A timing control system for the coordinated operation of dual-platform airborne radars

Abstract

The present invention discloses a timing control system for the coordinated operation of dual-platform airborne radars. This system belongs to the field of radar timing control technology and solves the problem in the prior art of airborne radars being unable to achieve simultaneous coordinated detection. The system includes a sequentially connected same-tracking target determination unit, a data processing unit, and a timing control unit. The data processing unit is used to calculate the target's self-transmitting and self-receiving delays and the other's self-transmitting and self-receiving delays of the master radar and the slave radar, respectively, based on the distance to the same tracked target. The data processing unit is used to determine the pulse width of the waveform transmitted by the master and slave radars, the gate widths of the master and slave radars, and the gate leading and trailing edge positions of the master and slave radars. The timing control unit controls and adjusts the timing parameters of the master and slave radars. This system can be used for timing control of the coordinated operation of dual-platform airborne radars.

Description

Technical Field

[0001] The present invention belongs to the technical field of radar timing control, and in particular relates to a timing control system for the coordinated operation of dual-platform airborne radars. 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.

[0003] Radar timing control is a crucial component of overall radar control. Different radars employ alternating transmissions between pulse repetition cycles, shift work in different time periods, or operate in different frequency bands, failing to achieve simultaneous coordinated detection. Summary of the Invention

[0004] In view of the above analysis, the present invention aims to provide a timing control system for the coordinated operation of dual-platform airborne radars, which solves the problem in the prior art that airborne radars cannot achieve coordinated detection at the same time.

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

[0006] The present invention provides a timing control system for the coordinated operation of dual-platform airborne radars, comprising a same tracking target determination unit, a data processing unit, and a timing control unit connected in sequence, wherein the data output terminals of the master radar and the slave radar of the dual-platform airborne radar are respectively connected to the data input terminal of the same tracking target determination unit;

[0007] The same tracking target determination unit is used to obtain the self-transmitted and self-received target information of the main radar and the self-transmitted and self-received target information collected by the slave radar, perform time-space conversion under a unified time, frequency and space reference, determine the same tracking target to be tracked, and send the target information of the same tracking target to the data processing unit;

[0008] The data processing unit is used to calculate the target self-transmitting and self-receiving delay of the master radar and the target self-transmitting and self-receiving delay of the slave radar according to the distance of the same tracked target, determine the pulse width of the waveform transmitted by the master radar and the slave radar, the gate width of the master radar and the slave radar, and the gate leading edge position and gate trailing edge position of the master radar and the slave radar, and send them to the timing control unit;

[0009] The timing control unit controls and adjusts the timing parameters of the master radar and the slave radar so that the gate can receive the master radar's self-transmitted and self-received signals and other self-transmitted and self-received wave signals as well as the slave radar's self-transmitted and self-received signals and other self-transmitted and self-received wave signals, thereby enabling the master radar and the slave radar to track the same target.

[0010] Furthermore, let the distance between the main radar and the same tracking target T be R A , the pulse width of the transmitted signal τ A ; The distance between the radar and the same tracked 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;

[0011] The data processing unit includes a master radar calculation module and a slave radar calculation module respectively connected to the timing control unit;

[0012] The main radar calculation module is used to calculate the target's self-transmission and self-reception delay and the other radar's transmission and reception delay according to the distance of the same tracked target, and determine the pulse width of the main radar's transmission waveform, the main radar's wave gate width, and the main radar's wave gate leading edge position and wave gate trailing edge position;

[0013] The slave radar calculation module is used to calculate the target's self-transmission and self-reception delay and the other's transmission and reception delay of the slave radar according to the distance of the same tracking target, and determine the pulse width of the slave radar's transmitted waveform, the slave radar's wave gate width, and the slave radar's wave gate leading edge position and wave gate trailing edge position.

