Radar performance determination method and device, computer device and storage medium

Abstract

The application relates to a radar performance determination method and device, computer equipment and a storage medium. The method comprises the following steps: determining a discovery probability of a target machine in each detection interval of a radar based on the number of times of signal emission of the radar for each detection interval on a preset route and the number of times of detection of the target machine in each detection interval; determining a target detection interval corresponding to the radar and a target detection position in the target detection interval when the value of the discovery probability is a target value; determining a detection distance of the radar based on the vertical distance between the preset route and the radar and the detection azimuth angle corresponding to the target detection position; and determining the detection performance of the radar based on the detection distance to obtain a radar performance determination result. The method can accurately determine the performance of the radar.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of performance determination, in particular to a radar performance determination method and device, computer equipment and storage medium. BACKGROUND

[0002] SMR (Surface Movement Radar) refers to the specific position of an aircraft or a specific vehicle that can see itself and moving targets and can obtain the running status of the corresponding moving targets. SMR can be applied to the monitoring of ports, rivers, sea surfaces, airports and other fields.

[0003] However, the existing radar performance verification technology mainly deletes false point traces generated by repeated detection, and when obtaining the radial distance, azimuth angle and other information of the target, the radar is placed on the same flight line as the target machine, and then the position information obtained by the radar is used to coordinate transform the information recorded by the target machine. The output data and the data recorded by the target machine are analyzed for errors, which will lead to imperfect radar performance determination standards, and thus accurate radar performance determination results cannot be obtained. SUMMARY

[0004] Therefore, it is necessary to provide a radar performance determination method, device, computer equipment and computer readable storage medium capable of accurately determining the performance of the radar.

[0005] In a first aspect, the present application provides a radar performance determination method, which comprises:

[0006] determining a discovery probability of a target machine in each detection interval of a preset flight line by a radar based on the number of times of signal emission of the radar in each detection interval and the number of times of detection of the target machine in each detection interval by the radar;

[0007] determining a target detection interval corresponding to the radar and a target detection position in the target detection interval when the value of the discovery probability is a target value;

[0008] determining a detection distance of the radar based on the vertical distance between the preset flight line and the radar and the detection azimuth angle corresponding to the target detection position;

[0009] determining the detection performance of the radar based on the detection distance to obtain a radar performance determination result.

[0010] In one embodiment, the method further comprises:

[0011] acquiring sailing position data of a target machine and detection position data of the target machine detected by a radar;

[0012] determining a detection error of the radar based on the sailing position data and the detection position data;

[0013] judging a detection performance of the radar based on the detection distance, to obtain a radar performance judgment result, including:

[0014] judging the detection performance of the radar based on the detection distance and the detection error of the radar, to obtain the radar performance judgment result.

[0015] In one of the embodiments, the sailing position data is first coordinate data of the target machine in a target machine coordinate system, and the detection position data is second coordinate data of the target machine in a radar coordinate system.

[0016] The determining of the detection error of the radar based on the sailing position data and the detection position data includes:

[0017] performing coordinate conversion on at least one of the first coordinate data and the second coordinate data, to obtain two groups of coordinate data belonging to the same coordinate system;

[0018] determining the detection error of the radar based on a data deviation of the two groups of coordinate data.

[0019] In one of the embodiments, the method further includes:

[0020] determining a detection point of the target machine detected by the radar for the first time on the preset route;

[0021] segmenting a route from the detection point to a preset end point in the preset route, to obtain a plurality of detection intervals.

[0022] In one of the embodiments, when the value of the discovery probability is a target value, the target detection interval corresponding to the radar and a target detection position in the target detection interval include:

[0023] taking the discovery probability as a discovery probability of a center position of the detection interval;

[0024] when there is no discovery probability with the target value, determining a first target probability with a value greater than the target value and a second target probability with a value less than the target value;

[0025] a center position of a first detection interval in which the first target probability is located and a center position of a second detection interval in which the second target probability is located are taken as a target detection interval;

[0026] based on the value of the first target probability and the value of the second target probability, interpolation processing is performed on the target detection interval to determine an interpolation position with the target value;

[0027] the interpolation position is determined as a target detection position in the target detection interval.

[0028] In one of the embodiments, based on the detection distance, the detection performance of the radar is determined to obtain a radar performance determination result, which includes:

[0029] based on the working mode and the used wave band of the radar, a target state in which the radar is located is determined;

[0030] a target detection distance of the radar in the target state is determined;

[0031] based on the target detection distance, a radar performance determination result of the radar in the target state is obtained.

[0032] In a second aspect, the present application provides a radar performance determination device, which includes:

[0033] a discovery probability determination module, configured to determine a discovery probability of the radar in each detection interval on a preset route based on the number of times of signal emission of the radar in each detection interval and the number of times of detection of a target aircraft in each detection interval by the radar;

[0034] a target detection position determination module, configured to determine a target detection interval corresponding to the radar and a target detection position in the target detection interval in a case where the value of the discovery probability is a target value;

[0035] a detection distance determination module, configured to determine a detection distance of the radar based on a vertical distance between the preset route and the radar and a detection azimuth angle corresponding to the target detection position;

[0036] a determination result determination module, configured to determine the detection performance of the radar based on the detection distance to obtain a radar performance determination result.

[0037] In a third aspect, the present application provides a computer device, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0038] In a fourth aspect, the present application provides a computer readable storage medium, having stored thereon a computer program, which, when executed by a processor, implements the steps of the method described above.

[0039] In a fifth aspect, the present application provides a computer program product, comprising a computer program which, when executed by a processor, implements the steps of the method described above.

