceptable cost conditions, through the multi-agent reinforcement learning algorithm, the present invention can centrally learn the environmental data and task execution strategies of all NIPUs. During the data learning training, the environmental data and task execution strategy of each NIPU will be saved, and the NIPU will also obtain the relevant strategies of other adjacent NIPUs. That is to say, while each NIPU learns its own strategy, it will take into account all related and working NIPU strategies and learn its own response strategy, and update its own strategy through the joint behavior composed of actual changes in the environment and actual task execution strategies. Through collaborative strategies, specific tasks in specific scenarios can be responded to, and the most suitable automatic control for processing task instructions can be achieved. This kind of collaboration is different from the collaboration achieved by the traditional link processing center. The traditional collaboration is based on a certain collaboration mode that is considered to be set to carry out network collaboration, that is, the collaboration mode involved is limited, and because of the constant changes in the actual detection environment and the target object, the original collaboration mode will lag behind, and a new and better collaboration mode is needed to work; the advantage of the present invention is that through the introduction of intelligent NIPU, the actual environment in which the discrete radar is located can be dynamically learned in real time, and the specific static parameters of the fixed task can be flexibly processed, thereby realizing more collaboration modes that meet the needs of actual situations, and the actual collaboration mode can be updated. In extreme cases, when the link processing center fails due to an accident, one or more NIPUs can replace and cover the functions of the original link processing center, which greatly maintains the continuity and flexibility of the entire link system.

[0043] When a failure occurs in the main working equipment device, causing the processing capacity of the link processing center to decrease or data processing to be unable to proceed continuously, the link is supplemented through the node intelligent processing unit, and the adjusted data content is transmitted to the main working equipment control unit (operation center) to diagnose and eliminate the fault content and replace the function of the link processing center.

[0044] In actual scenarios, the most serious failure is caused by complete damage. At this time, the link processing center module may not work, and the main working equipment may be in a faulty stagnation state. It is impossible to obtain the actual data content and hardware posture obtained by each single radar during work. However, the elimination of this fault is usually more obvious and easy to be discovered and eliminated.

[0045] However, in most scenarios, we cannot know in a timely and accurate manner which specific part of the link processing center module has failed. If we still follow the aforementioned processing scheme, it will inevitably lead to an increase in costs, or in order to obtain more accurate fault information, we have to use more complex troubleshooting methods for detection, which makes the actual efficiency relatively low. In some emergency scenarios, such as industrial vehicle use scenarios, this will cause more complex safety risks, which is disturbing. Through the intervention of NIPU, when the system determines that the current parameter set (the parameter set needs to be continuously communicated with the radar's NIPU unit) has a significant fault, it will issue an early warning, collect and process the parameters of the single radar with parameter problems through the NIPU unit, and submit them to the parameter set processing module. After the parameter set processing module performs data fusion processing, it completes the overall data processing and control of the radar system, so that the main working equipment can still properly complete the radar data processing needs of the main working equipment operation when the link processing center fails.

[0046] Furthermore, the setting of the NIPU unit is not a single situation. When possible, the NIPU can be set in multiple single radars of the radar system, preferably at the radar position where the environment, atmosphere, and reflection parameters are relatively unstable.

[0047] For example, Figure 2 In the figure, radars 1 to N are equipped with NIPU units. The advantage of comprehensive equipment is that more processing functions between single radars can be integrated. Data links must be processed comprehensively between single radars, provided that the data links between single radars form stable communication. Especially in the anti-interference scenario, modules equipped with NIPU units will have significant advantages over modules not equipped with them. Radar units with the same frequency band or polarization mode are very difficult to deal with in the anti-interference stage. The usual solution is to sacrifice part of the radar performance to achieve better anti-interference effects, or to combine more complex signal processing algorithms (distributed or particle swarm, etc.). If radar units equipped with NIPU units are used, in the adjacent radar group area, through inter-link communication, the specific working parameters of radar units in the surrounding links and the actual attitude control, working frequency band, transmission power, reflection coefficient, etc. are obtained. The NIPU unit has enough computing space for anti-interference calculation and processing without the participation of the link processing center module, and even in the absence of the link center processing unit, it can still maintain a good anti-interference effect.

[0048] The simultaneous online function of multiple NIPUs can greatly improve the flexibility of the radar system, not only in the replacement function when handling the fault state of the link processing center module. In some scenarios, the main working equipment requires special high-performance usage scenarios, such as high-precision and high-speed situation processing of vehicles, emergency situations in major disaster events, etc. There are situations where multiple single radars or even link processing centers fail at the same time. It is often necessary for multiple radar units to be able to readjust the data processing of the on-site conditions in a timely manner to achieve on-site situation perception in emergency situations. Even if a single radar NIPU fails, as long as there is still a NIPU unit in the radar unit that can be used on site, the NIPU unit can be used as the central joint point to continue to perform detection and retrieval tasks in conjunction with the surrounding adjacent working units, and the NIPU unit can be used to receive and execute tasks.

