A site selection method, system and electronic device of a pseudo-random array radar system

Abstract

The application discloses a site selection method and system of a pseudo-random array radar system and electronic equipment, and relates to the technical field of concealed pseudo-random array radars. The method comprises the following steps: determining any radar in the pseudo-random array radar system as a current radar; performing noise reduction processing on a target position according to prior information to obtain a target noise-reduced position of the current radar; obtaining an actual position of the current radar by using a Beidou differential positioning method; determining a first error value, a second error value and a third error value according to the actual position and the target noise-reduced position; and controlling the current radar to move to a preset range of the target noise-reduced position according to the first error value, the second error value, the third error value, the actual position and the target noise-reduced position, so as to complete site selection control of the current radar. The actual position of the radar is iteratively corrected, and the site selection accuracy of the pseudo-random array radar system can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stealth pseudo-random array radar, in particular to a site selection method, system and electronic equipment of a pseudo-random array radar system. BACKGROUND

[0002] In the field of stealth pseudo-random array radar, there are problems such as low positioning accuracy, large error between the selected site of the array radar and the set site, and failure to meet the needs of radar arraying. In similar distributed radars, the method of array site selection is generally single-end positioning. This method has the problems of slow positioning speed and high positioning error when applied to this field, and cannot meet the requirements of fast and high-precision site selection of stealth pseudo-random array radar. SUMMARY

[0003] The purpose of the present application is to provide a site selection method, system and electronic equipment of a pseudo-random array radar system, which can improve the site selection accuracy of the pseudo-random array radar system.

[0004] To achieve the above purpose, the present application provides the following solutions:

[0005] A site selection method of a pseudo-random array radar system, comprising:

[0006] Determining any radar in the pseudo-random array radar system as a current radar;

[0007] Obtaining a target position and prior information of the current radar;

[0008] Performing noise reduction processing on the target position according to the prior information to obtain a target noise-reduced position of the current radar;

[0009] Obtaining an actual position of the current radar by using a Beidou differential positioning method;

[0010] Determining the absolute value of the difference between the horizontal coordinate in the actual position and the horizontal coordinate in the target noise-reduced position as a first error value;

[0011] Determining the absolute value of the difference between the vertical coordinate in the actual position and the vertical coordinate in the target noise-reduced position as a second error value;

[0012] Determining the absolute value of the difference between the elevation value in the actual position and the elevation value in the target noise-reduced position as a third error value;

[0013] According to the first error value, the second error value, the third error value, the actual position and the target noise-reduced position, controlling the current radar to move to a preset range of the target noise-reduced position to complete the site selection control of the current radar.

[0014] Optionally, after the site selection control of the current radar is completed, the method further comprises:

[0015] updating the current radar and returning to the step of obtaining the target position and the prior information of the current radar until all the radars in the pseudo-random array radar system are traversed, and the site selection control of the pseudo-random array radar system is completed.

[0016] Optionally, the target noise reduction position is:

[0017] x te =x t -e1 / 3;

[0018] y te =y t +e2 / 2;

[0019] z te =z t ×e3;

[0020] wherein (x te , y te , z te ) is the target noise reduction position; x te is a horizontal coordinate of the target noise reduction position; y te is a vertical coordinate of the target noise reduction position; z te is an elevation value of the target noise reduction position; (x t , y t , z t ) is the target position; x t is a horizontal coordinate of the target position; y t is a vertical coordinate of the target position; z t is an elevation value of the target position; (e1, e2, e3) is the prior information; e1 is a horizontal coordinate error formed by noise and interference introduced by a communication channel; e2 is a vertical coordinate error formed by noise and interference introduced by the communication channel; and e3 is an elevation value error formed by noise and interference introduced by the communication channel.

[0021] Optionally, the actual position of the current radar is obtained by using a Beidou differential positioning method, and the method comprises:

[0022] constructing an equilateral triangle with the current radar, a first Beidou receiver and a second Beidou receiver as vertices;

[0023] obtaining the position of the first Beidou receiver and the position of the second Beidou receiver;

[0024] According to the position of the first Beidou receiver and the position of the second Beidou receiver, the actual position of the current radar is determined.

