A detection method for dual-platform airborne radar in cooperative mode

Abstract

The present invention discloses a detection method in a dual-platform airborne radar collaborative mode, belonging to the field of radar detection technology. The method can fully utilize multi-dimensional information such as time, frequency domain, and space to improve the anti-interference capability of the dual-platform airborne radar. The detection method includes: a first radar and a second radar separately searching for a target; the first radar and the second radar synchronize time, frequency, and space to enter a collaborative mode; the first radar and the second radar exchange target information; the first radar and the second radar respectively perform time-space conversion and data fusion judgment on the target information they searched for, obtain multiple suspected identical targets, and determine the same tracking target to be tracked from the multiple suspected identical targets; based on the information of tracking the identical target, the first radar and the second radar respectively calculate and adjust timing parameters.

Description

Technical Field

[0001] The present invention belongs to the field of radar detection technology, and in particular relates to a detection method in a dual-platform airborne radar cooperative mode. Background Art

[0002] Due to the complexity and diversity of the electromagnetic environment, in order to improve the ability to identify and counter interference, existing airborne radars generally operate on a single platform. For example, composite detection of active radar + active radar or active radar + passive radar is used to improve detection capabilities. In radar timing design, different radars use alternating transmission during pulse repetition cycles, work in shifts in time periods, or work in different frequency bands, and fail to achieve coordinated detection at the same time.

[0003] The dual-platform collaborative detection system can fully utilize the time domain, frequency domain, and spatial domain to improve the radar system's adaptability to complex electromagnetic environments. For dual-platform airborne radars in master-slave collaborative mode, the radar can not only receive its own radar echo signal to search and track targets, but also receive radar signals transmitted by the other platform's radar reflected from the target, obtaining richer target information. This detection mode fully utilizes the advantages of collaborative detection, but also places higher requirements on the waveform and timing design of the transmitted signal. Summary of the Invention

[0004] In view of the above analysis, the present invention aims to provide a detection method in a dual-platform airborne radar cooperative mode, which can make full use of multi-dimensional information such as time, frequency domain, and space to improve the anti-interference capability of the dual-platform airborne radar.

[0005] The purpose of the present invention is mainly achieved through the following technical solutions:

[0006] The present invention provides a detection method in a dual-platform airborne radar cooperative mode, comprising the following steps:

[0007] Step 1: The first radar and the second radar search for targets respectively. The first radar records the target information searched by the first radar, and the second radar records the target information searched by the second radar.

[0008] Step 2: Establish a unified time, frequency, and space reference for the first and second radars. The first and second radars synchronize time, frequency, and space and enter a collaborative mode at the same frequency.

[0009] Step 3: The first radar and the second radar exchange target information;

[0010] Step 4: Under the unified time reference and space coordinate system, the first radar and the second radar respectively perform time-space conversion and data fusion judgment on the target information they search for, obtain multiple suspected identical targets, and determine the identical target to be tracked from the multiple suspected identical targets under the control of the first radar;

[0011] Step 5: Based on the information of tracking the same target, the first radar and the second radar respectively calculate and adjust the timing parameters.

[0012] Furthermore, in step 1, the first radar and the second radar respectively work independently in the self-transmitting and self-receiving working mode under their respective time references and space coordinate systems, and only receive and process the target echo signals of the first radar and the second radar respectively.

[0013] Furthermore, the first radar searches and finds M targets. Under the time reference and space coordinate system of the first radar, the target time and space information is recorded as T Ai (t Ai ,r Ai ,α Ai ,β Ai ), i=1,2,…M, target T Ai In t Ai The distance between the moments is r Ai , azimuth angle is α Ai , the pitch angle is β Ai .

[0014] Furthermore, the second radar searches and finds N targets. Under the time reference and space coordinate system of the second radar, the target time and space information is recorded as T Bj (t Bj , r Bj ,α Bj ,β Bj ), j = 1, 2, ... N target T Bj In t Bj The distance between the moments is r Bj , azimuth angle is α Bj , the pitch angle is β Bj .