[0040] The radar performance determination method, device, computer device and storage medium described above can improve the accuracy of the value of the discovery probability by determining the discovery probability of the radar in each detection interval according to the number of times of signal transmission of the radar in each detection interval and the number of times of target aircraft detection of the radar in each detection interval, can obtain an accurate radar detection distance by determining the detection azimuth angle corresponding to the target detection position of the target detection interval with the value of the discovery probability as a target value and the vertical distance between the preset route and the radar, and make the radar performance determination data obtained more comprehensive, thereby realizing accurate determination of the radar performance. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 An application environment diagram of the radar performance determination method in an embodiment;

[0042] Figure 2 A flowchart of the radar performance determination method in an embodiment;

[0043] Figure 3 A flowchart of the radar performance determination method in another embodiment;

[0044] Figure 4 A general flowchart of the radar performance determination method in an embodiment;

[0045] Figure 5 A structural block diagram of the radar performance determination device in an embodiment;

[0046] Figure 6 An internal structure diagram of the computer device in an embodiment. DETAILED DESCRIPTION

[0047] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0048] The radar performance determination method provided by the embodiments of the present application can be applied to, for example, Figure 1The application environment is shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data required by the server 104 to process. The data storage system can be integrated on the server 104, or placed on the cloud or other network servers. The server 104 obtains the respective discovery probability of the target machine in each detection interval on the preset route according to the number of times the target machine is detected by the radar in each detection interval on the preset route, and the number of times the radar emits detection signals in each detection interval on the preset route. When the server 104 detects that the value of the discovery probability is the target value, the server 104 determines the corresponding target detection interval of the radar and the target detection position in the target detection interval. The server 104 obtains the detection distance of the radar according to the vertical distance between the preset route and the radar and the detection azimuth angle corresponding to the target detection position. The server 104 judges the detection performance of the radar according to the obtained detection distance data, so as to obtain the radar performance judgment result. Among them, the terminal 102 can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things device can be a smart speaker, a smart television, a smart air conditioner, a smart vehicle-mounted device, etc. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, etc. The server 104 can be realized by an independent server or a server cluster composed of multiple servers.

[0049] In one embodiment, as shown in Figure 2 , a radar performance judgment method is provided. Taking the server in Figure 1 as an example, the method includes the following steps:

[0050] Step 202, based on the number of times the radar emits detection signals for each detection interval on the preset route, and the number of times the radar detects the target machine in each detection interval, determine the discovery probability of the radar in each detection interval to discover the target machine.

[0051] Among them, the preset route is the route used to confirm the target machine. When the target machine performs a driving test, in the test scenario, there are still multiple equipment that are not used for the test on the road, but the radar cannot determine which equipment is the target machine. At this time, the track management of the radar will establish a file for all the detected targets, save information and continuously and stably track, and take the equipment driving on the preset route as the target machine, so as to obtain the specific target machine data.

[0052] The discovery probability refers to the ratio between the number of times that the radar detects the target aircraft in a detection interval on the preset route and the number of times that the radar emits a detection signal in the detection interval on the preset route. For example, the route is divided into three distance segments a, b and c, the radar emits a detection signal x times in a, and detects the target aircraft y times, so that y / x represents the discovery probability of the target aircraft in the segment a on the route. The discovery probability can also refer to the ratio between the number of times that the radar detects the target aircraft on the preset route and the number of times that the radar emits a detection signal on the preset route. For example, the radar detects M times on the preset route, of which N times detect the whereabouts of the target aircraft, so that N / M represents the discovery probability of the target aircraft on the preset route.

[0053] Optionally, the server sets the preset route, and establishes a file for the plurality of equipment in the test scene by controlling the radar, saves information and continuously and stably tracks. The server determines the target aircraft running on the preset route and the data of the target aircraft from the saved information. The server determines the discovery probability of the target aircraft in a detection interval on the preset route according to the ratio between the number of times that the radar detects the target aircraft in the detection interval on the preset route and the number of times that the radar emits a detection signal in the detection interval on the preset route.

[0054] The detection interval refers to a plurality of segments divided by the preset route. For example, the preset route of 40km is equally segmented at intervals of 10km, so that the plurality of detection intervals after segmentation are 0-10km-20km-30km-40km.

[0055] In step 204, the target detection interval and the target detection position in the target detection interval corresponding to the radar are determined in the case that the value of the discovery probability is the target value.

[0056] The value of the discovery probability is determined by the ratio between the number of times that the target aircraft is detected and the number of times that a detection signal is emitted. The target value is a specific value set. For example, 0.5. When the target value is set to 0.5, the maximum detection distance of the radar and the probability that the radar detects the target aircraft can be considered comprehensively, so as to avoid the maximum detection distance of the radar being too small when the probability value is too large, and the probability that the radar detects the target aircraft being too small at a far distance.

[0057] The target detection interval is the detection interval in which the value of the discovery probability is the target value. The target detection position is the sampling center of the target detection interval. For example, taking 0km of the route as the starting point, the route is segmented at intervals of 18km, and the sampling centers of adjacent distances are spaced one-half apart, so that the sampling centers of each detection interval are 0-9-18-27-36…, and if the value of the discovery probability on the detection interval 0-18km is the target value, the detection interval 0-18km is the target detection interval, and the target detection position of the target detection interval is 9km, that is, the sampling center is at 9km.

[0058] Optionally, the server, in a case where the value of the discovery probability is determined as a target value, first determines a target detection interval in which the target value is located, and then determines a target detection position of the target detection interval, that is, a sampling center.

