A dual-platform airborne radar

Abstract

The present invention discloses a dual-platform airborne radar, belonging to the field of radar detection technology, and solves the problem of poor anti-interference capability of dual-platform airborne radars in the prior art. The radar includes a master self-transmitting and self-receiving collector, a master self-transmitting and self-receiving receiver, a master target information processor, a master controller, a slave self-transmitting and self-receiving collector, a slave self-transmitting and self-receiving receiver, a slave target information processor, and a slave controller. The master target information processor performs time-space conversion and data fusion judgment on the target information of the master radar and the target information of the slave radar, obtains multiple suspected identical targets, and determines the identical tracking target to be tracked. The master controller controls the master radar to calculate and adjust the timing parameters of the master radar. The slave target information processor receives the identical tracking target information, and the slave controller controls the slave radar to calculate and adjust the timing parameters of the slave radar, thereby enabling the master radar and the slave radar to track the identical tracking target.

Description

Technical Field

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

[0002] The dual-platform collaborative detection system can make full use of time domain, frequency domain, spatial domain and other aspects to improve the radar system's ability to adapt to complex electromagnetic environments.

[0003] For dual-platform airborne radars in master-slave collaborative mode, in addition to receiving its own radar echo signal to search and track targets, it can also receive radar signals emitted by another platform radar reflected by the target to obtain richer target information.

[0004] This detection mode fully utilizes the advantages of collaborative detection and also puts forward higher requirements in terms of the waveform and timing design of the transmitted signal. However, the current anti-interference capability of the dual-platform airborne radar is relatively poor. Summary of the Invention

[0005] In view of the above analysis, the present invention aims to provide a dual-platform airborne radar, which solves the problem of poor anti-interference capability of the dual-platform airborne radar in the prior art.

[0006] The purpose of the present invention is mainly achieved through the following technical solutions:

[0007] The present invention provides a dual-platform airborne radar, comprising a master radar and a slave radar. The master radar comprises a master self-transmitting and self-receiving collector, a master self-transmitting and self-receiving receiver, a master target information processor, and a master controller. The master self-transmitting and self-receiving collector and the master self-transmitting and self-receiving receiver are respectively connected to the master target information processor and the master controller in sequence. The slave radar comprises a slave self-transmitting and self-receiving collector, a slave self-transmitting and self-receiving receiver, a slave target information processor, and a slave controller. The slave self-transmitting and self-receiving collector and the slave self-transmitting and self-receiving receiver are respectively connected to the slave target information processor and the slave controller in sequence. The master self-transmitting and self-receiving collector is connected to the slave self-transmitting and self-receiving receiver, and the slave self-transmitting and self-receiving collector is connected to the master self-transmitting and self-receiving receiver.

[0008] The main target information processor receives the target information of the main radar collected by the main self-transmitting and self-receiving collector and the target information of the slave radar collected by the slave self-transmitting and self-receiving collector and received by the main other self-transmitting and self-receiving receiver. Under the unified time reference and space coordinate system, the main target information processor performs time-space conversion and data fusion judgment on the target information of the main radar and the target information of the slave radar to obtain multiple suspected identical targets. Under the control of the main radar, the same tracking target to be tracked is determined from the multiple suspected identical targets and sent to the main controller and the slave target information processor. The main controller controls the main radar to calculate and adjust the timing parameters of the main radar.

[0009] The slave target information processor receives the same tracking target information sent by the master target information processor, determines the target information with the same node number in the target information sent and received by the slave radar spontaneously and self-received by the slave radar spontaneous transmission and reception collector according to the node number corresponding to the same tracking target information, and sends it to the slave controller. The slave controller controls the slave radar to calculate and adjust the timing parameters of the slave radar, so that the master radar and the slave radar can track the same tracking target.

[0010] Furthermore, the master radar further includes a master time-frequency controller, and the slave radar further includes a slave time-frequency controller;

[0011] In the master target information processor, a unified time base is established for the master radar and the slave radar. Through the master time-frequency controller and the slave time-frequency controller, the working timing of the master radar and the slave radar are restarted at the same time, and the target information of the master radar and the slave radar are marked with time stamp information.

[0012] Furthermore, the master radar also includes a master navigation system, and the slave radar also includes a slave navigation system;

[0013] Through the main navigation system and the slave navigation system, let the coordinates of the main radar be the origin. In the unified space coordinate system, the coordinates of the slave radar are P B (x B ,y B ,z B ) to establish a unified spatial coordinate system.

[0014] Furthermore, the target time and space information T of the main radar sent by the main self-transmitting and self-receiving collector is received from the other self-transmitting and self-receiving receiver. Ai (t Ai ,r Ai ,α Ai ,β Ai ), i = 1, 2, ... M, and the pulse width τ of the main radar A .

[0015] Furthermore, the master-slave receiver receives the target time-space information T of the slave radar sent by the slave-slave collector. Bj (t Bj ,r Bjj ,α Bj ,β Bj ,),)j=1,2,...N data and the pulse width τ from the radar B .