[0015] Furthermore, in step 2, under the control of the first radar, a unified time base is established for the first radar and the second radar, and the working timings of the first radar and the second radar are simultaneously restarted through the respective time-frequency synchronizers of the first radar and the second radar, and the target information of the first radar and the second radar is marked with time-stamp information;

[0016] Through the navigation systems of the first radar and the second radar, the coordinates of the first radar are set as the origin. In the unified spatial coordinate system, the coordinates of the second radar are P B (x B ,yB ,z B ), establish a unified spatial coordinate system.

[0017] Furthermore, in step 3, both the first radar and the second radar can obtain target time and space information of the first radar and target time and space information of the second radar, the first radar obtains the pulse width of the second radar, and the second radar obtains the pulse width of the first radar.

[0018] Furthermore, in step 3, the first radar and the second radar exchange target information via data links respectively.

[0019] Furthermore, it is characterized in that step 4 includes the following steps:

[0020] Step 41: Under the unified time base only, the target of the first radar is T Ai (t Ai ,r Ai ,α Ai ,β Ai ), i=1,2,…M, the second radar target is T Bj (t Bj ,r Bj ,α Bj ,β Bj ), j = 1, 2, ... N;

[0021] Under the unified time base and space coordinate system, the target coordinates of the first radar are T Ai (t Ai ,x Ai ,y Ai ,z Ai ), where i = 1, 2, ... M; the coordinates of the second radar target are T Bj (t Bj ,x Bj ,y Bj ,z Bj ), where j = 1, 2, ... N; then the following relationship holds:

[0022] Target coordinates of the first radar:

[0023] x Ai =0+r Ai ·cos(β Ai )sin(α Ai )

[0024] y Ai =0+r Ai ·cos(β Ai )cos(α Ai )

[0025] z Ai=0+r Ai ·sin(β Ai )

[0026] Target coordinates of the second radar:

[0027] x Bj =x B +r Bj ·cos(β Bj )sin(α Bj )

[0028] y Bj =y B +r Bj ·cos(β Bj )cos(α Bj )

[0029] z Bj =z B +r Bj ·sin(β Bj )

[0030] Step 42: Let ε be the tolerance threshold of the collaborative positioning error. If the following equation is satisfied, multiple suspected identical targets are obtained:

[0031] Where i = 1, 2, ... M, j = 1, 2, ... N;

[0032] Suppose that among the M targets of the first radar and the N targets of the second radar, there are K suspected identical targets, where K ≤ M and K ≤ N.

[0033] Step 43: Under the control of the first radar, the same target to be tracked is determined from multiple suspected targets, and the information of the same target is transmitted to the second radar via the data link. The second radar tracks the same target.

[0034] Furthermore, ε is 10m, 15m or 20m.

[0035] Furthermore, it is characterized in that, after step 5, the following steps are also included:

[0036] Step 6: The first radar and the second radar transmit orthogonal waveforms, and process the self-transmitted and self-received radar echo signals and the other-transmitted and self-received radar echo signals respectively to determine whether the same tracked target is a real target.

[0037] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0038] The detection method for a dual-platform airborne radar cooperative mode provided by the present invention is specific to the dual-platform recording radar cooperative mode. Unlike a single-platform radar that can only receive and process self-transmitted and self-received radar echoes, using the detection method of this embodiment, in the cooperative mode, both the first radar and the second radar can receive self-transmitted and self-received echo signals and other-transmitted and self-received echo signals. By analyzing, filtering, and detecting the self-transmitted and self-received echo signals and other-transmitted and self-received echo signals, the radar's anti-interference capability is improved by fully utilizing multi-dimensional information such as time domain, frequency domain, and spatial domain. This lays the foundation for the engineering application of the dual-platform recording radar cooperative mode and has good application potential and economic benefits.

[0039] Other features and advantages of the present invention will be described in the following description, and part of them will become obvious from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like parts throughout the drawings.