[0059] In step 206, a detection distance of the radar is determined based on a vertical distance between the preset flight path and the radar and a detection azimuth angle corresponding to the target detection position.

[0060] The detection distance is a maximum detection distance or a minimum detection distance. According to the size of the target aircraft, the target aircraft can be divided into a regular target aircraft and a small target aircraft, and the radar scattering cross sections of the regular target aircraft and the small target aircraft are σ1m 2 and σ2m 2 When the maximum detection distance of the regular target aircraft is R max1 , the maximum detection distance of the small target aircraft is R max2 , and according to the radar equation, there is

[0061]

[0062]

[0063] R' max1 and R' max2 correspond to the maximum detection distances of the target aircrafts with radar scattering cross sections of 2m 2 and 0.1m 2 , respectively.

[0064] The minimum detection distance of the radar is a minimum value obtained through multiple measurements of the radar on the target aircrafts at a relatively close distance. For example, the distances of the target aircrafts found by the radar in multiple circular flight paths within a range of 0-9 km from the radar are recorded, and the minimum value recorded is taken as the minimum detection distance of the radar.

[0065] The vertical distance is a set height of the preset flight path, which is determined according to the setting of the flight path. The detection azimuth angle is the pitch angle in the position data of the target aircraft detected by the radar. When the position data of the target aircraft detected by the radar does not include the detection azimuth angle corresponding to the target detection position, the detection azimuth angle of the target detection position can be calculated by using the adjacent positions before and after the target detection position and the corresponding detection azimuth angles through an interpolation calculation method.

[0066] Optionally, the server determines the detection azimuth angle corresponding to the target detection position from the position data of the target aircraft detected by the radar after determining the target detection position, and then determines the maximum detection distance of the radar according to the triangular theorem under the condition that the vertical distance between the preset flight path and the radar and the detection azimuth angle are known. The server also determines the minimum detection distance of the radar according to the minimum detection distance in the multiple circular flight paths in the near range recorded by the radar.

[0067] In step 208, the detection performance of the radar is determined based on the detection distance, and a radar performance determination result is obtained.

[0068] The radar has different performance evaluation standards in different working modes or wave bands. The working modes of the radar mainly include an omnidirectional scanning mode and a directional scanning mode. The directional scanning mode more accurately locates equipment in a direction. The omnidirectional scanning mode scans all equipment in a 360° range by rotating a scanning device above the radar, or scans target aircrafts traveling around the radar. Commonly used radar wave bands include P band (A / B / C), L band, S band (E / F), C band (G), and X band (I / J). The application scenarios and ranges of different wave bands are different. For example, the S band is a compromise between long-range detection and three-coordinate (distance / azimuth / elevation) accurate measurement, and can be used for SMR of air traffic control. The X band is popular in synthetic aperture radar space or airborne imaging radar. The C band has the characteristics of both S and X bands, and is suitable for medium and short distances. The radar wave band is also affected by factors such as action distance, technology, cost, and antenna transmission limitations in different application scenarios.

[0069] Optionally, the server first determines the working mode and the wave band used by the radar, and then determines the performance of the radar according to the maximum detection distance and the minimum detection distance of the radar obtained under the working mode and the wave band, so as to obtain the determination result of the radar.

[0070] Optionally, the server first determines the working mode and the wave band used by the radar, and then determines the performance of the radar according to the maximum detection distance obtained under the working mode and the wave band, so as to obtain the determination result of the radar.

[0071] In the above radar performance determination method, the discovery probability of the radar in each detection interval is determined according to the number of times the radar transmits signals in each detection interval and the number of times the radar detects target aircrafts in each detection interval, which can improve the accuracy of the discovery probability value. Then, the detection azimuth angle corresponding to the target detection position determined by the target detection interval with the target value of the discovery probability value, and the vertical distance between the preset flight path and the radar, can obtain accurate radar detection distance, so that the obtained radar performance determination data is more comprehensive, thereby realizing accurate determination of the performance of the radar.

[0072] In one embodiment, the radar performance determination method further comprises:

[0073] Obtaining the flight position data recorded by the target aircraft and the detected position data of the target aircraft detected by the radar.

[0074] Based on the flight position data and the detected position data, determining the detection error of the radar.

[0075] The flight position data is the position data recorded by the target aircraft itself, which can be obtained by the Beidou navigation system or the global positioning system loaded on the target aircraft. The detected position data is the position data of the target aircraft detected by the radar. Both the flight position data and the detected position data can be coordinate data or full-flight radial distance, azimuth angle and pitch angle data.

[0076] When the forms of the flight position data and the detected position data are the same, no coordinate conversion is needed. For example, when both the flight position data and the detected position data are full-flight radial distance, azimuth angle and pitch angle data, no conversion is needed. When the forms of the flight position data and the detected position data are different, the flight position data needs to be converted so that both the data are in the same form for calculation. For example, the coordinate system of the flight position data recorded by the target aircraft is the geodetic position system, and the coordinate system of the detected position data of the target aircraft detected by the radar is the spherical coordinate system. The flight position data needs to be converted to the position data in the same spherical coordinate system as the detected position data. The conversion process of the position data is: first, convert the flight position data to the position data in the geostationary system, then convert the position data in the geostationary system to the position data in the georoll system, then convert the position data in the georoll system to the position data in the aircraft system, and finally convert the position data in the aircraft system to the position data in the spherical coordinate system, so as to obtain the position data of the flight position data and the detected position data in the same spherical coordinate system.

