A method for information fusion of wide and narrow pulse cooperative detection

Abstract

The present specification discloses a method for information fusion of wide and narrow pulse collaborative detection, which relates to the technical field of wide and narrow pulse collaborative detection, including obtaining a wide pulse echo signal-to-noise ratio and a narrow pulse echo signal-to-noise ratio based on the acquired wide pulse echo signal and narrow pulse echo signal; respectively calculating and obtaining a wide pulse angle measurement error and a narrow pulse angle measurement error based on target angle error signals in a narrow pulse irradiation mode and in a wide pulse irradiation mode; determining a continuous tracking angle error based on the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio when the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is greater than a preset difference threshold; determining a continuous tracking angle error based on a preset angle measurement accuracy and a narrow pulse interference judgment result when the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is less than or equal to a preset difference threshold, so as to solve the problem that traditional information fusion methods cannot realize information fusion during wide and narrow pulse collaborative detection.

Description

Technical Field

[0001] The present invention belongs to the technical field of wide and narrow pulse collaborative detection, and in particular relates to a wide and narrow pulse collaborative detection information fusion method. Background Art

[0002] A radar detection device needs to work in two modes: wide pulse illumination and narrow pulse illumination, and receive narrow pulse echo signals and conventional echo signals. The narrow pulse echo signal is an extremely narrow pulse discontinuous continuous wave signal with a pulse width of nanoseconds, which has the characteristics of high power, narrow pulse, and low repetition rate; the conventional echo signal is a wide pulse discontinuous continuous wave signal, which has the characteristics of weak signal and large dynamics. After the target search and interception, the detection equipment enters the tracking and solves the target angle error signal. However, in the early signal processing process, the discontinuous continuous wave signal processing process is independent, and two different waveform signals are measured separately to achieve target tracking. Later, the two signals need to be processed collaboratively. Therefore, it is necessary to select the angle error solved in the corresponding mode through information fusion technology. The traditional information fusion processing technology makes decisions and judgments on the angle measurement error of the wide pulse signal and the angle measurement error of the narrow pulse signal, selects the optimal value, and realizes the collaborative processing of wide and narrow pulse signals. However, traditional information fusion technology is unable to perform classification processing of wide and narrow pulse signals, resulting in a large amount of data to be processed and large errors. It is also unable to make rapid judgments and decisions on different angle measurement results under the two working modes of wide pulse irradiation and narrow pulse irradiation, making information fusion processing during coordinated detection of wide and narrow pulses difficult to implement.

[0003] Therefore, the traditional information fusion method has the problem of being unable to achieve information fusion during coordinated detection of wide and narrow pulses. Summary of the invention

[0004] The purpose of the present invention is to provide a method for information fusion of wide and narrow pulse collaborative detection, so as to solve the problem that traditional information fusion methods cannot realize information fusion when wide and narrow pulse collaborative detection occurs.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] On the one hand, this specification provides a method for fusion of wide and narrow pulse collaborative detection information, including:

[0007] Step 102, obtaining a wide pulse echo signal-to-noise ratio and a narrow pulse echo signal-to-noise ratio based on the acquired wide pulse echo signal and narrow pulse echo signal;

[0008] Step 104, based on the target angle error signals in the narrow pulse irradiation mode and the wide pulse irradiation mode, respectively calculate and obtain the wide pulse angle measurement error and the narrow pulse angle measurement error;

[0009] Step 106, when the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is greater than a preset difference threshold, determining a continuous tracking angle error based on the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio;

[0010] Step 108, when the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is less than or equal to a preset difference threshold, determine the continuous tracking angle error based on the preset angle measurement accuracy and the narrow pulse interference judgment result; the narrow pulse interference judgment result is used to characterize whether the narrow pulse echo signal is interfered by the interference signal.

[0011] On the other hand, the present specification provides a wide and narrow pulse collaborative detection information fusion device, comprising:

[0012] A signal-to-noise ratio calculation module, used for obtaining a wide pulse echo signal-to-noise ratio and a narrow pulse echo signal-to-noise ratio based on the acquired wide pulse echo signal and narrow pulse echo signal;

[0013] An angle measurement error calculation module, used to calculate and obtain a wide pulse angle measurement error and a narrow pulse angle measurement error respectively based on the target angle error signal in the narrow pulse irradiation mode and the wide pulse irradiation mode;

[0014] A first information fusion module is used to determine a continuous tracking angle error based on a wide pulse echo signal-to-noise ratio and a narrow pulse echo signal-to-noise ratio when a difference between a wide pulse angle measurement error and a narrow pulse angle measurement error is greater than a preset difference threshold;

[0015] The second information fusion module is used to determine the continuous tracking angle error based on the preset angle measurement accuracy and the narrow pulse interference judgment result when the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is less than or equal to the preset difference threshold; the narrow pulse interference judgment result is used to characterize whether the narrow pulse echo signal is interfered by the interference signal.