[0041] Figure 1 A schematic diagram of the flow of a timing design method in a dual-platform airborne radar cooperative mode provided by an embodiment of the present invention is shown;

[0042] Figure 2 A schematic diagram showing the relationship between radar and target position in a cooperative detection situation provided by an embodiment of the present invention is shown;

[0043] Figure 3 FIG1 shows a schematic diagram of radar timing design under the cooperative detection condition provided by an embodiment of the present invention;

[0044] Figure 4a The matched filtering result of the echo signal transmitted and received by the first radar in the simulation scenario in the detection method in the dual-platform airborne radar cooperative mode provided in the first embodiment of the present invention;

[0045] Figure 4b The matched filtering results of the echo signals sent and received by the first radar in the simulation scenario in the detection method in the dual-platform airborne radar cooperative mode provided in the first embodiment of the present invention;

[0046] Figure 4c The matched filtering result of the echo signal transmitted and received by the second radar in a simulation scenario in the detection method in the dual-platform airborne radar cooperative mode provided in the first embodiment of the present invention;

[0047] Figure 4dThis is the matched filtering result of the echo signal sent and received by the second radar in the simulation scenario in the detection method in the dual-platform airborne radar cooperative mode provided by Example 1 of the present invention. DETAILED DESCRIPTION

[0048] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used to explain the principles of the present invention together with the embodiments of the present invention.

[0049] For ease of description, the two radars in the dual-platform airborne radar are referred to as the first radar and the second radar, respectively. Without loss of generality, it is assumed that the first radar is the master radar and the second radar is the slave radar. A target radar echo received by the master radar is called self-transmitted and self-received if it was emitted by the master radar, and is called other-transmitted and self-received if it was emitted by the slave radar. Similarly, a target radar echo received by the slave radar is called self-transmitted and self-received if it was emitted by the slave radar, and is called other-transmitted and self-received if it was emitted by the master radar.

[0050] The present invention provides a detection method in a dual-platform airborne radar cooperative mode, see Figures 1 to 4d , including the following steps:

[0051] Step 1: The first radar and the second radar search for targets respectively. The first radar records the target information searched by the first radar, and the second radar records the target information searched by the second radar.

[0052] Step 2: Establish a unified time, frequency, and space reference for the first and second radars. The first and second radars synchronize time, frequency, and space and enter a collaborative mode at the same frequency.

[0053] Step 3: The first radar and the second radar exchange target information through data links;

[0054] Step 4: Under the unified time reference and space coordinate system, the first radar and the second radar respectively perform time-space conversion and data fusion judgment on the target information they search for, obtain multiple suspected identical targets, and determine the identical target to be tracked from the multiple suspected identical targets under the control of the first radar;

[0055] Step 5: Based on the information of tracking the same target, the first radar and the second radar respectively calculate and adjust the timing parameters.

[0056] Compared with the existing technology, the detection method in the dual-platform airborne radar cooperative mode provided by this embodiment is specific to the dual-platform recording radar cooperative mode. Unlike a single-platform radar that can only receive and process self-transmitted and self-received radar echoes, using the detection method of this embodiment, in the cooperative mode, the first radar and the second radar can both receive self-transmitted and self-received echo signals and other-transmitted and self-received echo signals. By analyzing, filtering, and detecting the self-transmitted and self-received echo signals and other-transmitted and self-received echo signals, the radar's anti-interference capability is improved by fully utilizing multi-dimensional information such as time domain, frequency domain, and spatial domain, laying the foundation for the engineering application of the dual-platform recording radar cooperative mode, and has good application potential and economic benefits.

[0057] It should be noted that in the above step 1, the first radar and the second radar respectively work independently in the self-transmitting and self-receiving working mode under their respective time references and space coordinate systems, and only receive and process the target echo signals of the first radar and the second radar respectively.

[0058] Among them, the first radar searches and finds M targets. Under the time reference and space coordinate system of the first radar, the time and space information of the target is recorded as T Ai (t Ai ,r Ai ,α Ai ,β Ai ), i=1,2,…M, that is, target T Ai In t Ai The distance between the moments is r Ai , azimuth angle is α Ai , the pitch angle is β Ai ;

[0059] The second radar searches and finds N targets. Under the time reference and space coordinate system of the second radar, the target time and space information is recorded as T Bj (t Bj , r Bj ,α Bj ,β Bj ), j=1,2,...N, that is, the target T Bj In t Bj The distance between the moments is r Bj , azimuth angle is α Bj , the pitch angle is β Bj .