[0077] When obtaining the position data, the time of the radar and the target aircraft is also integrated, with the radar time as the target aircraft time, so that the radar time and the aircraft time correspond completely, and the time accuracy is adjusted to millisecond format, which can improve the time accuracy and the accuracy of the time, so that the data of the target aircraft observed by the radar and the data detected by the target aircraft itself can be one-to-one corresponding according to the time data when calculating the detection error. For example, the flight position data obtained at time t and the detected position data obtained at time t are one-to-one corresponding, and the difference value can be calculated.

[0078] The detection error includes the root mean square error of the flight radial distance, the root mean square error of the azimuth angle, and the root mean square error of the pitch angle.

[0079] Optionally, the server obtains the navigation position data recorded by the target machine itself and the detection position data about the position of the target machine detected by the radar when detecting the target machine. When the server detects that the navigation position data and the detection position data are in the same form, the navigation position data does not need to be converted, and the root mean square error of the radial distance of the radar, the root mean square error of the azimuth angle, and the root mean square error of the elevation angle are determined according to the radial distance, the azimuth angle, and the elevation angle in the navigation position data and the radial distance, the azimuth angle, and the elevation angle in the detection position data.

[0080] Optionally, the server obtains the navigation position data recorded by the target machine itself and the detection position data about the position of the target machine detected by the radar when detecting the target machine. When the server detects that the navigation position data and the detection position data are in different forms, the navigation position data needs to be converted so that the two kinds of data are in the same form, and then the detection error of the radar is determined according to the converted position data.

[0081] In a specific application, the server can obtain the root mean square error of the radial distance of the radar, the root mean square error of the azimuth angle, and the root mean square error of the elevation angle according to the difference between the navigation position data and the detection position data. The formula is as follows:

[0082] ΔX i =X i -X i '

[0083]

[0084]

[0085]

[0086] wherein, ΔX i represents the difference, represents the average of the difference, X i represents the i-th data of the detection position data, X i ' represents the i-th data of the navigation position data, N represents the number of data for interpolation calculation, S represents the standard deviation, and U represents the root mean square error. When the i-th data of the navigation position data does not correspond to the i-th data of the detection position data, linear interpolation smoothing processing can be performed according to the spatial positions between adjacent sampling units to obtain the i-th data corresponding to the i-th data of the detection position data.

[0087] Based on the detection distance, the detection performance of the radar is determined to obtain a radar performance determination result, including:

[0088] The detection performance of the radar is determined based on the detection distance and the detection error of the radar, and a radar performance determination result is obtained.

[0089] The radar has different performance evaluation standards in different working modes or wave bands. The working modes of the radar mainly include an omnidirectional scanning mode and a directional scanning mode. The directional scanning mode more accurately locates equipment in a direction. The omnidirectional scanning mode scans all equipment in a 360° range through rotating scanning devices on the radar, or scans a target machine traveling around the radar. Commonly used radars include P wave bands (A / B / C), L wave bands, S wave bands (E / F), C wave bands (G), and X wave bands (I / J), and the application scenarios and ranges of different wave bands are different.

[0090] Optionally, the server first determines the working mode and the wave band used by the radar, and then performs performance determination based on the detection error data obtained in the working mode and the wave band and the detection distance of the radar, so as to obtain the determination result of the radar.

[0091] In this embodiment, the radar detection error obtained based on the navigation position data and the detection position data and the radar detection distance can make the obtained radar performance determination data more comprehensive, so as to realize accurate determination of the radar performance.

[0092] In one embodiment, the navigation position data is first coordinate data of the target machine in a target machine coordinate system, and the detection position data is second coordinate data of the target machine in a radar coordinate system.

[0093] Based on the navigation position data and the detection position data, the detection error of the radar is determined, including:

[0094] At least one of the first coordinate data and the second coordinate data is subjected to coordinate conversion to obtain two groups of coordinate data belonging to the same coordinate system.

[0095] Based on the data deviation of the two groups of coordinate data, the detection error of the radar is determined.

[0096] The coordinate conversion is to convert coordinate data not represented by distance, azimuth, and elevation angle into coordinate data represented by distance, azimuth, and elevation angle. For example, coordinate data represented in a three-dimensional coordinate form is converted into coordinate data represented by distance, azimuth, and elevation angle. The three-dimensional coordinate form can be understood as a coordinate data form represented by x-axis, y-axis, and z-axis coordinate values.

[0097] In the coordinate conversion, the abnormal data in the first coordinate data and the second coordinate data are processed, and then the detection error of the radar is obtained according to the difference between the data representing the same position of the target machine in the processed first coordinate data and the processed second coordinate data. The abnormal data refers to the data that can be explained with clear reasons, such as sudden change of test conditions, mistakes of equipment operators and preset heading changes, and some data that cannot be explained with clear reasons, such as data exceeding 3 times of standard deviation when the number of detection points is greater than 20. The same position can be represented by time, that is, the position of the target machine represented by the second coordinate data of the target machine obtained by the radar at time t and the position of the target machine represented by the first coordinate data of the target machine obtained by the target machine at time t belong to the same position.

[0098] Optionally, the server eliminates the abnormal data in the position data measured by the target machine itself to obtain the processed first coordinate data. The server also eliminates the abnormal data in the position data of the target machine measured by the radar to obtain the processed second coordinate data. When the server detects that the first coordinate data is coordinate data represented in three-dimensional coordinate form and the second coordinate data is coordinate data represented by distance, azimuth and elevation angle, the first coordinate data represented in three-dimensional coordinate form is converted into coordinate data represented by distance, azimuth and elevation angle, so as to obtain two groups of coordinate data represented by distance, azimuth and elevation angle. Then, the server determines the detection error of the radar according to the deviation of the two groups of coordinate data.