[0016] Furthermore, the main target information processor includes a time-space conversion module, a suspected same target determination module and a same tracking target determination module;

[0017] The time-space conversion module is connected to the main self-transmitting and self-receiving collector and the main other-transmitting and self-receiving receiver respectively;

[0018] The time-space conversion module receives the target information of the main radar collected by the main self-transmitting and self-receiving collector and the target information of the slave radar collected by the slave self-transmitting and self-receiving collector received by the main self-transmitting and self-receiving receiver, performs time-space conversion, and sends it to the suspected same target determination module;

[0019] The suspected same target determination module determines the suspected same target according to the collaborative positioning error tolerance threshold and sends it to the same tracking target determination module;

[0020] The same tracking target determination module determines the same tracking target to be tracked from multiple suspected same targets and transmits the determined target to the slave controller.

[0021] Furthermore, the main controller includes a main timing adjustment module, which calculates the target self-transmitting and self-receiving delay of the main radar and the other self-transmitting and self-receiving delay according to the distance of the same tracking target, and determines the pulse width of the main radar; and determines the wave gate width of the main radar, sets the wave gate leading edge position and wave gate trailing edge position of the main radar, and adjusts the timing parameters of the main radar so that the main radar's self-transmitting and self-receiving signals and the other self-transmitting and self-receiving wave signals can be received within the wave gate.

[0022] Furthermore, the slave controller includes a slave timing adjustment module, which calculates the target self-transmitting and self-receiving delay of the slave radar and the other-transmitting and self-receiving delay according to the distance of the same tracking target, and determines the pulse width of the waveform transmitted by the slave radar; and determines the wave gate width of the slave radar, sets the wave gate leading edge position and wave gate trailing edge position of the slave radar, and adjusts the timing parameters of the slave radar so that the self-transmitting and self-receiving signals of the slave radar and the other-transmitting and self-receiving wave signals can be received within the wave gate.

[0023] Furthermore, it also includes a real target determiner. The main radar and the slave radar transmit orthogonal waveforms. The real target determiner processes the self-transmitted and self-received and other-transmitted and self-received radar echo signals respectively, obtains the pulse compression simulation results after matching filtering the echo signals, performs target authenticity analysis and identification, and judges and confirms whether the same tracked target is a real target.

[0024] Furthermore, the transmission signal of the main radar is:

[0025]

[0026] τ A is the pulse width of the main radar transmission signal, f0 is the center frequency, μ A is the modulation slope of the FM signal, t is the time;

[0027] The transmitted signal from the radar is:

[0028]

[0029] τ B is the pulse width of the signal transmitted from the radar, f0 is the center frequency, μ B is the modulation slope of the FM signal;

[0030] The signal of the point target echo of the main radar is:

[0031]

[0032] A ACA The echo amplitude of the target sent and received by the main radar (the main radar's own test data), f0 is the center frequency, A BCA The echo amplitude of the main radar from the receiving point target, μ A The modulation slope of the main radar FM signal, N A (t) is the main radar noise signal, t ACA The delay time of receiving the self-transmitted and self-received wave by the main radar, t BCA Delay of receiving the return wave from the main radar;

[0033] The signal of the point target echo from the radar is:

[0034]

[0035] A BCB is the echo amplitude of the target sent and received by the radar, f0 is the center frequency, A ACB is the echo amplitude from the target point, μ B is the modulation slope of the FM signal, N B (t) is the noise signal from the radar, t ACA The delay time of receiving the self-transmitted and self-received wave by the main radar, t BCA The delay of the main radar receiving the wave it sends.

[0036] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0037] The dual-platform airborne radar provided by the present invention is designed for a dual-platform airborne 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 master radar and the slave 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, laying the foundation for the engineering application of the dual-platform airborne radar cooperative mode, and has good application potential and economic benefits.

[0038] 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

[0039] 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.

[0040] 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;

[0041] 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;

[0042] Figure 3 FIG1 shows a schematic diagram of radar timing design under the cooperative detection condition provided by an embodiment of the present invention;

[0043] Figure 4a The matched filtering results of the echo signals sent and received by the main radar in the dual-platform airborne radar provided in the first embodiment of the present invention in a simulation scenario;

[0044] Figure 4b The matched filtering results of the echo signals sent and received by the main radar in the dual-platform airborne radar provided in the first embodiment of the present invention in a simulation scenario;

[0045] Figure 4c The matched filtering results of the echo signals sent and received by the slave radar in a simulation scenario in the dual-platform airborne radar provided in the first embodiment of the present invention;

[0046] Figure 4d This is the matched filtering result of the echo signal sent and received by the slave radar in the dual-platform airborne radar provided in the first embodiment of the present invention in a simulation scenario. DETAILED DESCRIPTION

[0047] 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.

[0048] For the convenience of description, the two radars in the following dual-platform airborne radar are respectively recorded as the master radar and the slave radar. Among them, the target radar echo received by the master radar is called self-transmitted and self-received if it is emitted by the master radar, and is called other-transmitted and self-received if it is emitted by the slave radar; similarly, the target radar echo received by the slave radar is called self-transmitted and self-received if it is emitted by the slave radar, and is called other-transmitted and self-received if it is emitted by the master radar.