[0060] Specifically, in step 2 above, under the control of the first radar, a unified time base is established for the first radar and the second radar. Through the respective time-frequency synchronizers of the first radar and the second radar, the working sequences of the first radar and the second radar are restarted simultaneously, the time (i.e., timing) base is unified, and the target information of the first radar and the second radar is marked with time-stamp information (i.e., the time information recorded in the target information of the first radar and the second radar under the unified time base). Through the respective navigation systems of the first radar and the second radar, without loss of generality, let the coordinates of the first radar be the origin, and in the unified spatial coordinate system, the coordinates of the second radar be P B (x B ,y B ,z B ), establish a unified spatial coordinate system, and prepare for the successful completion of step 4 below.

[0061] In the above step 3, both the first radar and the second radar can obtain the target time and space information T of the first radar. Ai (t Ai ,r Ai ,α Ai ,β Ai ), i = 1, 2, ... M and the target time and space information T of the second radar Bj (t Bj , r Bj ,α Bj ,β Bj ), j=1,2,...N data, the first radar obtains the pulse width τ of the second radar B , the second radar obtains the pulse width τ of the first radar A .

[0062] In order to determine the same tracking target to be tracked, the above step 4 includes the following steps:

[0063] Step 41: Target information is converted into time and space

[0064] Since the distance, azimuth and elevation angles in the target information obtained by the first radar and the second radar in step 3 are values ​​in the respective coordinate systems of the first radar and the second radar, it is impossible to directly determine the correspondence between the target found by the first radar and the target found by the second radar.

[0065] Under the unified time base only, the target of the first radar is T Ai (t Ai ,r Ai ,α Ai ,β Ai ), i=1,2,…M, the second radar target is T Bj (t Bj ,r Bj,α Bj ,β Bj ), j=1,2,...N.

[0066] Under the unified time base and space coordinate system, it is assumed that the target coordinates of the first radar are T Ai (t Ai ,x Ai ,y Ai ,z Ai ), where i = 1, 2, ... M; the coordinates of the second radar target are T Bj (t Bj ,x Bj ,y Bj ,z Bj ), where j = 1, 2, ... N; then the following relationship holds:

[0067] Target coordinates of the first radar:

[0068] x Ai =0+r Ai ·cos(β Ai )sin(α Ai )

[0069] y Ai =0+r Ai ·cos(β Ai )cos(α Ai )

[0070] z Ai =0+r Ai ·sin(β Ai )

[0071] Target coordinates of the second radar:

[0072] x Bj =x B +r Bj ·cos(β Bj )sin(α Bj )

[0073] y Bj =y B +r Bj ·cos(β Bj )cos(α Bj )

[0074] z Bj =z B +r Bj ·sin(β Bj )

[0075] Step 42: Select the same tracking target to be tracked

[0076] Because a target has only one coordinate value in space at a certain moment, considering the measurement errors of the first and second radars, as well as the target motion and size, let ε be the tolerance threshold of collaborative positioning error. If the following formula is satisfied, multiple suspected identical targets are obtained:

[0077] Where i = 1, 2, ... M, j = 1, 2, ... N;

[0078] Assume that among the M targets of the first radar and the N targets of the second radar, there are K suspected identical targets, where K≤M and K≤N.

[0079] It should be noted that, in practical applications, ε can be set according to actual accuracy requirements. For example, ε can be 10m, 15m, or 20m.

[0080] Step 43: Under the control of the first radar, the same tracking target T to be tracked is determined from multiple suspected identical targets. The same tracking target can be selected as needed, and the same tracking target information is transmitted to the second radar via the data link. The second radar tracks the same tracking target T.