[0014] Furthermore, in the main radar calculation module, the calculation formula for the delay of the main radar receiving the self-transmitted and self-received waves is as follows:

[0015] The echo delay range is: [t ACA ,t ACA +τ A +τ0]

[0016] The calculation formula for the delay of the main radar receiving the return wave is as follows:

[0017] The echo delay range is: [t BCA ,t BCA +τ B +τ0];

[0018] From the radar calculation module, the calculation formula for the delay of receiving the self-transmitted and self-received waves from the radar is as follows:

[0019] The echo delay range is: [t BCB ,t BCB +τ B +τ0]

[0020] The formula for calculating the delay between the radar receiving and returning the wave is as follows:

[0021] The echo delay range is: [t ACB ,tACB +τ A +τ0].

[0022] Furthermore, the timing control unit includes a master radar timing control unit and a slave radar timing control unit. The data input end of the master radar timing control unit is connected to the data output end of the master radar calculation module, the data output end of the master radar timing control unit is connected to the controller of the master radar itself, the data input end of the slave radar timing control unit is connected to the data output end of the slave radar calculation module, and the data output end of the slave radar timing control unit is connected to the controller of the slave radar itself.

[0023] Furthermore, the main radar timing control unit includes a delay range judgment module for judging whether the delay range of the main radar's self-transmitting and self-receiving waves coincides with the delay range of the other radar's self-transmitting and self-receiving waves;

[0024] 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:

[0025] t ACA ≤t BCA ≤t ACA +τ A +τ0, or t BCA ≤t ACA ≤t BCA +τ B +τ0

[0026] 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;

[0027] 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:

[0028] t ACA +τ A +τ0 <t BCA , or t BCA +τ B +τ0 <t ACA

[0029] 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.

[0030] Furthermore, only one sampling gate needs to be set in the main radar timing;

[0031] The sampling gate setting parameters of the main radar are as follows:

[0032] The leading edge position of the main radar gate is set to: t ACA and t BCA The smaller of

[0033] 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.

[0034] Furthermore, two sampling gates need to be set in the main radar timing;

[0035] The sampling gate setting parameters of the main radar are as follows:

[0036] The gate front position of the main radar's self-transmitting and self-receiving wave is set to: ACA

[0037] 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

[0038] The gate front position of the main radar's self-receiving wave is set to: BCA

[0039] The position of the gate trailing edge of the main radar's self-receiving wave is set to: BCA +τ B +τ0.

[0040] Furthermore, the slave radar timing control unit includes a delay range judgment module for judging whether the self-transmitting and self-receiving echo delay range of the slave radar overlaps with the self-transmitting and self-receiving echo delay range of the other radar; when the self-transmitting and self-receiving echo delay range of the slave radar overlaps with the self-transmitting and self-receiving echo delay range of the other radar, the echo delay range satisfies:

[0041] t BCB ≤t ACB ≤t BCB +τ B +τ0, or t ACB ≤t BCB ≤t ACB +τ A +τ0

[0042] Then, only one sampling gate needs to be set from the radar time series to realize the acquisition and processing of self-transmitted and self-received waves and other-transmitted and self-received waves;

[0043] 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:

[0044] t BCB +τ B +τ0 <t ACB , or t ACB +τ A +τ0 <tBCB

[0045] 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.

[0046] Furthermore, only one gate needs to be set to sample the wave from the radar time series;

[0047] The method for setting the radar sampling gate is as follows:

[0048] The radar gate front position is set to: t BCB and t ACB the smaller of

[0049] The radar gate trailing edge position is set to: t BCB +τ B +τ0 and t ACB +τ A +τ0, whichever is greater.

[0050] Furthermore, two gates need to be set to sample the radar time series;

[0051] The method for setting the radar sampling gate is as follows:

[0052] The gate front position of the radar’s self-transmitting and self-receiving wave is set to: BCB

[0053] 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

[0054] The gate front position of the radar's received wave is set to: ACB

[0055] The position of the wave gate trailing edge of the radar's received wave is set to: ACB +τ A +τ0.