[0016] Based on the above technical solution, this specification can achieve the following technical effects:

[0017] This method uses a signal-to-noise ratio judgment method to obtain the signal-to-noise ratio of wide and narrow pulse echo signals; then, when there is an obvious gap in the angular measurement errors of the wide and narrow pulse signals, the top-level decision algorithm is used to select the optimal item, and when the gap is not large, a multiple judgment algorithm is used to select the optimal item as the continuous tracking angular error; finally, the target tracking mark under the two working modes of wide pulse irradiation and narrow pulse irradiation is judged, and the angular error solved in the corresponding mode is selected to realize information fusion processing during wide and narrow pulse collaborative detection, so as to solve the problems that traditional information fusion methods cannot realize information fusion during wide and narrow pulse collaborative detection, and traditional fusion technology has large errors and is difficult to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1The figure is a flow chart of a method for fusion of wide and narrow pulse collaborative detection information in one embodiment of the present invention.

[0019] Figure 2 FIG. 4 is a flow chart of a method for determining a signal-to-noise ratio in an embodiment of the present invention.

[0020] Figure 3 Schematic diagram of the top-level decision process in one embodiment of the present invention.

[0021] Figure 4 Schematic diagram of a multiple judgment algorithm flow in one embodiment of the present invention.

[0022] Figure 5 This is a diagram of the simulation results of high and low angle measurement errors in one embodiment of the present invention.

[0023] Figure 6 1 is a diagram of the simulation results of the azimuth error in one embodiment of the present invention.

[0024] Figure 7 It is a schematic diagram of the structure of a wide and narrow pulse collaborative detection information fusion device in one embodiment of the present invention.

[0025] Figure 8 The figure is a schematic diagram of an electronic device according to the present invention. DETAILED DESCRIPTION

[0026] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description and claims. It should be noted that the drawings are all in very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0027] It should be noted that, in order to clearly explain the content of the present invention, the present invention specifically cites multiple embodiments to further illustrate different implementations of the present invention, wherein the multiple embodiments are enumerated rather than exhaustive. In addition, for the sake of brevity of explanation, the contents mentioned in the previous embodiments are often omitted in the subsequent embodiments. Therefore, the contents not mentioned in the subsequent embodiments can refer to the previous embodiments accordingly. Example 1

[0028] Please refer to Figure 1 , Figure 1 The present embodiment provides a method for fusion of wide and narrow pulse cooperative detection information. In this embodiment, the method includes:

[0029] Step 102, obtaining a wide pulse echo signal-to-noise ratio and a narrow pulse echo signal-to-noise ratio based on the acquired wide pulse echo signal and narrow pulse echo signal;

[0030] In this embodiment, one implementation of step 102 is:

[0031] Step 202, based on the acquired wide pulse echo signal and narrow pulse echo signal, obtain the corresponding wide pulse echo power and narrow pulse echo power;

[0032] Step 204, based on the target position, calculate and obtain the target power, the wide pulse signal power and the narrow pulse signal power;

[0033] Step 206, obtaining a wide pulse noise power and a narrow pulse noise signal based on the difference between the target power and the wide pulse signal power and the narrow pulse signal power;

[0034] Step 208 , based on the wide pulse echo power, the narrow pulse echo power and the corresponding wide pulse noise power and narrow pulse noise signal, calculate and obtain the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio.

[0035] Step 104, based on the target angle error signals in the narrow pulse irradiation mode and the wide pulse irradiation mode, respectively calculate and obtain the wide pulse angle measurement error and the narrow pulse angle measurement error;

[0036] Step 106, when the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is greater than a preset difference threshold, determining a continuous tracking angle error based on the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio;

[0037] In this embodiment, one implementation of step 106 is:

[0038] Step 302, when the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is greater than a preset difference threshold, determining a narrow pulse target tracking flag in the narrow pulse illumination mode and a wide pulse target tracking flag in the wide pulse illumination mode;

[0039] Step 304, combining the narrow pulse tracking flag and the wide pulse tracking flag to obtain an information fusion processing flag; the information fusion processing flag is a binary number, wherein the high bit represents the narrow pulse target tracking flag, and the low bit represents the wide pulse target tracking flag;

[0040] Step 306: Determine the continuous tracking angle error based on the information fusion processing flag, the wide pulse echo signal-to-noise ratio, and the narrow pulse echo signal-to-noise ratio.