[0049] Example 1

[0050] This embodiment provides a dual-platform airborne radar. Figures 1 to 4d , including a master radar and a slave radar, the master radar includes a master self-transmitting and self-receiving collector, a master self-transmitting and self-receiving receiver, a master target information processor and a master controller, the master self-transmitting and self-receiving collector and the master self-transmitting and self-receiving receiver are respectively connected to the master target information processor and the master controller in sequence; the slave radar includes a slave self-transmitting and self-receiving collector, a slave self-transmitting and self-receiving receiver, a slave target information processor and a slave controller, the slave self-transmitting and self-receiving collector and the slave self-transmitting and self-receiving receiver are respectively connected to the slave target information processor and the slave controller in sequence; the master self-transmitting and self-receiving collector is connected to the slave self-transmitting and self-receiving receiver, and the slave self-transmitting and self-receiving collector is connected to the master self-transmitting and self-receiving receiver;

[0051] The main target information processor receives the target information of the main radar collected by the main self-transmitting and self-receiving collector and the target information of the slave radar collected by the slave self-transmitting and self-receiving collector and received by the main other self-transmitting and self-receiving receiver. Under the unified time reference and space coordinate system, the main target information processor performs time-space conversion and data fusion judgment on the target information of the main radar and the target information of the slave radar to obtain multiple suspected identical targets. Under the control of the main radar, the same tracking target to be tracked is determined from the multiple suspected identical targets and sent to the main controller and the slave target information processor. The main controller controls the main radar to calculate and adjust the timing parameters of the main radar.

[0052] The slave target information processor receives the same tracking target information sent by the master target information processor, determines the target information with the same node number in the target information sent and received by the slave radar spontaneously and self-received by the slave radar spontaneous transmission and reception collector according to the node number corresponding to the same tracking target information, and sends it to the slave controller. The slave controller controls the slave radar to calculate and adjust the timing parameters of the slave radar, so that the master radar and the slave radar can track the same tracking target.

[0053] Compared with the existing technology, the dual-platform airborne radar provided by this embodiment is designed for the dual-platform airborne 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 master radar and the slave 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, laying the foundation for the engineering application of the dual-platform airborne radar cooperative mode, and has good application potential and economic benefits.

[0054] It should be noted that the master self-transmitting and self-receiving collector and the slave self-transmitting and self-receiving collector 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 master radar and the slave radar respectively.

[0055] Among them, the targets collected by the main self-transmitting and self-receiving collector include M targets. Under the time reference and space coordinate system of the main radar, the target time and space information 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 ;

[0056] The targets collected by the master self-transmitting and self-receiving collector include N targets. In the time reference and space coordinate system of the slave 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 .

[0057] Specifically, the master radar also includes a master time-frequency controller and a master navigation system, and the slave radar also includes a slave time-frequency controller and a slave navigation system. In the master target information processor, a unified time base is established for the master and slave radars. Through the master time-frequency controller and the slave time-frequency controller, the working sequence of the master and slave radars are restarted at the same time, with a unified time (i.e., timing) base, and the target information of the master and slave radars is marked with time-stamp information (i.e., the time information recorded in the target information of the master and slave radars under the unified time base). Through the master navigation system and the slave navigation system, without loss of generality, let the coordinates of the master radar be the origin, and in the unified space coordinate system, the coordinates of the slave radar be P B (x B ,y B ,z B ) to establish a unified spatial coordinate system.

[0058] For example, the target time and space information T of the main radar sent by the main self-transmitting and self-receiving collector is received from the other self-transmitting and self-receiving receiver. Ai (t Ai ,rAi ,α Ai ,β Ai ), i = 1, 2, ... M, and the pulse width τ of the main radar A The master receiver receives the target time and space information T from the radar sent by the self-transmitting and self-receiving collector Bj (t Bj ,r Bj ,α Bj ,β Bj ,),)j=1,2,...N data and the pulse width τ from the radar B .

[0059] Since the distance, azimuth, and elevation angles in the target information obtained by the master and slave radars are values ​​in their respective coordinate systems, it is impossible to directly determine the correspondence between the master radar search and found targets and the slave radar search and found targets. In order to determine the same tracking target to be tracked, the master target information processor includes a time-space conversion module, a suspected same target determination module, and a same tracking target determination module. The time-space conversion module is connected to the master self-transmitting and self-receiving collector and the master other self-transmitting and self-receiving receiver respectively. The time-space conversion module receives the master radar self-transmitting and self-receiving target information collected by the master self-transmitting and self-receiving collector and the slave radar self-transmitting and self-receiving receiver received by the master other self-transmitting and self-receiving collector, performs time-space conversion, and sends it to the suspected same target determination module. The suspected same target determination module determines the suspected same target based on the collaborative positioning error tolerance threshold and sends it to the same tracking target determination module. The same tracking target determination module determines the same tracking target to be tracked from multiple suspected same targets. The same tracking target can be selected as needed and transmitted to the slave controller via the data link.

[0060] For the time-space conversion module, under the unified time base, the target of the main radar is T Ai (t Ai ,r Ai ,α Ai ,β Ai ), i=1,2,…M, from radar target is T Bj (t Bj ,r Bj ,α Bj ,β Bj ), j=1,2,...N; Under the unified time reference and space coordinate system, let the target coordinate of the main radar be T Ai (t Ai ,x Ai ,y Ai ,z Ai ), where i = 1, 2, ... M; the radar target coordinates are T Bj (tBj ,x Bj ,y Bj ,z Bj ), where j = 1, 2, ... N; then the following relationship holds:

[0061] Target coordinates of main radar:

[0062] x Ai =0+r Ai ·cos(β Ai )sin(α Ai )

[0063] y Ai =0+r Ai ·cos(β Ai )cos(α Ai )

[0064] z Ai =0+r Ai ·sin(β Ai )

[0065] Target coordinates from radar:

[0066] x Bj =x B +r Bj ·cos(β Bj )sin(α Bj )

[0067] y Bj =y B+ r Bj ·cos(β Bj )cos(α Bj )

[0068] z Bj =z B +r Bj ·sin(β Bj )

[0069] Because a target has only one coordinate value in space at a certain moment, considering the measurement errors of the master radar and the slave radar, as well as the target motion and size, in the suspected identical target determination module, let ε be the collaborative positioning error tolerance threshold. If the following formula is satisfied, multiple suspected identical targets are obtained:

[0070] Where i = 1, 2, ... M, j = 1, 2, ... N;

[0071] Assume that among the M targets of the master radar and the N targets of the slave radar, there are K suspected identical targets, where K≤M and K≤N.