[0081] For step 5, let the distance between the first radar and the target T being tracked be R A , the pulse width of the transmitted signal τ A ; The distance between the second radar and the same target T is R B , the pulse width of the transmitted signal τ B , the electromagnetic wave propagation speed is C, and the target scene size corresponds to the echo delay time τ0.

[0082] In the cooperative mode, the position relationship between the first radar and the second radar and the same tracking target is as follows: Figure 2 As shown, the timing design of the first radar and the second radar is as follows Figure 3 shown.

[0083] According to the distance and azimuth information of the same target, the first radar and the second radar adjust the timing parameters respectively, including the following steps:

[0084] Step 51: Calculate the target's self-transmitting and self-receiving delays and the other's transmitting and receiving delays for the first radar and the second radar, respectively, based on the distance to the same tracked target, and determine the pulse widths of the waveforms transmitted by the first radar and the second radar.

[0085] Among them, the delay of the first radar receiving the self-transmitted and self-received wave is:

[0086] The echo delay range is: [t ACA ,t ACA+τ A +τ0]

[0087] The first radar receives the return wave delay:

[0088] The echo delay range is: [t BCA ,t BCA +τ B +τ0]

[0089] The delay of the second radar receiving the self-transmitted and self-received wave:

[0090] The echo delay range is: [t BCB ,t BCB +τ B +τ0]

[0091] The delay of the second radar receiving the wave it sends back:

[0092] The echo delay range is: [t ACB ,t ACB +τ A +τ0].

[0093] Step 52: Determine the gate widths of the first radar and the second radar respectively, set the gate leading edge position and the gate trailing edge position of the first radar and the second radar, and adjust the timing parameters of the first radar and the second radar so that the self-transmitted and self-received signals and the self-transmitted and self-received signals of the first radar and the self-transmitted and self-received signals of the second radar can be received within the gate.

[0094] It should be noted that adjusting the timing parameters of the first radar includes the following steps:

[0095] When the self-transmitting and self-receiving echo delay range of the first radar overlaps with the self-transmitting and self-receiving echo delay range of the other radar, the echo delay range satisfies:

[0096] t ACA ≤t BCA ≤t ACA +τ A +τ0, or t BCA ≤t ACA ≤t BCA +τ B +τ0.

[0097] Therefore, only one sampling gate needs to be set in the first radar time sequence to realize the collection and processing of self-transmitted and self-received waves and other-transmitted and self-received waves.

[0098] The sampling gate setting method of the first radar is as follows:

[0099] The leading edge position of the first radar gate is set to: t ACA and t BCA The smaller of

[0100] The trailing edge position of the first radar gate is set to: t ACA +τ A +τ0 and t BCA +τ B +τ0, whichever is greater.

[0101] When the delay range of the first radar's self-transmitted and self-returned echo does not overlap with the delay range of the other radar's self-transmitted and self-returned echo, the echo delay range satisfies:

[0102] t ACA +τ A +τ0 <t BCA , or t BCA +τ B +τ0 <t ACA .

[0103] Therefore, two sampling gates need to be set in the first radar time sequence to realize the collection and processing of self-transmitted and self-received waves and other-transmitted and self-received waves.

[0104] The sampling gate setting method of the first radar is as follows:

[0105] The front position of the wave gate of the first radar's self-transmitting and self-receiving wave is set to: ACA .

[0106] The position of the wave gate trailing edge of the first radar's self-transmitting and self-receiving wave is set to: ACA +τ A +τ0

[0107] The front position of the wave gate of the first radar is set to: BCA .

[0108] The first radar sends and receives the wave gate trailing edge position is set to: BCA +τ B +τ0.

[0109] Accordingly, adjusting the timing parameters of the second radar includes the following steps:

[0110] When the second radar's self-transmitting and self-receiving echo delay range overlaps with its self-transmitting and self-receiving echo delay range, the echo delay range satisfies:

[0111] t BCB ≤t ACB ≤t BCB +τ B +τ0, or t ACB ≤t BCB ≤t ACB +τA +τ0.

[0112] Therefore, only one sampling gate needs to be set in the second radar time sequence to realize the collection and processing of self-transmitted and self-received waves and other-transmitted and self-received waves.