[0041] In this embodiment, one implementation of step 306 is:

[0042] Step 3061: if the information fusion processing flag is "11", it is determined whether the wide pulse illumination source is interfered with. If so, the narrow pulse angle measurement error is selected as the continuous tracking angle error; if not, the continuous tracking angle error is determined based on the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio;

[0043] Step 3062: If the information fusion processing flag is "10", the narrow pulse angle measurement error is selected as the continuous tracking angle error;

[0044] Step 3063: If the information fusion processing flag is "01", the wide pulse angle measurement error is selected as the continuous tracking angle error;

[0045] Step 3064, if the information fusion processing flag is "00", determine whether the current wide pulse irradiation mode and narrow pulse irradiation mode are in the memory tracking state. If so, select the historical continuous tracking angle error before entering the memory tracking state as the continuous tracking angle error; if not, the continuous tracking angle error is 0.

[0046] In this embodiment, the information fusion processing flag is "11" indicating that both the narrow pulse target tracking flag and the wide pulse target tracking flag are valid; the information fusion processing flag is "10" indicating that only the narrow pulse target tracking flag is valid; the information fusion processing flag is "01" indicating that only the wide pulse target tracking flag is valid; the information fusion processing flag is "00" indicating that both the narrow pulse target tracking flag and the wide pulse target tracking flag are invalid.

[0047] In this embodiment, before determining the continuous tracking angle error based on the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio, the method further includes:

[0048] Based on the amplitudes and random clutter peaks of the wide pulse echo signal and the narrow pulse echo signal, the wide pulse period signal-to-noise ratio and the narrow pulse period signal-to-noise ratio are calculated and obtained.

[0049] The determining of the continuous tracking angle error based on the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio comprises:

[0050] The continuous tracking angle error is determined based on the relationship between the wide pulse echo signal-to-noise ratio, the narrow pulse echo signal-to-noise ratio, the wide pulse period signal-to-noise ratio, the narrow pulse period signal-to-noise ratio and a signal-to-noise ratio threshold.

[0051] In this embodiment, determining the continuous tracking angle error based on the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio includes:

[0052] Step 30611, determining whether the wide pulse echo signal-to-noise ratio is greater than a signal-to-noise ratio threshold, if so, selecting the wide pulse angle measurement error as the continuous tracking angle error; if not, determining whether the wide pulse period signal-to-noise ratio is greater than a signal-to-noise ratio threshold, if so, selecting the wide pulse angle measurement error as the continuous tracking angle error;

[0053] Step 30612: If the wide pulse period signal-to-noise ratio is less than or equal to the signal-to-noise ratio threshold, determine whether the narrow pulse echo signal-to-noise ratio and the narrow pulse period signal-to-noise ratio are both greater than the signal-to-noise ratio threshold. If so, select the narrow pulse angle measurement error as the continuous tracking angle error; if not, select the wide pulse angle measurement error as the continuous tracking angle error.

[0054] Step 108, when the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is less than or equal to a preset difference threshold, determine the continuous tracking angle error based on the preset angle measurement accuracy and the narrow pulse interference judgment result; the narrow pulse interference judgment result is used to characterize whether the narrow pulse echo signal is interfered by the interference signal.

[0055] In this embodiment, one implementation of step 108 is:

[0056] Step 402, when the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is less than or equal to a preset difference threshold, selecting the optimal value of the wide pulse angle measurement error and the optimal value of the narrow pulse angle measurement error as the wide pulse optimal angle error and the narrow pulse optimal angle error respectively;

[0057] In this embodiment, the optimal value is the minimum error between the wide pulse angle measurement error and the narrow pulse angle measurement error.

[0058] Step 404, determining whether the wide pulse optimal angle error and the narrow pulse optimal angle error both meet the preset angle measurement accuracy range, if so, taking the average of the wide pulse optimal angle error and the narrow pulse optimal angle error as the continuous tracking angle error; if not, performing interference determination on the narrow pulse echo signal to obtain a narrow pulse interference determination result;

[0059] Step 406: Determine the continuous tracking angle error based on the narrow pulse interference determination result.

[0060] In this embodiment, one implementation of step 406 is:

[0061] Step 4061: If the narrow pulse interference determination result is that the narrow pulse echo signal is interfered, then the narrow pulse angle measurement error is selected as the continuous tracking angle error;

[0062] Step 4062: If the narrow pulse interference determination result is that the narrow pulse echo signal is not interfered with, the ratio of the detected target amplitude to the clutter amplitude is calculated, and the maximum value of the ratio is used as the continuous tracking angle error.