[0072] 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.

[0073] Assume that the distance between the main radar and the target T being tracked is R A , the pulse width of the transmitted signal τ A ; The distance from the radar to track 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.

[0074] In cooperative mode, the position relationship between the master radar and the slave radar and the same tracking target is as follows: Figure 2 As shown, the timing design of the master radar and the slave radar is as follows Figure 3 shown.

[0075] The main controller includes a main timing adjustment module, which calculates the target's self-transmitted and self-received wave delay of the main radar and the other's self-transmitted and self-received wave delay according to the distance of the same tracking target, and determines the pulse width of the main radar; and determines the wave gate width of the main radar, sets the wave gate leading edge position and wave gate trailing edge position of the main radar, and adjusts the timing parameters of the main radar so that the main radar's self-transmitted and self-received wave signals and the other's self-transmitted and self-received wave signals can be received within the wave gate.

[0076] Among them, the delay of the main radar receiving the self-transmitted and self-received waves is:

[0077] The echo delay range is: [t ACA ,t ACA +τ A +τ0]

[0078] The delay of the main radar receiving the return wave:

[0079] The echo delay range is: [t BCA ,t BCA +τ B +τ0]

[0080] It should be noted that when the self-transmitting and self-receiving echo delay range of the main radar overlaps with the self-transmitting and self-receiving echo delay range of the other radar, the echo delay range satisfies:

[0081] t ACA ≤t BCA ≤t ACA +τ A +τ0, or t BCA ≤t ACA ≤t BCA +τ B +τ0.

[0082] Therefore, only one sampling gate needs to be set in the main radar timing sequence to realize the acquisition and processing of self-transmitted and self-received waves and other-transmitted and self-received waves.

[0083] The sampling gate of the main radar is set as follows:

[0084] The leading edge position of the main radar gate is set to: t ACA and t BCA The smaller of

[0085] The trailing edge position of the main radar gate is set to: t ACA +τ A +τ0 and t BCA +τ B +τ0, whichever is greater.

[0086] When the delay range of the main radar's self-transmitting and self-receiving echoes does not overlap with the delay range of the other radar's self-transmitting and self-receiving echoes, the echo delay range satisfies:

[0087] t ACA +τ A +τ0 <t BCA , or t BCA +τ B +τ0 <t ACA .

[0088] Therefore, two sampling gates need to be set in the main radar timing to realize the collection and processing of self-transmitted and self-received waves and other-transmitted and self-received waves.

[0089] The sampling gate of the main radar is set as follows:

[0090] The gate front position of the main radar's self-transmitting and self-receiving wave is set to: ACA .

[0091] The position of the gate trailing edge of the main radar's self-transmitting and self-receiving wave is set to: ACA +τ A +τ0

[0092] The gate front position of the main radar's self-receiving wave is set to: BCA .

[0093] The position of the gate trailing edge of the main radar's self-receiving wave is set to: BCA +τ B +τ0.

[0094] The slave controller includes a slave timing adjustment module, which calculates the target's self-transmitted and self-received waveform delay and the other's self-transmitted and self-received waveform delay of the slave radar according to the distance of the same tracking target, and determines the pulse width of the waveform transmitted by the slave radar; and determines the wave gate width of the slave radar, sets the wave gate leading edge position and wave gate trailing edge position of the slave radar, and adjusts the timing parameters of the slave radar so that the self-transmitted and self-received waveform signals and the other's self-transmitted and self-received waveform signals of the slave radar can be received within the wave gate.

[0095] Among them, the delay of receiving the self-transmitted and self-received wave from the radar is:

[0096] The echo delay range is: [t BCB ,t BCB +τ B +τ0]

[0097] The delay of receiving the wave from the radar:

[0098] The echo delay range is: [t ACB ,t ACB +τ A +τ0].

[0099] Correspondingly, when the delay range of the self-transmitted and self-received echo from the radar overlaps with the delay range of the self-transmitted and self-received echo from the radar, the echo delay range satisfies:

[0100] t BCB ≤t ACB ≤t BCB +τ B +τ0, or t ACB ≤t BCB ≤t ACB +τ A +τ0.

[0101] Therefore, only one sampling gate needs to be set from the radar time series to realize the collection and processing of self-transmitted and self-received waves and other-transmitted and self-received waves.

[0102] The radar sampling gate is set as follows:

[0103] The radar gate front position is set to: t BCB and t ACB The smaller of

[0104] The radar gate trailing edge position is set to: t BCB +τ B +τ0 and t ACB +τ A +τ0, whichever is greater.

[0105] When the delay range of the self-transmitted and self-received echo from the radar does not overlap with the delay range of the self-transmitted and self-received echo from the radar, the echo delay range satisfies:

[0106] t BCB +τ B +τ0 <t ACB , or t ACB +τ A +τ0 <t BCB .