[0099] Optionally, the server eliminates the abnormal data in the position data measured by the target machine itself to obtain the processed first coordinate data. The server also eliminates the abnormal data in the position data of the target machine measured by the radar to obtain the processed second coordinate data. When the server detects that the first coordinate data is coordinate data represented in three-dimensional coordinate form and the second coordinate data is coordinate data represented by distance, azimuth and elevation angle, the first coordinate data represented in three-dimensional coordinate form is converted into coordinate data represented by distance, azimuth and elevation angle, so as to obtain two groups of coordinate data represented by distance, azimuth and elevation angle. Then, the server determines the detection error of the radar according to the deviation of the two groups of coordinate data.

[0100] Optionally, the server eliminates abnormal data in the position data measured by the target machine itself to obtain processed first coordinate data. The server also eliminates abnormal data in the position data of the target machine measured by the radar to obtain processed second coordinate data. When the server detects that neither the first coordinate data nor the second coordinate data is coordinate data represented by distance, azimuth and elevation angle, the server converts the first coordinate data and the second coordinate data into coordinate data represented by distance, azimuth and elevation angle, thereby obtaining two groups of coordinate data represented by distance, azimuth and elevation angle. Then, the server determines the detection error of the radar according to the deviation of the two groups of coordinate data.

[0101] In this embodiment, by converting the first coordinate data and the second coordinate data into data of the same form, and the form of the data being coordinate data represented by distance, azimuth and elevation angle, the calculation process can be simplified, thereby improving the calculation efficiency; by eliminating abnormal data in the data according to the actual test situation and the standard deviation, the influence of the abnormal data can be reduced, thereby improving the accuracy of the radar detection error.

[0102] In one embodiment, the radar performance determination method further comprises:

[0103] determining a detection point at which the radar first detects the target machine on the preset flight line.

[0104] segmenting a flight line from the detection point to a preset terminal point on the preset flight line to obtain a plurality of detection intervals.

[0105] The detection point at which the target machine is first detected refers to the position at which the radar first discovers the target machine on the preset flight line.

[0106] The distance of each detection interval can be an equal distance interval. For example, the flight line is 50 km long, the starting point is 0, and the 50 km preset flight line is segmented by 10 km, so that after segmentation, each detection interval is 0-10 km, 20 km, 30 km, 40 km and 50 km. The distance of each detection interval can be a non-equal distance interval. For example, the flight line is 50 km long, the starting point is 0 km, and the 50 km preset flight line is segmented by any distance, so that after segmentation, each detection interval is 0-12 km, 20 km, 32 km, 38 km and 50 km.

[0107] Optionally, the server segments the flight line from the position at which the radar first discovers the target machine on the preset flight line to a preset terminal point on the preset flight line by equal distance to obtain a plurality of detection intervals with equal distances.

[0108] Optionally, the server segments the route from the starting point to the preset ending point on the preset route into a plurality of detection intervals.

[0109] In this embodiment, the starting point of the route segmentation is the position where the target aircraft is first detected, which can accurately calculate the detection probability and thus accurately calculate the detection distance.

[0110] In one embodiment, as shown in Figure 3 When the value of the detection probability is the target value, the target detection interval of the radar and the target detection position in the target detection interval include:

[0111] Step 302, the detection probability is taken as the detection probability of the center position of the detection interval.

[0112] Step 304, when there is no detection probability with the target value, determine the first target probability with a value greater than the target value and the second target probability with a value less than the target value.

[0113] Optionally, the server takes the detection probability of the detection interval as the detection probability at the center position of the detection interval. When the server detects that the value of the detection probability at each center position of the detection interval is not the target value, determine the first target probability with a value greater than the target value and the second target probability with a value less than the target value from the values of the detection probability at the center positions of the detection intervals.

[0114] Optionally, when the server detects that there is a detection probability with the target value, directly determine the detection interval where the detection probability is located as the target detection interval, and take the center position of the target detection interval as the target detection position.

[0115] In one specific application, the center positions of the detection intervals are 9-18-27-36, the target value is 0.5, and the center positions and the corresponding detection probabilities are (9, 0.7), (18, 0.45), (27, 0.38), and (36, 0.3), respectively. The first target probability with a value greater than the target value is (9, 0.7), and the second target probability with a value less than the target value is (36, 0.3), (27, 0.38), and (18, 0.45).

[0116] Step 306, take the interval formed by the center position of the first detection interval where the first target probability is located and the center position of the second detection interval where the second target probability is located as the target detection interval.

[0117] When there are multiple first target probabilities or multiple second target probabilities, the interval formed by the center positions of the first target probability and the second target probability corresponding to the adjacent intervals can be selected as the target detection interval. For example, the probability corresponding to (18, 0.45) is selected as the second target probability, and the probability corresponding to (9, 0.7) is selected as the first target probability, and the target detection interval is (9, 18). The interval formed by the center positions of the first target probability and the second target probability corresponding to the interval intervals can also be selected as the target detection interval. For example, the probability corresponding to (27, 0.38) is selected as the second target probability, and the probability corresponding to (9, 0.7) is selected as the first target probability, and the target detection interval is (9, 27).

[0118] Optionally, after the server determines the first target probability and the first target probability, the server selects two adjacent detection intervals corresponding to the first target probability and the second target probability, and takes the interval formed by the center positions of the two detection intervals as the target detection interval.

[0119] Optionally, after the server determines the first target probability and the first target probability, the server selects two adjacent detection intervals corresponding to the first target probability and the second target probability, and takes the interval formed by the center positions of the two detection intervals as the target detection interval.