[0056] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0057] The timing control system for the coordinated operation of dual-platform airborne radars provided by the present invention is designed for the coordinated mode of the dual-platform recording radars. Unlike a single-platform radar that can only receive and process self-transmitted and self-received radar echoes, the timing adjustment method of this embodiment is used. In the coordinated 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 fully utilized in multi-dimensional information such as the time domain, frequency domain, and spatial domain. This lays a foundation for the engineering application of the coordinated mode of the dual-platform recording radars, has good application potential and economic benefits, and effectively solves the problem in the prior art that airborne radars cannot achieve coordinated detection at the same time.

[0058] 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

[0059] 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.

[0060] Figure 1 A schematic diagram of the flow of timing control in a timing control system for collaborative operation of dual-platform airborne radars provided in the first embodiment of the present invention;

[0061] Figure 2 A schematic diagram of the relationship between radar and target positions in a timing control system for the coordinated operation of dual-platform airborne radars provided in the first embodiment of the present invention;

[0062] Figure 3 Schematic diagram of radar timing design for a timing control system for collaborative detection of dual-platform airborne radars provided in Example 1 of the present invention;

[0063] Figure 4a The matched filtering result of the echo signal transmitted and received by the first radar in a simulation scenario in the timing control system for the coordinated operation of the dual-platform airborne radars provided in the first embodiment of the present invention;

[0064] Figure 4b The matched filtering results of the echo signals sent and received by the first radar in a simulation scenario in the timing control system for the coordinated operation of the dual-platform airborne radars provided in the first embodiment of the present invention;

[0065] Figure 4c The matched filtering result of the echo signal transmitted and received by the second radar in a simulation scenario in the timing control system for the coordinated operation of the dual-platform airborne radars provided in the first embodiment of the present invention;

[0066] Figure 4d This is the matched filtering result of the echo signal sent and received by the second radar in a simulation scenario in the timing control system for the collaborative operation of the dual-platform airborne radars provided in the first embodiment of the present invention. DETAILED DESCRIPTION

[0067] 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.

[0068] For ease of description, the two radars in a dual-platform airborne radar are referred to below as the master radar and the slave radar. A target radar echo received by the master radar is called self-transmitted and self-received if it was transmitted by the master radar, and is called other-transmitted and self-received if it was transmitted by the slave radar. Similarly, a target radar echo received by the slave radar is called self-transmitted and self-received if it was transmitted by the slave radar, and is called other-transmitted and self-received if it was transmitted by the master radar.

[0069] The present invention provides a timing control system for the coordinated operation of dual-platform airborne radars. Figures 1 to 4d , including a same tracking target determination unit, a data processing unit and a timing control unit connected in sequence, wherein the data output terminals of the master radar and the slave radar of the dual-platform airborne radar are respectively connected to the data input terminal of the same tracking target determination unit;

[0070] The same tracking target determination unit is used to obtain the self-transmitted and self-received target information of the main radar and the self-transmitted and self-received target information collected by the slave radar, perform time-space conversion under a unified time, frequency and space reference, determine the same tracking target to be tracked, and send the target information of the same tracking target to the data processing unit;

[0071] The data processing unit is used to calculate the target self-transmitting and self-receiving delay of the master radar and the target self-transmitting and self-receiving delay of the slave radar according to the distance of the same tracked target, determine the pulse width of the waveform transmitted by the master radar and the slave radar, the gate width of the master radar and the slave radar, and the gate leading edge position and gate trailing edge position of the master radar and the slave radar, and send them to the timing control unit;

[0072] The timing control unit controls and adjusts the timing parameters of the master radar and the slave radar so that the gate can receive the master radar's self-transmitted and self-received signals and other self-transmitted and self-received wave signals as well as the slave radar's self-transmitted and self-received signals and other self-transmitted and self-received wave signals, thereby enabling the master radar and the slave radar to track the same target.

[0073] Compared with the prior art, the timing control system for the collaborative operation of dual-platform airborne radars provided in this embodiment is designed for the collaborative mode of dual-platform recording radars. Unlike a single-platform radar that can only receive and process self-transmitted and self-received radar echoes, the timing adjustment method of this embodiment is used. In the collaborative 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 fully utilized in multi-dimensional information such as the time domain, frequency domain, and spatial domain. This lays the foundation for the engineering application of the dual-platform recording radar collaborative mode, has good application potential and economic benefits, and effectively solves the problem in the prior art that airborne radars cannot achieve collaborative detection at the same time.