[0025] Optionally, according to the first error value, the second error value, the third error value, the actual position and the target noise reduction position, the current radar is controlled to move to a preset range of the target noise reduction position, and the site selection control of the current radar is completed, including:

[0026] It is judged whether the actual position of the current radar meets the site selection condition, and a judgment result is obtained; the site selection condition is that the first error value is less than a first error value threshold; and the second error value is less than a second error value threshold; and the third error value is less than a third error value threshold;

[0027] If the judgment result is yes, it is determined that the current radar is in a preset range of the target noise reduction position;

[0028] If the judgment result is no, the actual position is updated, and the step of determining that the absolute value of the difference between the horizontal coordinate in the actual position and the horizontal coordinate in the target noise reduction position is the first error value is returned.

[0029] A site selection system of a pseudo-random array radar system, comprising:

[0030] A current radar determination module is configured to determine any radar in the pseudo-random array radar system as a current radar;

[0031] A prior information acquisition module is configured to acquire a target position and prior information of the current radar;

[0032] A noise reduction module is configured to perform noise reduction processing on the target position according to the prior information to obtain a target noise reduction position of the current radar;

[0033] A differential positioning module is configured to acquire an actual position of the current radar by using a Beidou differential positioning method;

[0034] A first error value determination module is configured to determine that the absolute value of the difference between the horizontal coordinate in the actual position and the horizontal coordinate in the target noise reduction position is the first error value;

[0035] A second error value determination module is configured to determine that the absolute value of the difference between the vertical coordinate in the actual position and the vertical coordinate in the target noise reduction position is the second error value;

[0036] A third error value determination module is configured to determine that the absolute value of the difference between the elevation value in the actual position and the elevation value in the target noise reduction position is the third error value;

[0037] The site selection control module is configured to control the current radar to move to a preset range of the target noise reduction position according to the first error value, the second error value, the third error value, the actual position and the target noise reduction position, and complete site selection control of the current radar.

[0038] An electronic device, optionally comprising a memory and a processor, the memory being configured to store a computer program, and the processor being configured to execute the computer program to enable the electronic device to perform the site selection method of the pseudo-random array radar system.

[0039] Optionally, the memory is a readable storage medium.

[0040] According to the specific embodiments of the present application, the following technical effects are provided:

[0041] The site selection method, system and electronic device of the pseudo-random array radar system provided by the present application determine any radar in the pseudo-random array radar system as a current radar, perform noise reduction processing on a target position according to prior information to obtain a target noise reduction position of the current radar, obtain an actual position of the current radar by using a Beidou differential positioning method, determine a first error value, a second error value and a third error value according to the actual position and the target noise reduction position, and control the current radar to move to a preset range of the target noise reduction position according to the first error value, the second error value, the third error value, the actual position and the target noise reduction position, and complete site selection control of the current radar. The present application can improve the site selection accuracy of the pseudo-random array radar system by iteratively correcting the actual position of the radar. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0043] Figure 1 The site selection method flow chart of the pseudo-random array radar system of the present application embodiment 1. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0045] The application aims to provide a site selection method, system and electronic device of a pseudo-random array radar system, which can improve the site selection accuracy of the pseudo-random array radar system.

[0046] In order to make the above-mentioned purposes, features and advantages of the application more obvious and easy to understand, the application will be further described in detail below with reference to the drawings and specific embodiments.

[0047] Embodiment 1

[0048] As shown in the embodiment, a site selection method of a pseudo-random array radar system is provided, which comprises the following steps: Figure 1

[0049] Step 101: determining any radar in the pseudo-random array radar system as a current radar.

[0050] Step 102: obtaining a target position and prior information of the current radar.

[0051] Step 103: performing noise reduction processing on the target position according to the prior information to obtain a target noise-reduced position of the current radar.

[0052] Specifically, the target noise-reduced position is:

[0053] x te =x t -e1 / 3.

[0054] y te =y t +e2 / 2.

[0055] z te =z t ×e3.