[0049] A better situation is that there are still multiple NIPU units in working state, multiple NIPU units can communicate and execute more diverse and complex specific task instructions. In specific scenarios, if more complex and diverse tasks are required, after obtaining communication connections with multiple NIPU radar units, task instructions are given to collect specific radar units that can communicate and connect, but this step is not a priority step and can be performed either first or later.

[0050] After the communication is connected to the NIPU unit of the radar cell, the first judgment module is usually used to determine whether the current NIPU can be connected to the link processing center before giving specific instructions on the execution of the task requirements, so as to identify whether the working status of the link processing center has been repaired, or collect whether all modules of the link processing center have stopped working.

[0051] If it is true that the link center has stopped working, the second judgment module will further determine whether the received task instruction is a single radar execution instruction. If so, it will be executed first, and the NIPU unit of the radar unit will be directly used as the execution processing unit. However, at this time, the execution processing unit, that is, the basic functions of the NIPU itself, are activated and are not used as a complete link processing center module. It is usually used as an emergency processing state and does not require a complete link processing function.

[0052] Of course, at this time, the NIPU function may be incomplete, that is, when more complex data services and task instructions need to be processed, the simplified version of the NIPU cannot complete the complex tasks. At this time, it is necessary to feedback the content of the basic functional module of the NIPU or, if necessary, the third judgment module can be used to make an integrity judgment. If the link processing center function is not complete, the NIPU will be used as a connection point for ordinary link processing, and the search for other adjacent radar unit NIPUs will continue through the connection point, and the judgment will be made again until the NIPU capable of executing complex services is finally found and used as a complete replacement for the link processing center unit.

[0053] After finding a replacement NIPU, the actual task execution phase begins. In the traditional sense, task execution only requires direct execution of the task instructions given by the link processing center. The task instructions can be completed by a single radar or multiple preset networked radars. The disadvantages are: (1) The task instructions are relatively fixed. Usually, a fixed execution mode within a certain range is given based on the actual execution conditions of the area. If the task instructions exceed the fixed mode, a failure to execute the task will usually occur; (2) Simple business processing is complicated. In the fixed mode, because there is no very flexible feedback modification measure, the functions performed by the traditional link processing center are monotonous. Even for a relatively simple processing task, it may not be possible to find a suitable simple execution mode. At this time, a high-level task execution mode will be needed to complete the relatively low-level task, resulting in resource consumption and waste. Through NIPU, the specific environment and location information of the current radar node can be relatively intelligently perceived and preliminarily processed. By statistically analyzing the actual parameters of the current reflection and reception data and combining the radar unit parameter data in the adjacent area, feedback on various task working modes can be given without adding complex computing burden to the link processing center. The link processing center still only needs traditional link processing functions. There is no need to add additional hardware modules and complex algorithm modifications. The link processing center still only needs to give the requirements for related task execution, and the specific task execution can be flexibly handled by the NIPU unit in the radar unit. After receiving the task instruction from the link processing center, the NIPU unit completes the task. Figure 3 After the judgment process, one of the NIPUs is used as the intelligent processing node to carry out task allocation, call the actual required number of radar units, parameters, attitude control, etc., and carry out task customization processing. Because a single radar unit has the NIPU simplification function, it can also calculate the actual receiving and transmitting parameters in the current environment, and obtain the optimal working performance parameters and mode of the single radar.

[0054] In this way, we can find that even if it is not in the failure mode of the link processing center, the addition of NIPU can greatly improve the flexibility and intelligence of the original radar network system and improve the automatic control capability of task execution; in the failure mode, it can also maintain a relatively complete radar working network within the area as much as possible, and have certain data processing and feedback capabilities.

[0055] In actual use, operators can edit target task instructions or input new target task instructions. NIPU can also provide feedback or prompt operators to delete the target task instructions when the target task is completed or no longer needed. Operators can access the dispatch interface of the main working equipment operation center or access the single radar through other means in actual fault scenarios.

[0056] The present invention also has a good application effect when processing multiple complex tasks. Considering non-emergency conditions, more continuous task indications can be set to give full play to the better performance of the networking system; the networking system can process complex tasks according to the actual priority level of the multi-task indication.

[0057] After receiving several task instructions, the NIPU unit inputs a task instruction set F = {f0, f1, f2, f3...fn}, where the indicated f0 is the first task, and so on;

[0058] After receiving the limited number of task instructions, the NIPU unit starts to query the set of workable radar units X = {x0, x1, x2, x3...xn}, and the NIPU performance parameters P = {p0, p1, p2, p3...pn} of each workable radar;

[0059] According to the performance parameter set of NIPU, the most suitable NIPU as the processing center module is searched, and it is selected as a replacement for the link processing center, and the radar monomer set is ranked in order of merit or type;

[0060] A genetic algorithm or a simulated annealing algorithm is used to solve the priority level of the task indication set F that can be processed by the corresponding radar monomer set P provided in the existing environment, and the calculated effective arrangement order Q(X,F)={v1,v2...vn} is obtained;

[0061] Specific mission instructions are selected in this order and the mission is performed in combination with the optimal radar unit combination.