[0074] Specifically, let the distance between the main radar and the same tracking target T be R A , the pulse width of the transmitted signal τ A ; The distance between the radar and the same tracked 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.

[0075] 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.

[0076] The data processing unit includes a master radar calculation module and a slave radar calculation module respectively connected to the timing control unit.

[0077] The main radar calculation module is used to calculate the target's self-transmission and self-reception delay and other's transmission and reception delay of the main radar according to the distance of the same tracked target, and determine the pulse width of the main radar's transmission waveform, the main radar's wave gate width, and the main radar's wave gate leading edge position and wave gate trailing edge position.

[0078] The slave radar calculation module is used to calculate the target's self-transmission and self-reception delay and the other's transmission and reception delay of the slave radar according to the distance of the same tracking target, and determine the pulse width of the slave radar's transmitted waveform, the slave radar's wave gate width, and the slave radar's wave gate leading edge position and wave gate trailing edge position.

[0079] Among them, in the main radar calculation module, the calculation formula for the main radar receiving the self-transmitted and self-received waveform delay is as follows:

[0080] The echo delay range is: [t ACA ,t ACA +τ A +τ0]

[0081] The calculation formula for the delay of the main radar receiving the return wave is as follows:

[0082] The echo delay range is: [t BCA ,t BCA +τ B +τ0].

[0083] Similarly, from the radar calculation module, the calculation formula for the delay of receiving the self-transmitted and self-received waveforms from the radar is as follows:

[0084] The echo delay range is: [t BCB ,t BCB +τ B +τ0]

[0085] The formula for calculating the delay between the radar receiving and returning the wave is as follows:

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

[0087] The timing control unit includes a master radar timing control unit and a slave radar timing control unit. The data input end of the master radar timing control unit is connected to the data output end of the master radar calculation module, the data output end of the master radar timing control unit is connected to the controller of the master radar itself, the data input end of the slave radar timing control unit is connected to the data output end of the slave radar calculation module, and the data output end of the slave radar timing control unit is connected to the controller of the slave radar itself.

[0088] The main radar timing control unit includes a delay range judgment module for judging whether the self-transmitted and self-returned echo delay range of the main radar overlaps with the self-transmitted and self-returned echo delay range of other radars. When the self-transmitted and self-returned echo delay range of the main radar overlaps with the self-transmitted and self-returned echo delay range of other radars, the echo delay range satisfies:

[0089] t ACA ≤t BCA ≤t ACA +τ A +τ0, or t BCA ≤t ACA ≤t BCA +τ B +τ0.

[0090] 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.

[0091] The sampling gate setting parameters of the main radar are as follows:

[0092] The leading edge position of the main radar gate is set to: t ACA and t BCA The smaller of

[0093] 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.

[0094] When the delay range of the main radar's self-transmitted and self-returned echoes does not overlap with the delay range of the other radar's self-transmitted and self-returned echoes, the echo delay range satisfies:

[0095] t ACA +τ A +τ0 <t BCA , or t BCA +τ B +τ0 <t ACA .

[0096] 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.

[0097] The sampling gate setting parameters of the main radar are as follows:

[0098] The gate front position of the main radar's self-transmitting and self-receiving wave is set to: ACA .

[0099] 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

[0100] The gate front position of the main radar's self-receiving wave is set to: BCA .

[0101] The position of the gate trailing edge of the main radar's self-receiving wave is set to: BCA +τ B +τ0.

[0102] The slave radar timing control unit includes a delay range judgment module for judging whether the self-transmitted and self-received echo delay range of the slave radar overlaps with the self-transmitted and self-received echo delay range of the other radar. When the self-transmitted and self-received echo delay range of the slave radar overlaps with the self-transmitted and self-received echo delay range of the other radar, the echo delay range satisfies:

[0103] t BCB ≤t ACB ≤t BCB +τ B +τ0, or t ACB ≤t BCB ≤t ACB+τ A +τ0.