[0120] In a specific application, the first target probability with a discovery probability greater than the target value is (9, 0.7), and the second target probability with a discovery probability less than the target value is (36, 0.3), (27, 0.38), and (18, 0.45). The probability corresponding to (18, 0.45) is selected as the second target probability, and the probability corresponding to (9, 0.7) is selected as the first target probability, and the target detection interval is (9, 18). The probability corresponding to (27, 0.38) is selected as the second target probability, and the probability corresponding to (9, 0.7) is selected as the first target probability, and the target detection interval is (9, 27).

[0121] In step 308, based on the value of the first target probability and the value of the second target probability, interpolation processing is performed in the target detection interval to determine the interpolation position with the target value.

[0122] When the radar detects the target machine, in the case that the value of the discovery probability in each detection interval is greater than the target value, the endpoint of the preset route is taken as the target detection position, and the maximum detection distance of the radar is determined based on the endpoint.

[0123] Optionally, the server performs interpolation processing according to the value of the first target probability and the value of the second target probability, and the center position parameters of the first target probability and the second target probability, to obtain the interpolation position of the target value.

[0124] In one specific application, the probability corresponding to (18, 0.45) is taken as the second target probability, and the probability corresponding to (9, 0.7) is taken as the first target probability, and the calculation formula of the interpolation position x corresponding to the target value 0.5 is

[0125] In step 310, the interpolation position is determined as the target detection position in the target detection interval.

[0126] In this embodiment, by using the interpolation method in the case where there is no discovery probability taking the target value, the interval formed by the first target probability and the second target probability center positions corresponding to the adjacent intervals is taken as the target detection interval, or the interval formed by the first target probability and the second target probability center positions corresponding to the interval interval is selected as the target detection interval, which can facilitate obtaining the target detection position, thereby realizing the determination of the detection distance of the radar.

[0127] In one embodiment, based on the detection distance, the detection performance of the radar is determined to obtain a radar performance determination result, including:

[0128] Based on the working mode and the used wave band of the radar, the target state in which the radar is located is determined.

[0129] The target detection distance of the radar in the target state is determined.

[0130] Based on the target detection distance, the radar performance determination result of the radar in the target state is obtained.

[0131] The radar has different performance evaluation standards in different working modes or using wave bands. The working modes of the radar mainly include omnidirectional scanning mode and directional scanning mode. The commonly used radars have P wave band (A / B / C), L wave band, S wave band (E / F), C wave band (G) and X wave band (I / J), and the application scenarios and ranges of different wave bands are different.

[0132] Optionally, the server determines the target state of the radar according to the wave band used by the radar and the working mode in which the radar is located. The server determines the detection performance of the radar according to the target detection distance obtained from the target state, thereby obtaining the performance determination result of the radar.

[0133] In this embodiment, by determining the performance of the radar according to the target state in which the radar is located and the corresponding data, the evaluation criteria are more perfect, thereby realizing the accurate determination of the performance of the radar.

[0134] The application further provides an application scenario of the radar performance determination method. Specifically, the radar performance determination method is applied in the following way in the application scenario: first, a preset flight path is established, and the setting of the preset flight path is shown in Table 1.

[0135] Table 1: Setting of different flight paths

[0136]

[0137]

[0138] In Table 1, for example, flight path 1 represents that the aircraft flies at an altitude of 5500 meters, and the radar distance of 220 km is set as the entry of the specified flight path, and the radar distance of 140 km is set as the exit of the specified flight path.

[0139] When the target aircraft is tested, there are inevitably multiple passenger aircraft and cargo aircraft flying in the air at the same time. At this time, the radar track management can establish a file for all detected targets, save information and continuously and stably track. The aircraft flying on the preset flight path is determined as the target aircraft, and the flight position data recorded by the target aircraft is obtained from the target aircraft, and the detected position data of the target aircraft is obtained from the radar. When obtaining the position data, the time of the radar and the target aircraft is also integrated, the time of the target aircraft is interpolated by the radar time, so that the radar time and the aircraft time completely correspond, and the time format is converted into millisecond format, and the flight position data is also converted into position data of the same form as the detected position data, that is, converted into position data represented by distance, azimuth angle and pitch angle. When converting data, abnormal data that can be explained due to sudden changes in test conditions, mistakes of aircraft operators and changes in flight direction, and data greater than 3 times the standard deviation when the number of observation points of the radar is greater than 20 are all removed, so as to obtain two groups of coordinate data in the same coordinate system and after removing abnormal data. The starting time and the ending time of the target aircraft entering the flight path are found through the track management, and the point detected at the starting time is taken as the starting point, and the flight path is segmented at intervals of 18 km, and the sampling interval of adjacent distances is taken as one half. The ratio between the number of times that the radar detects the target aircraft in each detection interval on the preset flight path and the number of times that the radar emits detection signals in each detection interval is used to determine the discovery probability of the radar in each detection interval. The overall flow chart is shown in Figure 4 .

[0140] On the premise that the value of the discovery probability is the target value of 0.5, calculate the maximum detection distance of the radar according to the detection azimuth angle at the central position of the target detection interval where the target value is located and the vertical distance between the flight path and the radar. Record the distances of the target aircraft detected by the radar in multiple circular flight paths within the range of 0 to 9 km from the radar, and take the minimum value recorded as the minimum detection distance of the radar.