[0062] This can not only ensure that complex tasks can be performed relatively well under fault conditions, but also bring out the additional advantages of this solution under non-fault conditions, further improving the overall effectiveness of the solution.

[0063] The above algorithms are only illustrative examples. It should be known that a variety of specific algorithms have been implemented in the field of radar detection in this field, but they have not broken through the existing networking framework structure. Although the algorithms can bring further optimization in specific scenarios, the adjustment of the underlying framework can bring more direct impact. All the original algorithms can be adaptively adjusted and converted after the framework is adjusted.

[0064] The primary user device may be a mobile device, such as various detection devices or mechanical devices that need to be detected in industrial scenarios, or a stationary device, such as a measuring instrument or large monitoring instrument used in a large scene environment.

[0065] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A networked radar system, comprising a plurality of radar units connected to at least one main working device, characterized in that: The at least one radar unit comprises a transceiver module (11), an antenna module (12), a node intelligent processing unit NIPU (13), an anti-interference processing module (14) and a power supply module (15), wherein the antenna module is used to receive an echo signal; The antenna module is connected to the transceiver module, the transceiver module transmits the data to the node intelligent processing unit for processing, and the node intelligent processing unit is connected to the anti-interference module and the power module; The main working device includes a link processing center module, a parameter set processing module, a main device transceiver module, an operation center and a judgment module; the operation center is connected to the parameter set processing module, and the link center processing module is connected to the parameter set processing module, the judgment module and the main device transceiver module; The node intelligent processing unit has at least some functions of the link processing center module; When the link processing center module of the master device fails, resulting in a decrease in processing capacity or inability to continuously process data: after receiving the data signal, the radar unit processes it through the node intelligent processing unit, and uses some link processing center function modules of the NIPU to perform emergency processing for the emergency tasks that the single radar needs to perform, and then searches for a NIPU with complete link processing center module functions as a replacement for the link processing center of the master device; More specifically, when executing a task instruction, the NIPU needs to first determine whether it can connect to the link processing center module. If yes, the NIPU will not be started. Otherwise, the local NIPU will be started. After starting the local NIPU, it is first determined whether there is an emergency task that needs to be performed by the single radar. If yes, the current task is processed by using the local NIPU as a normal processing node. If there is no emergency task that needs to be performed by the single radar, it is determined whether the local NIPU has complete link processing center functions. If yes, the local NIPU is used as a new link processing center for data processing. The networked radar system supports the simultaneous online function of multiple NIPUs. When a single radar fails, the NIPU in the adjacent single radar of the failed single radar will obtain the working strategy and parameters of the failed single radar, and obtain the specific working parameters and hardware posture of the radar units in the surrounding links through inter-link communication in the adjacent radar group area, and realize the function replacement and networking coordination of the failed radar through the adjacent single radar; The NIPU is equipped with an early warning module. When the link processing center of the main device fails to accurately determine the specific fault problem, an early warning is issued through the early warning module of the NIPU.

2. The networked radar system according to claim 1, characterized in that: NIPU is configured in multiple single radars of the radar system.

3. The networked radar system according to claim 1, characterized in that: NIPU is configured in all single radars of the radar system.

4. The networked radar system according to claim 1, characterized in that: If it is determined that the link center has stopped working, and it is confirmed that the second judgment module determines that the received task instruction is a single radar execution instruction, then the instruction is executed first, and the NIPU unit of the radar unit is directly used as the execution processing unit. At this time, the execution processing unit is a module unit with some link processing center functions, and has the basic functions of NIPU, but not a complete link processing function.

5. The networked radar system according to claim 1, characterized in that: NIPU can be used as a data processing module for a single radar to process data, or it can be networked with adjacent surrounding radar NIPUs. While providing its own task execution strategy, it can also learn the task execution strategies of other NIPUs in the network.

6. An operating method of the radar networking system described in claim 1, characterized in that: Step 1. After receiving a task instruction from the main device or the operator, the local NIPU determines whether it can be connected to the link processing center module of the main device through the first judgment module. If so, the NIPU is used as an ordinary processing node without the need to replace the function of the link processing center; if not, proceed to the next step; Step 2. Through the second judgment module, detect whether the current task is a task instruction that needs to be completed by an emergency single radar. If so, the current NIPU is used as an ordinary processing node to process the current emergency task instruction; if not, proceed to the next step; Step 3. Through the third judgment module, detect whether the current NIPU unit itself has the function of completely replacing the link processing center module. If so, the processing unit is used as a replacement for the link processing center module. If not, enter the stage of continuing to search for other NIPUs. When a new NIPU is found, enter step 1 and judge again until a suitable complete replacement NIPU is found.

7. The operating method of the networked radar system according to claim 6, characterized in that: The task instruction in step 1 may be a plurality of consecutive complex task instructions.

8. The operating method of the networked radar system according to claim 7, characterized in that: The multiple continuous complex task instructions are comprehensively solved through a networking system, and the networking system processes the complex tasks according to the actual priority levels of the multiple task instructions.

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