[0113] The second radar sampling gate setting method is as follows:

[0114] The second radar gate front position is set to: t BCB and t ACB The smaller of

[0115] The trailing edge position of the second radar gate is set to: t BCB +τ B +τ0 and t ACB +τ A +τ0, whichever is greater.

[0116] When the second radar's self-transmitting and self-receiving echo delay range does not overlap with its own self-transmitting and self-receiving echo delay range, the echo delay range satisfies:

[0117] t BCB +τ B +τ0 <t ACB , or t ACB +τ A +τ0 <t BCB .

[0118] Therefore, two sampling gates need to be set in the second radar time sequence to realize the collection and processing of self-transmitted and self-received waves and other-transmitted and self-received waves.

[0119] The second radar sampling gate setting method is as follows:

[0120] The front position of the wave gate of the second radar's self-transmitting and self-receiving wave is set to: BCB .

[0121] The second radar's self-transmitting and self-receiving wave gate trailing edge position is set to: BCB +τ B +τ0.

[0122] The front position of the wave gate of the second radar is set to: ACB .

[0123] The second radar's gate trailing edge position for the received wave is set to: ACB +τ A +τ0.

[0124] It should be noted that the pulse width of the transmitted waveform is pre-set, and the echo delay range is related to the target distance of the same tracking target.

[0125] In order to improve the anti-interference capability of the first radar and the second radar in the cooperative mode, the following steps are further included after step 5:

[0126] Step 6: The first radar and the second radar transmit orthogonal waveforms, and process the self-transmitted and self-received radar echo signals and the other-transmitted and self-received radar echo signals respectively to determine whether the same tracked target is a real target.

[0127] Specifically, step 6 includes the following steps:

[0128] Step 61: The first radar and the second radar transmit orthogonal waveforms;

[0129] Among them, the transmission signal of the first radar is:

[0130]

[0131] τ A is the pulse width of the first radar transmission signal, f0 is the center frequency, μ A is the modulation slope of the FM signal, t is the time;

[0132] The transmission signal of the second radar is:

[0133]

[0134] τ B is the pulse width of the second radar transmission signal, f0 is the center frequency, μ B is the modulation slope of the FM signal;

[0135] Step 62: The first radar and the second radar process the echo signals of self-transmitted and self-received signals and other-transmitted and self-received signals respectively;

[0136] Among them, the signal of the point target echo of the first radar is:

[0137]

[0138] A ACA is the echo amplitude of the point target sent and received by the first radar (the test data of the first radar itself), f0 is the center frequency, A BCA is the echo amplitude of the first radar from the target point, μ A is the modulation slope of the first radar FM signal; N A (t) is the first radar noise signal.

[0139] The signal of the point target echo from the second radar is

[0140] x B (t) = A BCB ·e j(2πf0(t-tBCB)+πμB(t-tBCB)2) +A ACB ·ej(2πf0(t-tACB)+πμB(t-tACB)2) +N B (t)

[0141] A BCB is the echo amplitude of the second radar’s self-transmitting and self-receiving point target, f0 is the center frequency, A ACB is the echo amplitude of the second target, μ B is the modulation slope of the second FM signal; N B (t) is the second radar noise signal.

[0142] Step 63: After matching filtering the echo signal, a pulse pressure simulation result is obtained, and the authenticity analysis and identification of the target are performed to determine whether the same tracked target is a real target.

[0143] By performing matched filtering on the echo signals to generate pulse compression simulation results, subsequent processing such as target authenticity analysis and identification is performed to improve the radar's anti-interference capability. The first and second radars receive both the self-transmitted and self-received echo signals, ensuring signal integrity without signal loss. By utilizing the orthogonality of positive and negative linear frequency modulation signals, the self-transmitted and self-received signals received by the first and second radars can be effectively processed in blocks, avoiding signal aliasing. This provides an effective technical approach for dual-platform collaborative detection.