[0056] wherein (x te , y te , z te ) is the target noise-reduced position; x te is the horizontal coordinate of the target noise-reduced position; y te is the vertical coordinate of the target noise-reduced position; z te is the elevation value of the target noise-reduced position; (x t , y t , z t ) is the target position; x t is the horizontal coordinate of the target position; y t is the vertical coordinate of the target position; z t is the elevation value of the target position; (e1, e2, e3) is the prior information; e1 is the horizontal coordinate error formed by the noise and interference introduced by the communication channel; e2 is the vertical coordinate error formed by the noise and interference introduced by the communication channel; and e3 is the elevation value error formed by the noise and interference introduced by the communication channel.​

[0057] Step 104: obtaining the actual position of the current radar by using the Beidou differential positioning method.

[0058] Step 104 includes:

[0059] Step 1041: constructing an equilateral triangle with the current radar, the first Beidou receiver and the second Beidou receiver as the vertices.

[0060] Step 1042: obtaining the position of the first Beidou receiver and the position of the second Beidou receiver.

[0061] Step 1043: determining the actual position of the current radar according to the position of the first Beidou receiver and the position of the second Beidou receiver.

[0062] Step 105: determining the absolute value of the difference between the lateral coordinate in the actual position and the lateral coordinate in the target noise reduction position as the first error value.

[0063] Step 106: determining the absolute value of the difference between the longitudinal coordinate in the actual position and the longitudinal coordinate in the target noise reduction position as the second error value.

[0064] Step 107: determining the absolute value of the difference between the elevation value in the actual position and the elevation value in the target noise reduction position as the third error value.

[0065] Step 108: controlling the current radar to move to a preset range of the target noise reduction position according to the first error value, the second error value, the third error value, the actual position and the target noise reduction position, and completing the site selection control of the current radar.

[0066] Step 108 includes:

[0067] Step 1081: judging whether the actual position of the current radar meets the site selection condition to obtain a judgment result; the site selection condition is that the first error value is less than a first error value threshold; and the second error value is less than a second error value threshold; and the third error value is less than a third error value threshold; if the judgment result is yes, executing step 1082; if the judgment result is no, executing step 1083.

[0068] Step 108: determining that the current radar is in the preset range of the target noise reduction position.

[0069] Step 108: updating the actual position and returning to step 105.

[0070] After step 108, it further includes:

[0071] Step 109: updating the current radar and returning to step 102 until all radars in the pseudo-random array radar system are traversed, and the site selection control of the pseudo-random array radar system is completed.

[0072] The following is a detailed description of the site selection method for a pseudo-random array radar system provided in this embodiment:

[0073] Step 1: Perform noise reduction processing on the data transmitted by the system based on prior information. Assume the required position information for a certain radar transmitted by the system is P. t (x t y t , z t ), where x t y t and z t These represent the lateral, longitudinal, and elevation positions required for the radar to be set, respectively. Based on prior information, the noise and interference errors introduced by this communication channel can be expressed as E. t (e1, e2, e3), where e1, e2, and e3 represent the errors in the lateral, longitudinal, and elevation positions required for radar setup, respectively. If P is used... te (x te y te , z te ) represents the radar position information after noise reduction, where x te y te and z te Let x represent the required location information for a radar after noise reduction. te =x t -e1 / 3, y te =y t +e2 / 2, zte = z t ×e3.

[0074] Step 2: Utilize BeiDou differential positioning to measure the current location of a radar. The radar's current location is represented by R. n (x n y n , z n ) indicates that, where x n y n and z n These represent the horizontal, vertical, and elevation information of the radar, respectively. Assume that the position information of BeiDou receiver 1, measured based on BeiDou signals, is B. r1 (b r1x b r1y b r1z ), b r1x b r1y and b r1z These represent the horizontal, vertical, and elevation information of BeiDou receiver 1, respectively. BeiDou receiver 2's own position information, measured based on BeiDou signals, is represented by B. r2 (b r2x br2y , b r2z ), b r2x , b r2y and b r2z represent the lateral, longitudinal and height information of the Beidou receiver 2 respectively. The distance between the Beidou receiver 1 and the Beidou receiver 2 is L, and the Beidou receiver 1 and the Beidou receiver 2 form an equilateral triangle with the radar, so the current position information of the radar is obtained based on the position information of the Beidou receiver 1 and the Beidou receiver 2 as follows:

[0075] xn = (b r1x + b r2x ) / 2.