[0141] When the radar detects a conventional target aircraft, the radar operating mode is an omnidirectional scanning mode, and the radar cross section is 2 m 2 In this case, on flight paths 1, 2, and 3, the maximum detection distances are not less than 140 km, 85 km, and 85 km respectively; the minimum detection distance is not greater than 3 km, then it is determined that the maximum and minimum detection distances of the radar meet the index requirements. When the radar uses the S band, the root mean square error of distance is not greater than X1 meters, the root mean square error of azimuth angle is not greater than Y1°, and the root mean square error of pitch angle is not greater than Z1 meters. When the radar uses the C band, the root mean square error of distance is not greater than X2 meters, the root mean square error of azimuth angle is not greater than Y2°, and the root mean square error of pitch angle is not greater than Z2 meters, then it is determined that the radar detection accuracy meets the index requirements. When all of the maximum and minimum detection distances, the root mean square error of distance, the root mean square error of azimuth angle, and the root mean square error of pitch angle meet the index requirements, the azimuth angle coverage meets 0° to 360°, and the pitch beam meets the coverage range of 0° to 45°, then the radar performance determination result is qualified. When the radar detects a small target aircraft, if the maximum detection distance of the small aircraft detected during the flight on flight path 3 is not less than 85 km, then it is determined that the radar operating distance meets the index requirements. When the radar uses the S band, the root mean square error of distance is not greater than X2 meters, the root mean square error of azimuth angle is not greater than Y3°, and the root mean square error of pitch angle is not greater than Z3 meters. When the radar uses the C band, the root mean square error of distance is not greater than X4 meters, the root mean square error of azimuth is not greater than Y4°, and the root mean square error of pitch angle is not greater than Z4 meters, then it is determined that the radar detection accuracy meets the index requirements. When all of the maximum detection distance, the root mean square error of distance, the root mean square error of azimuth angle, and the root mean square error of pitch angle meet the index requirements, the azimuth angle coverage meets 0° to 360°, and the pitch beam meets the coverage range of 0° to 45°, then the radar performance determination result is qualified.

[0142] The radar performance judgment result is qualified when the maximum and minimum detection distances and the distance root mean square error, the azimuth root mean square error, the elevation root mean square error all meet the index requirements, the azimuth angle coverage meets ± 30°, and the elevation beam meets the coverage range of 0° to 60°.

[0143] It should be understood that, although each step in the flowchart involved in each embodiment as described above is displayed in sequence according to the arrow indication, these steps are not necessarily executed in sequence according to the arrow indication. Unless explicitly stated herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each embodiment as described above can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be alternately executed with at least part of other steps or steps or stages in other steps.

[0144] Based on the same inventive concept, the embodiments of the present application also provide a radar performance judgment device for implementing the radar performance judgment method as described above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more radar performance judgment device embodiments provided below can refer to the limitations of the radar performance judgment method in the above text, and will not be repeated here.

[0145] In one embodiment, as shown in Figure 5 a radar performance judgment device is provided, comprising:

[0146] The discovery probability determination module 502 is configured to determine the discovery probability of the radar in each detection interval based on the number of times of detection signal transmission of the radar for each detection interval on the preset flight line and the number of times of detection of the target aircraft in each detection interval.

[0147] The target detection position determination module 504 is configured to determine a target detection range corresponding to the radar when the probability of discovery is equal to the target value, and a target detection position in the target detection range.

[0148] The detection distance determination module 506 is configured to determine a detection distance of the radar based on a vertical distance between the preset route and the radar and a detection azimuth angle corresponding to the target detection position.

[0149] The determination result determination module 508 is configured to determine the detection performance of the radar based on the detection distance, and obtain a radar performance determination result.

[0150] In one of the embodiments, the radar performance determination apparatus further includes:

[0151] The position data determination unit is configured to obtain navigation position data recorded by the target machine and detection position data obtained by the radar detecting the position of the target machine.

[0152] The detection error determination unit is configured to determine the detection error of the radar based on the navigation position data and the detection position data.

[0153] The determination result determination module includes:

[0154] The first determination result determination unit is configured to determine the detection performance of the radar based on the detection distance and the detection error of the radar, and obtain the radar performance determination result.

[0155] In one of the embodiments, the navigation position data is first coordinate data of the target machine in a target machine coordinate system, and the detection position data is second coordinate data of the target machine in a radar coordinate system.

[0156] The detection error determination unit includes:

[0157] The coordinate conversion subunit is configured to perform coordinate conversion on at least one of the first coordinate data and the second coordinate data, and obtain two groups of coordinate data belonging to the same coordinate system.

[0158] The detection error determination subunit is configured to determine the detection error of the radar based on a data deviation between the two groups of coordinate data.

[0159] In one of the embodiments, the radar performance determination apparatus further includes:

[0160] The starting point determination unit is configured to determine a detection point at which the target machine is first detected by the radar on the preset route.

[0161] The detection range determination unit is configured to segment a route from the starting point to a preset ending point on the preset route to obtain a plurality of detection ranges.

[0162] In one of the embodiments, the target detection position determination module comprises:

[0163] The discovery probability determination unit is configured to determine the discovery probability as the discovery probability of the center position of the detection interval.

[0164] The target probability determination unit is configured to, when there is no discovery probability with the target value, determine a first target probability with a discovery probability greater than the target value and a second target probability with a discovery probability less than the target value.

[0165] The target detection interval determination unit is configured to determine, as the target detection interval, an interval formed by a center position of a first detection interval in which the first target probability is located and a center position of a second detection interval in which the second target probability is located.

[0166] The interpolation position determination unit is configured to, based on the value of the first target probability and the value of the second target probability, perform interpolation processing in the target detection interval to determine an interpolation position with the target value.

[0167] The target detection position determination unit is configured to determine the interpolation position as the target detection position in the target detection interval.

[0168] In one of the embodiments, the determination result determination module comprises:

[0169] The target state determination unit is configured to determine the target state of the radar based on the working mode of the radar and the used wave band.