[0144] The pulse compression simulation results of the self-transmitted and self-received signals of the first and second radars are as follows: Figures 4a to 4d As shown, Figure 4a 、 Figure 4b They represent the matched filtering results of the first radar's self-transmitted and self-received radar signals, and the other radar's self-transmitted and self-received radar signals respectively; Figure 4c 、 Figure 4d They represent the matched filtering results of the echo signals of the second radar's self-transmitting and self-receiving, and other-transmitting and self-receiving, respectively. By using the method of this embodiment, the first radar and the second radar can operate in the self-transmitting and self-receiving modes and other-transmitting and self-receiving modes in the dual-platform collaborative mode to obtain signal echoes of multi-angle scattering coefficients of the same target. By fusing and identifying the detection results of the two signals, the radar detection and anti-interference capabilities are improved.

[0145] Illustratively, the above detection method may employ a dual-platform airborne radar having the following structure, comprising a first radar and a second radar, wherein the first radar comprises a first self-transmitting self-receiving collector, a first self-transmitting self-receiving receiver, a first target information processor, and a first controller, wherein the first self-transmitting self-receiving collector and the first self-transmitting self-receiving receiver are connected in sequence to the first target information processor and the first controller, respectively; the second radar comprises a second self-transmitting self-receiving collector, a second self-transmitting self-receiving receiver, a second target information processor, and a second controller, wherein the second self-transmitting self-receiving collector and the second self-transmitting self-receiving receiver are connected in sequence to the second target information processor and the second controller, respectively; the first self-transmitting self-receiving collector is connected to the second self-transmitting self-receiving receiver, and the second self-transmitting self-receiving collector is connected to the first self-transmitting self-receiving receiver;

[0146] The first target information processor receives target information of the first radar collected by the first self-transmitting and self-receiving collector and target information of the second radar collected by the second self-transmitting and self-receiving collector and received by the first self-transmitting and self-receiving receiver, and performs time-space conversion and data fusion judgment on the target information of the first radar and the target information of the second radar under a unified time reference and space coordinate system to obtain multiple suspected identical targets, and determines the same tracking target to be tracked from the multiple suspected identical targets under the control of the first radar and sends it to the first controller and the second target information processor, and the first controller controls the first radar to calculate and adjust the timing parameters of the first radar;

[0147] The second target information processor receives the target information of the second radar collected by the second self-transmitting and self-receiving collector and the target information of the first radar collected by the first self-transmitting and self-receiving collector received by the second other self-transmitting and self-receiving receiver, and under the unified time reference and space coordinate system, the second target information processor performs time-space conversion and data fusion judgment on the target information of the second radar and the target information of the second radar, and obtains multiple suspected identical targets. From the multiple suspected identical targets, the target that is the same as the same tracking target sent by the first target information processor is found as the same tracking target of the second radar and sent to the second controller. The second controller controls the second radar to calculate and adjust the timing parameters of the second radar, so that the first radar and the second radar track the same tracking target.

[0148] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A detection method in a dual-platform airborne radar cooperative mode, characterized in that: The steps include: Step 1: The first radar and the second radar search for targets respectively. The first radar records the target information searched by the first radar, and the second radar records the target information searched by the second radar. Step 2: Establish a unified time, frequency, and space reference for the first and second radars. The first and second radars synchronize time, frequency, and space and enter a collaborative mode at the same frequency. Step 3: The first radar and the second radar exchange target information; Step 4: Under the unified time reference and space coordinate system, the first radar and the second radar respectively perform time-space conversion and data fusion judgment on the target information they search for, obtain multiple suspected identical targets, and determine the identical target to be tracked from the multiple suspected identical targets under the control of the first radar; Step 5: Based on the information of tracking the same target, the first radar and the second radar respectively calculate and adjust the timing parameters.

2. The detection method in the dual-platform airborne radar cooperative mode according to claim 1, characterized in that: In step 1, the first radar and the second radar respectively work independently in the self-transmitting and self-receiving working mode under their respective time references and space coordinate systems, and only receive and process the target echo signals of the first radar and the second radar respectively.