[0104] 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.

[0105] The method for setting the radar sampling gate is as follows:

[0106] The radar gate front position is set to: t BCB and t ACB The smaller of

[0107] The radar gate trailing edge position is set to: t BCB +τ B +τ0 and t ACB +τ A +τ0, whichever is greater.

[0108] 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:

[0109] t BCB +τ B +τ0 <t ACB , or t ACB +τ A +τ0 <t BCB .

[0110] 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.

[0111] The method for setting the radar sampling gate is as follows:

[0112] The gate front position of the radar’s self-transmitting and self-receiving wave is set to: BCB .

[0113] 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.

[0114] The gate front position of the radar's received wave is set to: ACB .

[0115] The position of the wave gate trailing edge of the radar's received wave is set to: ACB +τ A +τ0.

[0116] 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.

[0117] Exemplarily, the same tracking target determination unit includes a master self-transmitting and self-receiving collector, a master self-transmitting and self-receiving receiver, a master target information processor, a slave self-transmitting and self-receiving collector, a slave self-transmitting and self-receiving receiver, and a slave target information processor. 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 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 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;

[0118] 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 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, and determines the same tracking target to be tracked from the multiple suspected identical targets and sends it to the data processing unit.

[0119] 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.

[0120] 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 ;

[0121] 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 .

[0122] Specifically, 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 sequence of the master radar and the slave radar are restarted at the same time, the time (i.e., timing) base is unified, 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 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.

[0123] 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 ,r Ai ,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 .

[0124] Because the target information obtained by the same tracking target determination unit contains values ​​of distance, azimuth, and elevation in the coordinate systems of the master and slave radars, respectively, it is impossible to directly determine the correspondence between the target found by the master radar and the target found by the slave radar. In order to determine the same tracking target to be tracked, the above-mentioned 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 target information collected by the master self-transmitting and self-receiving collector from the master radar and the target information collected by the master other self-transmitting and self-receiving collector from the slave radar, 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.

[0125] 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 (t Bj ,x Bj ,y Bj ,z Bj ), where j = 1, 2, ... N; then the following relationship holds:

[0126] Target coordinates of main radar:

[0127] x Ai =0+r Ai ·cos(β Ai )sin(α Ai )

[0128] y Ai =0+r Ai ·cos(β Ai )cos(α Ai )

[0129] z Ai =0+r Ai ·sin(β Ai )

[0130] Target coordinates from radar:

[0131] x Bj =x B +r Bj ·cos(β Bj )sin(α Bj )

[0132] y Bj =y B +r Bj ·cos(β Bj )cos(αBj )

[0133] z Bj =z B +r Bj ·sin(β Bj )

[0134] 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:

[0135] Where i = 1, 2, ... M, j = 1, 2, ... N;

[0136] 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.

[0137] 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.

[0138] In order to improve the anti-interference capability of the master radar and the slave radar in the cooperative mode, the above-mentioned timing control system 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 the other-transmitted and self-received radar echo signals respectively, obtains the pulse compression simulation results after matched filtering of the echo signals, performs target authenticity analysis and identification, and judges and confirms whether the same tracked target is a real target.

[0139] Specifically, the main radar's transmission signal is:

[0140]

[0141] 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;

[0142] The transmitted signal from the radar is:

[0143]

[0144] 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;

[0145] The signal of the point target echo of the main radar is:

[0146]

[0147] 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.

[0148] The signal of the point target echo from the radar is

[0149]

[0150] 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.

[0151] 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.

[0152] 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 4d The 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.