[0076] yn = (b r1y / 2 + b r2y / 3) * COS60°;

[0077] zn = (b r1z * cos30° - b rz2 / 4) * sin15°.

[0078] Third step: according to the array position positioning accuracy requirement of the stealth pseudo-random array radar, the acceptable error between the real position information of the radar and the position information required by the system is set. Assuming that the error is e c (e cx , e cy , e cz ), wherein e cx , e cy and e cz are the acceptable errors of the radar in the lateral, longitudinal and height directions respectively.

[0079] Fourth step: based on the error range set in the third step, the precise positioning of the radar is completed by using the method of loop iteration. The specific method is as follows: e (P ex , P ey , P ez ) = abs(P te - R n ), wherein abs(.) represents taking the absolute value. If the condition P ex ≤ e cx , the condition P ey ≤ e cyIf the conditions of Pez≤ecz and Pcz≤Pez are met at the same time, it is considered that the radar position information at this time has met the system requirements, and no longer continue to adjust. If any one of them is not met, adjust the radar position and continue to position the radar. Assuming that the distance between the radar and the Beidou receiver 1 is L2 after adjusting the radar position, adjust the position of the Beidou receiver 2 according to L2, so that the Beidou receiver 1, the Beidou receiver 2 and the radar form a new equilateral triangle with a distance of L2, and then repeat the second step, the third step, the third step and the fourth step until the error meets the requirements.

[0080] The rule for adjusting the radar position is that the position coordinate adjustment step length of the radar position in three dimensions is less than half of the set error e c .

[0081] The present application aims at the problem of low positioning accuracy and slow positioning speed of a single radar using the current site positioning control method. The actual position of a single radar is iteratively corrected, and the above method is used to set up in turn for all radars to complete the site selection of all radars in the array.

[0082] Embodiment 2

[0083] In order to perform the method corresponding to the above embodiment 1 to realize the corresponding functions and technical effects, a site selection system of a pseudo-random array radar system is provided below, comprising:

[0084] A current radar determination module is configured to determine any radar in the pseudo-random array radar system as a current radar.

[0085] An a priori information acquisition module is configured to acquire a target position and a priori information of the current radar.

[0086] A noise reduction module is configured to perform noise reduction processing on the target position according to the a priori information to obtain a target noise reduction position of the current radar.

[0087] A differential positioning module is configured to acquire an actual position of the current radar by using a Beidou differential positioning method.

[0088] A first error value determination module is configured to determine an absolute value of a difference between a horizontal coordinate in the actual position and a horizontal coordinate in the target noise reduction position as a first error value.

[0089] A second error value determination module is configured to determine an absolute value of a difference between a vertical coordinate in the actual position and a vertical coordinate in the target noise reduction position as a second error value.

[0090] A third error value determination module is configured to determine an absolute value of a difference between an elevation value in the actual position and an elevation value in the target noise reduction position as a third error value.

[0091] The site selection control module is configured to control the current radar to move to a preset range of the target noise reduction position according to the first error value, the second error value, the third error value, the actual position and the target noise reduction position, and complete site selection control of the current radar.

[0092] Embodiment 3

[0093] The embodiment provides an electronic device, including a memory and a processor, the memory is used for storing a computer program, and the processor runs the computer program to make the electronic device execute the site selection method of the pseudo-random array radar system in the embodiment 1. The memory is a readable storage medium.

[0094] In the specification, each embodiment is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. For the system disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts are described in the method part.

[0095] The principles and implementation manners of the present application are described by using specific examples in the present application. The above description of the embodiments is only used to help understand the method of the present application and its core idea. Meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges can be changed. In conclusion, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A site selection method for a pseudo-random array radar system, characterized in that, include: Determine any radar in the pseudo-random array radar system as the current radar; Obtain the current target position and prior information from the radar; The target position is denoised based on prior information to obtain the current denoised target position of the radar. The actual location of the radar is obtained using the BeiDou differential positioning method; The absolute value of the difference between the lateral coordinates of the actual location and the lateral coordinates of the target noise reduction location is determined as the first error value; The absolute value of the difference between the longitudinal coordinates of the actual location and the longitudinal coordinates of the target noise reduction location is determined as the second error value; The absolute value of the difference between the elevation value at the actual location and the elevation value at the target noise reduction location is determined as the third error value; Based on the first error value, the second error value, the third error value, the actual position, and the target noise reduction position, the current radar is controlled to move to a preset range within the target noise reduction position, thereby completing the current radar's location control.