[0107] Therefore, two sampling gates need to be set from the radar time series to realize the collection and processing of self-transmitted and self-received waves and other-transmitted and self-received waves.

[0108] The radar sampling gate is set as follows:

[0109] The gate front position of the radar’s self-transmitting and self-receiving wave is set to: BCB .

[0110] The position of the wave gate trailing edge of the radar's self-transmitting and self-receiving wave is set to: BCB +τ B +τ0.

[0111] The gate front position of the radar's received wave is set to: ACB .

[0112] The position of the wave gate trailing edge of the radar's received wave is set to: ACB +τ A +τ0.

[0113] 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.

[0114] In order to improve the anti-interference capability of the master radar and the slave radar in the cooperative mode, the above-mentioned dual-platform airborne radar also includes a real target determiner. The master radar and the slave radar transmit orthogonal waveforms. The real target determiner processes the self-transmitted and self-received radar echo signals and obtains the pulse compression simulation results after matched filtering of the echo signals. It performs target authenticity analysis and identification, and judges and confirms whether the same tracked target is a real target.

[0115] Specifically, the main radar's transmission signal is:

[0116]

[0117] τ A is the pulse width of the main radar transmission signal, f0 is the center frequency, μ A is the modulation slope of the FM signal, t is the time;

[0118] The transmitted signal from the radar is:

[0119]

[0120] τ B is the pulse width of the signal transmitted from the radar, f0 is the center frequency, μ B is the modulation slope of the FM signal;

[0121] The signal of the point target echo of the main radar is:

[0122]

[0123] A ACA The echo amplitude of the target sent and received by the main radar (the main radar's own test data), f0 is the center frequency, A BCA The echo amplitude of the main radar from the receiving point target, μ A The modulation slope of the main radar FM signal; N A (t) is the main radar noise signal.

[0124] The signal of the point target echo from the radar is

[0125]

[0126] A BCB is the echo amplitude of the target sent and received by the radar, f0 is the center frequency, A ACB is the echo amplitude from the target point, μ B is the modulation slope of the FM signal; N B (t) is the noise signal from the radar.

[0127] By performing matched filtering on the echo signals, pulse compression simulation results are generated, allowing subsequent processing such as target authenticity analysis and identification to improve the radar's anti-interference capability. The master and slave radars receive both self-transmitted and self-received echo signals, as well as other-transmitted and self-received echo signals, eliminating signal loss and ensuring signal integrity. By leveraging the orthogonality of positive and negative linear frequency modulation signals, the master and slave radars can effectively process these signals in separate blocks, avoiding signal aliasing and providing an effective technical approach for dual-platform collaborative detection.

[0128] The pulse compression simulation results of the master radar and the slave radar's self-transmitted and self-received signals are as follows: Figures 4a to 4d As shown, Figure 4a 、 Figure 4b They represent the matched filtering results of the main 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 4dThe figures represent the matched filtering results of the echo signals of the slave radar, which are self-transmitted and self-received, and transmitted and received by the other radar, respectively. By adopting the method of this embodiment, the master radar and the slave radar can operate in the self-transmitted and self-received modes and the transmitted and received by the other radar in the dual-platform collaborative mode, and obtain the signal echo of the multi-angle scattering coefficient of the same target. By fusing and identifying the detection results of the two signals, the radar detection and anti-interference capabilities are improved.

[0129] During implementation, the detection method of the dual-platform airborne radar in cooperative mode includes the following steps:

[0130] Step 1: The master radar and the slave radar search for targets separately. The master radar records the target information searched by the master radar, and the slave radar records the target information searched by the slave radar.

[0131] Step 2: Establish a unified time, frequency, and space reference for the master and slave radars. The master and slave radars synchronize time, frequency, and space and enter a collaborative mode at the same frequency.

[0132] Step 3: The master radar and slave radar exchange target information via data link;

[0133] Step 4: Under the unified time reference and space coordinate system, the master radar and the slave radar respectively perform time-space conversion and data fusion judgment on the target information they search for, obtain multiple suspected identical targets, and then determine the identical target to be tracked from the multiple suspected identical targets under the control of the master radar;

[0134] Step 5: Based on the information of tracking the same target, the master radar and the slave radar respectively calculate and adjust the timing parameters.

[0135] It should be noted that in the above step 1, the master radar and the slave 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 master radar and the slave radar respectively.

[0136] Among them, the main radar searches and finds M targets. Under the time reference and space coordinate system of the main 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 ;

[0137] N targets are found from the radar search. In the radar's time base and space coordinate system, the target time and space information is recorded as TBj (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 .

[0138] Specifically, in step 2 above, under the control of the master radar, a unified time base is established for the master radar and the slave radar. Through their respective time-frequency synchronizers, the working sequences of the master radar and the slave radar are restarted simultaneously, with a unified time (i.e., timing) base, and the target information of the master radar and the slave radar is marked with time-stamp information (i.e., the time information recorded in the target information of the master radar and the slave radar is based on the unified time base). Through the respective navigation systems of the master radar and the slave radar, without loss of generality, let the coordinates of the master radar be the origin, and in the unified spatial coordinate system, let the coordinates of the slave 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.

[0139] In the above step 3, both the master radar and the slave radar can obtain the target time and space information T of the master radar. Ai (t Ai ,r Ai ,α Ai ,β Ai ), i = 1, 2, ... M and the target time and space information T from the radar Bj (t Bj ,r Bj ,α Bj ,β Bj ), j=1,2,...N data, the master radar obtains the pulse width τ of the slave radar B , obtain the pulse width τ of the main radar from the radar A .