[0153] During implementation, the timing control method of the timing control system for the dual-platform airborne radar collaborative operation includes the following steps:

[0154] Step I: Under the unified time, frequency and space reference, the master radar and the slave radar enter the cooperative detection mode, perform time and space conversion on the target information searched by the master radar and the slave radar, and determine the same tracking target to be tracked;

[0155] Step II: Based on the distance of the same tracked target, calculate the target's self-transmitting and self-receiving delay and the other's transmitting and receiving delay of the master radar, and the target's self-transmitting and self-receiving delay and the other's transmitting and receiving delay of the slave radar, and determine the pulse width of the waveform transmitted by the master radar and the slave radar;

[0156] Step III: Determine the gate widths of the master radar and the slave radar respectively, 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.

[0157] Specifically, let the distance between the main radar and the same tracking target T be R A , the pulse width of the transmitted signal τ A ; The distance between the radar and the same tracked 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.

[0158] 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.

[0159] Adjusting the timing parameters of the main radar includes the following steps:

[0160] Step a: Based on the distance of the same tracked target, calculate the target's self-transmitting and self-receiving delay and the other radar's self-transmitting and self-receiving delay, and determine the pulse width of the main radar's transmitting waveform;

[0161] Among them, the delay of the main radar receiving the self-transmitted and self-received waves is:

[0162] The echo delay range is: [t ACA ,t ACA +τ A +τ0]

[0163] The delay of the main radar receiving the return wave:

[0164] The echo delay range is: [t BCA ,t BCA +τ B +τ0].

[0165] Step b: Determine the gate width of the main radar, set the leading edge and trailing edge positions of the gate, and adjust the timing parameters of the main radar so that the main radar's self-transmitted and self-received signals and other radar's self-transmitted and self-received signals can be received within the gate.

[0166] 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:

[0167] t ACA ≤t BCA ≤t ACA +τ A +τ0, or t BCA ≤t ACA ≤t BCA +τ B +τ0.

[0168] 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.

[0169] The sampling gate setting method of the main radar is as follows:

[0170] The leading edge position of the main radar gate is set to: t ACA and t BCA The smaller of

[0171] 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.

[0172] When the delay range of the main radar's self-transmitted and self-returned echoes does not overlap with the delay range of the other radar's self-transmitted and self-returned echoes, the echo delay range satisfies:

[0173] t ACA +τ A +τ0 <t BCA , or t BCA +τ B +τ0 <t ACA .

[0174] 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.

[0175] The sampling gate setting method of the main radar is as follows:

[0176] The gate front position of the main radar's self-transmitting and self-receiving wave is set to: ACA .

[0177] 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

[0178] The gate front position of the main radar's self-receiving wave is set to: BCA .

[0179] The position of the gate trailing edge of the main radar's self-receiving wave is set to: BCA +τ B +τ0.

[0180] Similarly, adjusting the timing parameters of the slave radar includes the following steps:

[0181] Step A: Based on the distance of the same tracked target, calculate the target's self-transmitting and self-receiving delay from the radar and the other's transmitting and receiving delay, and determine the pulse width of the waveform transmitted from the radar;

[0182] Delay of receiving spontaneous transmission and reception from radar:

[0183] The echo delay range is: [t BCB ,t BCB +τ B +τ0]

[0184] The delay of receiving the wave from the radar:

[0185] The echo delay range is: [t ACB ,t ACB +τ A +τ0].

[0186] Step B: Determine the gate width of the slave radar, set the leading edge and trailing edge positions of the gate, and adjust the timing parameters of the slave radar so that the self-transmitted and self-received signals of the slave radar and the self-transmitted and self-received signals of the other radar can be received within the gate.

[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's 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] Exemplarily, the above step I includes the following steps:

[0203] 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.

[0204] 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.

[0205] Step 3: The master radar and slave radar exchange target information via data link;

[0206] 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 determine the identical tracking target to be tracked from the multiple suspected identical targets under the control of the master radar.

[0207] 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.

[0208] 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 ;

[0209] N targets are found from the radar search. In the time base and space coordinate system of the radar, the time and space information of the target 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 .

[0210] 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.

[0211] 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 .

[0212] In order to determine the same tracking target to be tracked, the above step 4 includes the following steps:

[0213] Step 41: Target information is converted into time and space

[0214] 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.