[0170] The target detection distance determination unit is configured to determine the target detection distance of the radar in the target state.

[0171] The second determination result determination unit is configured to obtain the radar performance determination result of the radar in the target state based on the target detection distance.

[0172] The above modules in the radar performance determination device can be realized by software, hardware, and combinations thereof, in whole or in part. The above modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above modules.

[0173] In one embodiment, a computer device is provided, which can be a server, and the internal structure diagram thereof can be as shown in Figure 6As shown in the figure. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through the system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capability. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the number of times of transmitting the detection signal, the number of times of detecting the target machine, the discovery probability, the target value, the target detection interval, the target detection position, the vertical distance between the preset route and the radar, the detection azimuth angle corresponding to the target detection position, the detection distance of the radar, and the radar performance determination result data. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with the terminal outside through the network connection. The computer program is executed by the processor to realize a radar performance determination method.

[0174] Those skilled in the art can understand that, Figure 6 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0175] In one embodiment, a computer device is also provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to realize the steps in each of the above method embodiments.

[0176] In one embodiment, a computer readable storage medium is provided, having a computer program stored thereon, which is executed by a processor to realize the steps in each of the above method embodiments.

[0177] In one embodiment, a computer program product is provided, including a computer program, which is executed by a processor to realize the steps in each of the above method embodiments.

[0178] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0179] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0180] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0181] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for determining radar performance, characterized in that, The method includes: Based on the number of times the radar transmits detection signals for each detection interval on the preset route and the number of times the radar detects the target aircraft in each detection interval, the detection probability of the radar finding the target aircraft in each detection interval is determined. When the detection probability is determined to be a target value, the target detection interval corresponding to the radar and the target detection position within the target detection interval are defined. The determination of the detection probability as a target value, including defining the target detection interval and the target detection position within the target detection interval, includes: using the detection probability as the detection probability at the center position of the detection interval; when there is no detection probability of the target value, determining a first target probability greater than the target value and a second target probability less than the target value; defining the interval formed by the center position of the first detection interval containing the first target probability and the center position of the second detection interval containing the second target probability as the target detection interval; performing interpolation processing within the target detection interval based on the values ​​of the first and second target probabilities to determine the interpolation position of the target value; and determining the interpolation position as the target detection position within the target detection interval. The detection range of the radar is determined based on the vertical distance between the preset flight path and the radar, and the detection azimuth angle corresponding to the target detection position. Based on the detection range, the detection performance of the radar is determined, and the radar performance determination result is obtained.

2. The method according to claim 1, characterized in that, The method further includes: The system acquires the flight position data recorded by the target aircraft, as well as the detection position data obtained by the radar during the target aircraft's position detection. Based on the navigation position data and the detection position data, the detection error of the radar is determined; The step of determining the radar's detection performance based on the detection range to obtain a radar performance determination result includes: Based on the detection range and the detection error of the radar, the detection performance of the radar is determined, and the radar performance determination result is obtained.

3. The method according to claim 2, characterized in that, The navigation position data is the first coordinate data of the target aircraft in the target aircraft coordinate system; the detection position data is the second coordinate data of the target aircraft in the radar coordinate system; The determination of the radar's detection error based on the navigation position data and the detection position data includes: Perform coordinate transformation on at least one of the first coordinate data and the second coordinate data to obtain two sets of coordinate data belonging to the same coordinate system; The detection error of the radar is determined based on the data deviation between the two sets of coordinate data.

4. The method according to claim 1, characterized in that, The method further includes: Determine the detection point where the radar first detects the target aircraft along the preset flight path; Starting from the detection point, the route from the starting point to the preset endpoint in the preset route is segmented to obtain multiple detection intervals.

5. The method according to claim 1, characterized in that, The step of determining the radar's detection performance based on the detection range to obtain a radar performance determination result includes: Based on the radar's operating mode and the frequency band it uses, the target status of the radar is determined. Determine the target detection range of the radar when it is in the target state; Based on the target detection range, the radar performance assessment result under the target state is obtained.

6. A radar performance determination device, characterized in that, The device includes: The detection probability determination module is used to determine the detection probability of the radar in each detection interval based on the number of times the radar transmits detection signals for each detection interval on the preset route and the number of times the radar detects the target aircraft in each detection interval. A target detection location determination module is used to determine the target detection interval corresponding to the radar and the target detection location within the target detection interval when the detection probability is a target value. Determining the target detection interval corresponding to the radar and the target detection location within the target detection interval when the detection probability is a target value includes: using the detection probability as the detection probability at the center position of the detection interval; when there is no detection probability greater than the target value, determining a first target probability greater than the target value and a second target probability less than the target value; using the interval formed by the center position of the first detection interval containing the first target probability and the center position of the second detection interval containing the second target probability as the target detection interval; performing interpolation processing within the target detection interval based on the values ​​of the first and second target probabilities to determine the interpolation position where the value is the target value; and determining the interpolation position as the target detection location within the target detection interval. The detection range determination module is used to determine the detection range of the radar based on the vertical distance between the preset flight path and the radar, and the detection azimuth angle corresponding to the target detection position; The determination result module is used to determine the detection performance of the radar based on the detection distance and obtain the radar performance determination result.

7. The apparatus according to claim 6, characterized in that, The radar performance determination device further includes: a starting point determination unit, used to determine the detection point where the radar first detects the target aircraft on the preset route; and a detection interval determination unit, used to divide the route from the starting point to the preset endpoint of the preset route into multiple detection intervals, with the detection point as the starting point.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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