[0140] In order to determine the same tracking target to be tracked, the above step 4 includes the following steps:

[0141] Step 41: Target information is converted into time and space

[0142] Since the distance, azimuth and elevation angle in the target information obtained by the master radar and the slave radar in step 3 are the values ​​of the master radar and the slave radar's respective coordinate systems, it is impossible to directly determine the correspondence between the target found by the master radar search and the target found by the slave radar search.

[0143] Under the unified time base only, the target of the main radar is T Ai (t Ai ,r Ai ,α Ai ,β Ai ), i=1,2,…M, from radar target is T Bj (t Bj ,r Bj ,α Bj ,β Bj ), j=1,2,...N.

[0144] Under the unified time reference and space coordinate system, it is assumed that the target coordinates of the main radar are T Ai (t Ai ,x Ai ,y Ai ,z Ai ), where i = 1, 2, ... M; the radar target coordinates are T Bj (t Bj ,x Bj ,y Bj ,z Bj ), where j = 1, 2, ... N; then the following relationship holds:

[0145] Target coordinates of main radar:

[0146] x Ai =0+r Ai ·cos(β Ai )sin(α Ai )

[0147] y Ai =0+r Ai ·cos(β Ai )cos(α Ai )

[0148] z Ai =0+r Ai ·sin(β Ai )

[0149] Target coordinates from radar:

[0150] x Bj =x B +r Bj ·cos(β Bj )sin(α Bj )

[0151] y Bj =y B+ r Bj ·cos(β Bj )cos(αBj )

[0152] z Bj =z B +r Bj ·sin(β Bj )

[0153] Step 42: Select the same tracking target to be tracked

[0154] Because a target has only one coordinate value in space at a certain moment, considering the measurement errors of the master radar and the slave radar, as well as the target motion and size, let ε be the tolerance threshold of the collaborative positioning error. If the following formula is satisfied, multiple suspected identical targets are obtained:

[0155] Where i = 1, 2, ... M, j = 1, 2, ... N;

[0156] Assume that among the M targets of the master radar and the N targets of the slave radar, there are K suspected identical targets, where K≤M and K≤N.

[0157] 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.

[0158] Step 43: Under the control of the master 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 slave radar via the data link. The slave radar tracks the same tracking target T.

[0159] For step 5, let the distance between the main radar and the target T being tracked be R A , the pulse width of the transmitted signal τ A ; The distance from the radar to track 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.

[0160] In cooperative mode, the position relationship between the master radar and the slave radar and the same tracking target is as follows: Figure 2 As shown, the timing design of the master radar and the slave radar is as follows Figure 3 shown.

[0161] Based on the range and azimuth information of the same target, the master radar and the slave radar adjust the timing parameters separately, including the following steps:

[0162] Step 51: Calculate the target's self-transmitting and self-receiving delays and the other's transmitting and receiving delays of the master radar and the slave radar, respectively, based on the distance to the same tracked target, and determine the pulse widths of the waveforms transmitted by the master radar and the slave radar.

[0163] Among them, the delay of the main radar receiving the self-transmitted and self-received waves is:

[0164] The echo delay range is: [t ACA ,t ACA +τ A +τ0]

[0165] The delay of the main radar receiving the return wave:

[0166] The echo delay range is: [t BCA ,t BCA +τ B +τ0]

[0167] Delay of receiving spontaneous transmission and reception from radar:

[0168] The echo delay range is: [t BCB ,t BCB +τ B +τ0]

[0169] The delay of receiving the wave from the radar:

[0170] The echo delay range is: [t ACB ,t ACB +τ A +τ0].

[0171] Step 52: Determine the gate widths of the master radar and the slave radar, set the gate leading edge and gate trailing edge positions of the master radar and the slave radar, and adjust the timing parameters of the master radar and the slave radar so that the master radar's self-transmitted and self-received signals and the slave radar's self-transmitted and self-received signals can be received within the gates.

[0172] It should be noted that adjusting the timing parameters of the main radar includes the following steps:

[0173] When the self-transmitting and self-receiving echo delay range of the main radar overlaps with the self-transmitting and self-receiving echo delay range of other radars, the echo delay range satisfies:

[0174] t ACA ≤t BCA ≤t ACA +τ A +τ0, or t BCA ≤tACA ≤t BCA +τ B +τ0.

[0175] Therefore, only one sampling gate needs to be set in the main radar timing sequence to realize the acquisition and processing of self-transmitted and self-received waves and other-transmitted and self-received waves.

[0176] The sampling gate setting method of the main radar is as follows:

[0177] The leading edge position of the main radar gate is set to: t ACA and t BCA The smaller of

[0178] The trailing edge position of the main radar gate is set to: t ACA +τ A +τ0 and t BCA +τ B +τ0, whichever is greater.

[0179] When the delay range of the main radar's self-transmitting and self-receiving echoes does not overlap with the delay range of the other radar's self-transmitting and self-receiving echoes, the echo delay range satisfies:

[0180] t ACA +τ A +τ0 <t BCA , or t BCA +τ B +τ0 <t ACA .

[0181] Therefore, two sampling gates need to be set in the main radar timing to realize the collection and processing of self-transmitted and self-received waves and other-transmitted and self-received waves.