[0215] 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.

[0216] 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:

[0217] Target coordinates of main radar:

[0218] x Ai =0+r Ai ·cos(β Ai )sin(α Ai )

[0219] y Ai =0+r Ai ·cos(β Ai )cos(α Ai )

[0220] z Ai =0+r Ai ·sin(β Ai )

[0221] Target coordinates from radar:

[0222] x Bj =x B +r Bj ·cos(β Bj )sin(α Bj )

[0223] y Bj =y B +r Bj ·cos(β Bj )cos(α Bj )

[0224] z Bj =z B +r Bj ·sin(β Bj )

[0225] Step 42: Select the same tracking target to be tracked

[0226] 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:

[0227] Where i = 1, 2, ... M, j = 1, 2, ... N;

[0228] 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.

[0229] 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.

[0230] 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.

[0231] 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 the above step III:

[0232] Step IV: The master radar and the 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.

[0233] Specifically, step IV includes the following steps:

[0234] Step IV1: The master radar and the slave radar transmit orthogonal waveforms;

[0235] Among them, the transmission signal of the main radar is:

[0236]

[0237] 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;

[0238] The transmitted signal from the radar is:

[0239]

[0240] 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;

[0241] Step IV2: 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;

[0242] Among them, the signal of the point target echo of the main radar is:

[0243]

[0244] 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.

[0245] The signal of the point target echo from the radar is

[0246]

[0247] 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.

[0248] Step IV3: After matching the echo signal and filtering it, the 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.

[0249] 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 timing control system for the coordinated operation of dual-platform airborne radars, characterized in that: It includes a same tracking target determination unit, a data processing unit and a timing control unit connected in sequence, wherein the data output terminals of the master radar and the slave radar of the dual-platform airborne radar are respectively connected to the data input terminal of the same tracking target determination unit; The same tracking target determination unit is used to obtain the self-transmitted and self-received target information of the main radar and the self-transmitted and self-received target information collected by the slave radar, perform time-space conversion under a unified time, frequency and space reference, determine the same tracking target to be tracked, and send the target information of the same tracking target to the data processing unit; The data processing unit is used to calculate the target self-transmitting and self-receiving delay of the master radar and the target self-transmitting and self-receiving delay of the slave radar according to the distance of the same tracked target, determine the pulse width of the waveform transmitted by the master radar and the slave radar, the gate width of the master radar and the slave radar, and the gate leading edge position and gate trailing edge position of the master radar and the slave radar, and send them to the timing control unit; The timing control unit controls and adjusts the timing parameters of the master radar and the timing parameters of the slave radar so that the self-transmitted and self-received signals of the master radar and the self-transmitted and self-received signals of the slave radar as well as the self-transmitted and self-received signals of the slave radar can be received within the wave gate, thereby enabling the master radar and the slave radar to track the same target.

2. The timing control system for the coordinated operation of dual-platform airborne radars according to claim 1 is characterized in that: Assume that the distance between the main radar and the same tracking target T is R A , the pulse width of the transmitted signal τ A ; The distance between the radar and the same tracked 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; The data processing unit includes a master radar calculation module and a slave radar calculation module respectively connected to the timing control unit; The main radar calculation module is used to calculate the target's self-transmission and self-reception delay and the other's transmission and self-reception delay according to the distance of the same tracked target, and determine the pulse width of the main radar transmission waveform, the main radar's wave gate width, and the main radar's wave gate leading edge position and wave gate trailing edge position; The slave radar calculation module is used to calculate the target's self-transmission and self-reception delay and the other's transmission and reception delay of the slave radar according to the distance of the same tracking target, and determine the pulse width of the slave radar's transmitted waveform, the slave radar's wave gate width, and the slave radar's wave gate leading edge position and wave gate trailing edge position.