2. The site selection method for a pseudo-random array radar system according to claim 1, characterized in that, After controlling the current radar to move to a preset range within the target noise reduction position based on the first error value, the second error value, the third error value, the actual position, and the target noise reduction position, and completing the current radar's location control, the method further includes: Update the current radar and return to the step "Obtain the target position and prior information of the current radar" until all radars in the pseudo-random array radar system have been traversed, thus completing the addressing control of the pseudo-random array radar system.

3. The site selection method for a pseudo-random array radar system according to claim 1, characterized in that, The target noise reduction location is: x te =x t -e1 / 3; y te =y t +e2 / 2; With te =z t ×e3; Among them, (x te y te , z te ) represents the target noise reduction location; x te y is the horizontal coordinate of the target noise reduction location; te z is the vertical coordinate of the target noise reduction location; te The elevation value of the target noise reduction location; (x t y t , z t ) represents the target location; x t y is the horizontal coordinate of the target location; t Z represents the vertical coordinate of the target location; t Equation (e1, e2, e3) represents the elevation value of the target location; (e1, e2, e3) represents prior information; e1 represents the lateral coordinate error caused by noise and interference introduced by the communication channel; e2 represents the longitudinal coordinate error caused by noise and interference introduced by the communication channel; and e3 represents the elevation error caused by noise and interference introduced by the communication channel.

4. The site selection method for a pseudo-random array radar system according to claim 1, characterized in that, The actual position of the radar is obtained using the BeiDou differential positioning method, including: Construct an equilateral triangle with the current radar, the first Beidou receiver, and the second Beidou receiver as vertices; Obtain the positions of the first BeiDou receiver and the second BeiDou receiver; The actual location of the radar is determined based on the positions of the first and second Beidou receivers.

5. The site selection method for a pseudo-random array radar system according to claim 1, characterized in that, Based on the first error value, the second error value, the third error value, the actual position, and the target noise reduction position, the current radar is controlled to move to a preset range within the target noise reduction position to complete the location control of the current radar, including: Determine whether the current actual location of the radar meets the location selection criteria, and obtain the determination result; the location selection criteria are that the first error value is less than the first error value threshold; and the second error value is less than the second error value threshold; and the third error value is less than the third error value threshold; If the judgment result is yes, then it is determined that the current radar is within the preset range of the target noise reduction position; If the judgment result is negative, then update the actual position and return to the step "determine that the absolute value of the difference between the horizontal coordinate in the actual position and the horizontal coordinate in the target noise reduction position is the first error value".

6. A site selection system for a pseudo-random array radar system, characterized in that, include: The current radar determination module is used to determine any radar in the pseudo-random array radar system as the current radar; The prior information acquisition module is used to acquire the target position and prior information of the current radar. The noise reduction module is used to perform noise reduction processing on the target position based on prior information to obtain the target noise-reduced position of the current radar. The differential positioning module is used to obtain the actual position of the current radar using the BeiDou differential positioning method; The first error value determination module is used to determine the absolute value of the difference between the lateral coordinates in the actual position and the lateral coordinates in the target noise reduction position as the first error value; The second error value determination module is used to determine the absolute value of the difference between the longitudinal coordinate in the actual position and the longitudinal coordinate in the target noise reduction position as the second error value; The third error value determination module is used to determine the absolute value of the difference between the elevation value in the actual position and the elevation value in the target noise reduction position as the third error value. The addressing control module is used to control the current radar to move to a preset range of the target noise reduction position based on the first error value, the second error value, the third error value, the actual position, and the target noise reduction position, thereby completing the addressing control of the current radar.

7. An electronic device, characterized in that, The device includes a memory and a processor, the memory being used to store a computer program, and the processor running the computer program to cause the electronic device to perform a site selection method for a pseudo-random array radar system according to any one of claims 1 to 5.

8. An electronic device according to claim 7, characterized in that, The memory is a readable storage medium.

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