[0182] The sampling gate setting method of the main radar is as follows:

[0183] The gate front position of the main radar's self-transmitting and self-receiving wave is set to: ACA .

[0184] The position of the gate trailing edge of the main radar's self-transmitting and self-receiving wave is set to: ACA +τ A +τ0

[0185] The gate front position of the main radar's self-receiving wave is set to: BCA .

[0186] The position of the gate trailing edge of the main radar's self-receiving wave is set to: BCA +τ B +τ0.

[0187] Accordingly, adjusting the timing parameters of the slave radar includes the following steps:

[0188] When the delay range of the self-transmitted and self-received echo from the radar overlaps with the delay range of the self-transmitted and self-received echo from the radar, the echo delay range satisfies:

[0189] t BCB ≤t ACB ≤t BCB +τ B +τ0, or t ACB ≤t BCB ≤t ACB +τ A +τ0.

[0190] Therefore, only one sampling gate needs to be set from the radar time series to realize the collection and processing of self-transmitted and self-received waves and other-transmitted and self-received waves.

[0191] The method for setting the radar sampling gate is as follows:

[0192] The radar gate front position is set to: t BCB and t ACB The smaller of

[0193] The radar gate trailing edge position is set to: t BCB +τ B +τ0 and t ACB +τ A +τ0, whichever is greater.

[0194] When the delay range of the self-transmitted and self-received echo from the radar does not overlap with the delay range of the self-transmitted and self-received echo from the radar, the echo delay range satisfies:

[0195] t BCB +τ B +τ0 <t ACB , or t ACB +τ A +τ0 <t BCB .

[0196] Therefore, two sampling gates need to be set from the radar time series to realize the collection and processing of self-transmitted and self-received waves and other-transmitted and self-received waves.

[0197] The method for setting the radar sampling gate is as follows:

[0198] The gate front position of the radar’s self-transmitting and self-receiving wave is set to: BCB .

[0199] The position of the wave gate trailing edge of the radar self-transmitting and self-receiving wave is set to: BCB +τ B +τ0.

[0200] The gate front position of the radar's received wave is set to: ACB .

[0201] The position of the wave gate trailing edge of the radar's received wave is set to: ACB +τ A +τ0

[0202] In order to improve the anti-interference capability of the master radar and the slave radar in the cooperative mode, the following steps are included after step 5 above:

[0203] Step 6: The master radar and slave 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.

[0204] Specifically, step 6 includes the following steps:

[0205] Step 61: The master radar and the slave radar transmit orthogonal waveforms;

[0206] Among them, the transmission signal of the main radar is:

[0207]

[0208] τ A is the pulse width of the main radar transmission signal, f0 is the center frequency, μ A is the modulation slope of the FM signal, t is the time;

[0209] The transmitted signal from the radar is:

[0210]

[0211] τ B is the pulse width of the signal transmitted from the radar, f0 is the center frequency, μ B is the modulation slope of the FM signal;

[0212] Step 62: The master radar and the slave radar process the echo signals of self-transmitted and self-received signals and other-transmitted and self-received signals respectively;

[0213] Among them, the signal of the point target echo of the main radar is:

[0214]

[0215] A ACA The echo amplitude of the target sent and received by the main radar (the main radar's own test data), f0 is the center frequency, A BCA The echo amplitude of the main radar from the receiving point target, μ A The modulation slope of the main radar FM signal; N A (t) is the main radar noise signal.

[0216] The signal of the point target echo from the radar is

[0217]

[0218] A BCB is the echo amplitude of the target sent and received by the radar, f0 is the center frequency, A ACB is the echo amplitude from the target point, μ B is the modulation slope of the FM signal; N B (t) is the noise signal from the radar.

[0219] 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.

[0220] 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 dual-platform airborne radar, characterized in that: The invention comprises a master radar and a slave radar, wherein the master radar comprises a master self-transmitting and self-receiving collector, a master self-transmitting and self-receiving receiver, a master target information processor and a master controller, wherein the master self-transmitting and self-receiving collector and the master self-transmitting and self-receiving receiver are respectively connected to the master target information processor and the master controller in sequence; the slave radar comprises a slave self-transmitting and self-receiving collector, a slave self-transmitting and self-receiving receiver, a slave target information processor and a slave controller, wherein the slave self-transmitting and self-receiving collector and the slave self-transmitting and self-receiving receiver are respectively connected to the slave target information processor and the slave controller in sequence; the master self-transmitting and self-receiving collector is connected to the slave self-transmitting and self-receiving receiver, and the slave self-transmitting and self-receiving collector is connected to the master self-transmitting and self-receiving receiver; The main target information processor receives the target information of the main radar collected by the main self-transmitting and self-receiving collector and the target information of the slave radar collected by the slave self-transmitting and self-receiving collector received by the main self-transmitting and self-receiving receiver, and performs time-space conversion and data fusion judgment on the target information of the main radar and the target information of the slave radar under a unified time reference and space coordinate system to obtain multiple suspected identical targets. Under the control of the main radar, the same tracking target to be tracked is determined from the multiple suspected identical targets and sent to the main controller and the slave target information processor. The main controller controls the main radar to calculate and adjust the timing parameters of the main radar; The slave target information processor receives the same tracking target information sent by the master target information processor, determines the target information with the same node number in the target information sent and received by the slave radar spontaneously and self-received by the slave radar spontaneously and self-received collector according to the node number corresponding to the same tracking target information, and sends it to the slave controller. The slave controller controls the slave radar to calculate and adjust the timing parameters of the slave radar, so that the master radar and the slave radar can track the same tracking target.