3. The timing control system for the coordinated operation of dual-platform airborne radars according to claim 2, characterized in that: In the main radar calculation module, the calculation formula for the delay of the main radar receiving the self-transmitted and self-received waves is as follows: The echo delay range is: [t ACA ,t ACA +τ A +τ0] The calculation formula for the delay of the main radar receiving the return wave is as follows: The echo delay range is: [t BCA ,t BCA +τ B +τ0]; In the slave radar calculation module, the calculation formula for the delay of receiving the self-transmitted and self-received echoes from the slave radar is as follows: The echo delay range is: [t BCB ,t BCB +τ B +τ0] The formula for calculating the delay between the radar receiving and returning the wave is as follows: The echo delay range is: [t ACB ,t ACB +τ A +τ0].

4. The timing control system for the coordinated operation of dual-platform airborne radars according to claim 3 is characterized in that: The timing control unit includes a master radar timing control unit and a slave radar timing control unit. The data input end of the master radar timing control unit is connected to the data output end of the master radar calculation module, and the data output end of the master radar timing control unit is connected to the controller of the master radar itself. The data input end of the slave radar timing control unit is connected to the data output end of the slave radar calculation module, and the data output end of the slave radar timing control unit is connected to the controller of the slave radar itself.

5. The timing control system for the coordinated operation of dual-platform airborne radars according to claim 4 is characterized in that: The main radar timing control unit includes a delay range judgment module for judging whether the delay range of the main radar's self-transmitting and self-receiving waves coincides with the delay range of the other radar's self-transmitting and self-receiving waves; 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: t ACA ≤t BCA ≤t ACA +t A +τ0,or t BCA ≤t ACA ≤t BCA +t B +τ0 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; 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: t ACA +t A +τ0 <t BCA , or t BCA +t B +τ0 <t ACA 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.

6. The timing control system for the coordinated operation of dual-platform airborne radars according to claim 5, characterized in that: Only one sampling gate needs to be set in the main radar timing; The sampling gate setting parameters of the main radar are as follows: The leading edge position of the main radar gate is set to: t ACA and t BCA The smaller of 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.

7. The timing control system for the coordinated operation of dual-platform airborne radars according to claim 5, characterized in that: Two sampling gates need to be set in the main radar timing; The sampling gate setting parameters of the main radar are as follows: The gate front position of the main radar's self-transmitting and self-receiving wave is set to: ACA 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 The gate front position of the main radar's self-receiving wave is set to: BCA The position of the gate trailing edge of the main radar's self-receiving wave is set to: BCA +τ B +τ0.

8. The timing control system for the coordinated operation of dual-platform airborne radars according to claim 4, characterized in that: The slave radar timing control unit includes a delay range judgment module for judging whether the self-transmitting and self-receiving echo delay range of the slave radar overlaps with the self-transmitting and self-receiving echo delay range of the other radar; when the self-transmitting and self-receiving echo delay range of the slave radar overlaps with the self-transmitting and self-receiving echo delay range of the other radar, the echo delay range satisfies: t BCB ≤t ACB ≤t BCB +t B +τ0,or t ACB ≤t BCB ≤t ACB +t A +τ0 Then, only one sampling gate needs to be set from the radar time series to realize the acquisition and processing of self-transmitted and self-received waves and other-transmitted and self-received waves; 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: t BCB +t B +τ0 <t ACB , or t ACB +t A +τ0 <t BCB 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.

9. The timing control system for the coordinated operation of dual-platform airborne radars according to claim 8, characterized in that: Only one gate needs to be set to sample the radar time series; The method for setting the radar sampling gate is as follows: The radar gate front position is set to: t BCB and t ACB the smaller of The radar gate trailing edge position is set to: t BCB +τ B +τ0 and t ACB +τ A +τ0, whichever is greater.

10. The timing control system for the coordinated operation of dual-platform airborne radars according to claim 8, characterized in that: Two gates need to be set to sample the radar time series; The method for setting the radar sampling gate is as follows: The gate front position of the radar’s self-transmitting and self-receiving wave is set to: BCB 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 The gate front position of the radar wave received from the radar is set to: ACB The position of the wave gate trailing edge of the radar's received wave is set to: ACB +τ A +τ0.

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