3. The detection method in the dual-platform airborne radar cooperative mode according to claim 1, characterized in that: The first radar searches and finds M targets. Under the time reference and space coordinate system of the first radar, the target time and space information is recorded as T Ai (t Ai ,r Ai ,α Ai ,β Ai ), i=1,2,…M, target T Ai In t Ai The distance between the moments is r Ai , azimuth angle is α Ai , the pitch angle is β Ai .

4. The detection method in the dual-platform airborne radar cooperative mode according to claim 3, characterized in that: The second radar searches and finds N targets. Under the time reference and space coordinate system of the second radar, the target time and space information is recorded as T Bj (t Bj ,r Bj ,α Bj ,β Bj ), j = 1, 2, ... N, target T Bj In t Bj The distance between the moments is r Bj , azimuth angle is α Bj , the pitch angle is β Bj .

5. The detection method in the dual-platform airborne radar cooperative mode according to claim 1, characterized in that: In step 2, under the control of the first radar, a unified time base is established for the first radar and the second radar. Through the respective time-frequency synchronizers of the first radar and the second radar, the working timings of the first radar and the second radar are restarted simultaneously, and the target information of the first radar and the second radar are marked with time stamp information. Through the navigation systems of the first radar and the second radar, the coordinates of the first radar are set as the origin. In the unified spatial coordinate system, the coordinates of the second radar are P B (x B ,y B ,z B ), establish a unified spatial coordinate system.

6. The detection method in the dual-platform airborne radar cooperative mode according to claim 1, characterized in that: In step 3, both the first radar and the second radar can obtain target time and space information of the first radar and target time and space information of the second radar. The first radar obtains the pulse width of the second radar, and the second radar obtains the pulse width of the first radar.

7. The detection method in the dual-platform airborne radar cooperative mode according to claim 1, characterized in that: In step 3, the first radar and the second radar exchange target information via data links.

8. The detection method in the dual-platform airborne radar cooperative mode according to claim 4, characterized in that: The step 4 comprises the following steps: Step 41: Under the unified time base only, the target of the first radar is T Ai (t Ai ,r Ai ,α Ai ,β Ai ), i=1,2,…M, the second radar target is T Bj (t Bj ,r Bj ,α Bj ,β Bj ), j=1,2,...N; Under the unified time base and space coordinate system, the target coordinates of the first radar are T Ai (t Ai ,x Ai ,y Ai ,z Ai ), where i = 1, 2, ... M; the coordinates of the second radar target are T Bj (t Bj ,x Bj ,y Bj ,z Bj ), where j = 1, 2, ... N; then the following relationship holds: Target coordinates of the first radar: x Ai =0+r Ai ·cos(β Ai )sin(a Ai ) y Ai =0+r Ai ·cos(β Ai )cos(α Ai ) z Ai =0+r Ai ·sin(β Ai ) Target coordinates of the second radar: x Bj =x B +r Bj ·cos(β Bj )sin(a Bj ) y Bj =y B +r Bj ·cos(β Bj )cos(α Bj ) With Bj =z B +r Bj ·sin(β Bj ) Step 42: Let ε be the tolerance threshold of the collaborative positioning error. If the following equation is satisfied, multiple suspected identical targets are obtained: Where i = 1, 2, ... M, j = 1, 2, ... N; Suppose that among the M targets of the first radar and the N targets of the second radar, there are K suspected identical targets, where K ≤ M and K ≤ N. Step 43: Under the control of the first radar, the same target to be tracked is determined from multiple suspected targets, and the information of the same target is transmitted to the second radar via the data link. The second radar tracks the same target.

9. The detection method in the dual-platform airborne radar cooperative mode according to claim 8, characterized in that: ε is 10m, 15m or 20m.

10. The detection method in a dual-platform airborne radar cooperative mode according to any one of claims 1 to 7, characterized in that: The step 5 further includes the following steps: Step 6: The first radar and the second radar transmit orthogonal waveforms, and process the self-transmitted and self-received radar echo signals and the other-transmitted and self-received radar echo signals respectively to determine whether the same tracked target is a real target.

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