2. The dual-platform airborne radar according to claim 1, characterized in that: The master radar further includes a master time-frequency controller, and the slave radar further includes a slave time-frequency controller; In the master target information processor, a unified time base is established for the master radar and the slave radar. Through the master time-frequency controller and the slave time-frequency controller, the working timing of the master radar and the slave radar are restarted at the same time, and the target information of the master radar and the slave radar are marked with time stamp information.

3. The dual-platform airborne radar according to claim 1, characterized in that: The master radar further includes a master navigation system, and the slave radar further includes a slave navigation system; Through the main navigation system and the slave navigation system, the coordinates of the main radar are set as the origin. In the unified space coordinate system, the coordinates of the slave radar are P B (x B ,y B ,z B ), establish a unified spatial coordinate system.

4. The dual-platform airborne radar according to claim 1, characterized in that: The targets collected by the main self-transmitting and self-receiving collector include M targets, and the slave self-transmitting and self-receiving receiver receives the target time and space information T of the main radar sent by the main self-transmitting and self-receiving collector. Ai (t Ai ,r Ai ,α Ai ,β Ai ), i = 1, 2, ... M, and the pulse width τ of the main radar A , 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 .

5. The dual-platform airborne radar according to claim 1, characterized in that: The targets collected by the master self-transmitting and self-receiving collector include N targets, and the master self-transmitting and self-receiving receiver receives the target time and space information T of the slave radar sent by the slave self-transmitting and self-receiving collector. Bj (t Bj ,r Bj ,α Bj ,β Bj ), j = 1, 2, ... N data and the pulse width τ from the radar B , 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 .

6. The dual-platform airborne radar according to claim 1, characterized in that: The main target information processor includes a time-space conversion module, a suspected same target determination module and a same tracking target determination module; The time-space conversion module is connected to the main self-transmitting and self-receiving collector and the main other-transmitting and self-receiving receiver respectively; The time-space conversion module receives the target information of the master radar collected by the master self-transmitting and self-receiving collector and the target information of the slave radar collected by the slave self-transmitting and self-receiving collector received by the master self-transmitting and self-receiving receiver, performs time-space conversion, and sends it to the suspected same target determination module; The suspected same target determination module determines the suspected same target according to the collaborative positioning error tolerance threshold and sends it to the same tracking target determination module; The same tracking target determination module determines the same tracking target to be tracked from a plurality of suspected same targets and transmits the determined target to the slave controller.

7. The dual-platform airborne radar according to claim 1, characterized in that: The main controller includes a main timing adjustment module, which calculates the target's self-transmitted and self-received wave delay and the other's self-transmitted and self-received wave delay of the main radar based on the distance of the same tracked target, and determines the pulse width of the main radar; determines the wave gate width of the main radar, sets the wave gate leading edge position and wave gate trailing edge position of the main radar, and adjusts the timing parameters of the main radar so that the main radar's self-transmitted and self-received wave signals and the other's self-transmitted and self-received wave signals can be received within the wave gate.

8. The dual-platform airborne radar according to claim 1, characterized in that: The slave controller includes a slave timing adjustment module, which calculates the target self-transmitting and self-receiving delay of the slave radar and the other-transmitting and self-receiving delay according to the distance of the same tracking target, determines the pulse width of the waveform transmitted by the slave radar; and determines the wave gate width of the slave radar, sets the wave gate leading edge position and wave gate trailing edge position of the slave radar, and adjusts the timing parameters of the slave radar so that the self-transmitting and self-receiving signals of the slave radar and the other-transmitting and self-receiving wave signals can be received within the wave gate.

9. The dual-platform airborne radar according to claim 1, characterized in that: It also includes a real target determiner. The main radar and the slave radar transmit orthogonal waveforms. The real target determiner processes the self-transmitted and self-received radar echo signals and the other-transmitted and self-received radar echo signals respectively, obtains the pulse compression simulation results after matching filtering the echo signals, performs target authenticity analysis and identification, and determines and confirms whether the same tracked target is a real target.

10. The dual-platform airborne radar according to claim 9, characterized in that: The transmission signal of the main radar is: τ A is the pulse width of the main radar transmission signal, f0 is the center frequency, μ A is the modulation slope of the FM signal, and t is the time; The transmission signal from the radar is: τ B is the pulse width of the signal transmitted from the radar, f0 is the center frequency, μ B is the modulation slope of the FM signal; The signal of the point target echo of the main radar is: A ACA The echo amplitude of the main radar's self-transmitting and self-receiving point target, f0 is the center frequency, A BCA The echo amplitude of the main radar from the receiving point target, μ A The modulation slope of the main radar FM signal, N A (t) is the main radar noise signal, t ACA The delay time of receiving the self-transmitted and self-received wave by the main radar, t BCA Delay of receiving the return wave from the main radar; The signal of the point target echo from the radar is: A BCB is the echo amplitude of the target sent and received by the radar, f0 is the center frequency, A ACB is the echo amplitude from the target point, μ B is the modulation slope of the FM signal, N B (t) is the noise signal from the radar, t ACA The delay time of receiving the self-transmitted and self-received wave by the main radar, t BCA The delay of the main radar receiving the wave it sends.

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