[0063] Specifically, this embodiment specifically provides a method for fusion of wide and narrow pulse collaborative detection information to achieve judgment and decision making of different angle measurement results in two working modes of wide pulse irradiation and narrow pulse irradiation. The method is as follows:

[0064] The first step is to use the signal-to-noise ratio judgment method to judge the angle measurement results of narrow pulse signals and wide pulse signals according to the signal-to-noise ratio. The engineering implementation process is as follows: Figure 2 As shown. First, the pure noise signal and the target echo plus noise signal are measured respectively, and then the pure echo signal is separated from the echo plus noise signal, and finally the real signal-to-noise ratio is obtained. The specific implementation method is as follows: When the radar is subject to active interference, the power of the target echo signal is obtained separately. and the power of the interference signal , then the signal-to-noise ratio can be obtained as:

[0065]

[0066] In fact, since the target echo is always superimposed on the interference, it is impossible to directly collect the pure target echo signal, and it is also impossible to directly collect the target echo power in the formula Therefore, the target position can be obtained by the previous angle measurement operation, and the target power and the wide and narrow pulse power can be calculated. The subtraction approximates the noise power, and the ratio is the signal-to-noise ratio SNR.

[0067] In the second step, when there is a significant difference in the angle measurement error between the wide and narrow pulse signals, the top-level decision algorithm is used to select the optimal option of the signal. The processing flow is as follows: Figure 3 As shown. After the target is searched and intercepted, the detection equipment enters the tracking stage and solves the target angle error signal. During information fusion, it is necessary to judge the target tracking flags in the two working modes of wide pulse illumination and narrow pulse illumination to determine whether the angle error is calculated. When the top-level decision algorithm is used for information fusion processing, the target tracking flags in the narrow pulse illumination and wide pulse illumination modes form the information fusion processing flag "F". F is a 2-bit binary number. The high bit represents the target tracking flag in the narrow pulse illumination mode, and the low bit represents the target tracking flag in the wide pulse illumination mode.

[0068] in:

[0069] When F=“11”, the target tracking flags are valid in both narrow pulse and wide pulse modes. If the wide pulse illumination source is interfered, the angular error solved in the narrow pulse illumination mode is selected; if the wide pulse illumination source is not interfered, when the signal-to-noise ratio (SNRz) or the periodic signal-to-noise ratio (SNRz') in the wide pulse illumination mode is greater than XdB (20dB can be selected), the angular error solved in the wide pulse illumination mode is selected; when the signal-to-noise ratio in the wide pulse illumination mode does not meet the conditions, if the signal-to-noise ratio (SNRg) and the periodic signal-to-noise ratio (SNRg') in the narrow pulse illumination mode are greater than XdB, the angular error solved in the narrow pulse illumination mode is selected; otherwise, the angular error solved in the wide pulse illumination mode is selected.

[0070] F=“10” selects the angular error solved in the narrow pulse illumination mode;

[0071] F=“01” selects the angular error solved in wide pulse irradiation mode;

[0072] F=“00” determines whether it is in the memory tracking state in the narrow pulse irradiation and wide pulse irradiation modes. If it is in the memory tracking state, then determine whether the angular error signal selected before entering the tracking mode is the narrow pulse irradiation or wide pulse irradiation mode, and select to output the result calculated in the mode before entering the memory tracking; if there is no memory tracking state, the angular error is output as 0.

[0073] Step 3: When the difference between the angle measurement errors of the wide and narrow pulse signals is not large, a multiple judgment algorithm is used to select the optimal item of the signal angle measurement error as the continuous tracking angle error. The processing flow is as follows: Figure 4 As shown. Select the optimal values ​​of the wide pulse signal angle measurement error and the narrow pulse signal angle measurement error. When the angle errors of both meet the angle measurement accuracy, select the average value of the two as the continuous tracking angle error. If the angle measurement accuracy is not met, when the narrow pulse signal determines that a large number of interference targets appear, select the angle error of the narrow pulse signal, because only the narrow pulse signal can resist interference. It is safer to use the angle measurement result of the narrow pulse signal as the continuous tracking angle error when more interference targets appear. When no interference occurs, calculate the ratio of the target amplitude to the clutter amplitude, and select the larger ratio as the angle error.

[0074] Finally, the above steps are used to realize the judgment and decision of different angle measurement results under the two working modes of wide pulse irradiation and narrow pulse irradiation, and complete the information fusion processing during the coordinated detection of wide and narrow pulses.

[0075] refer to Figure 5-6 , a wide and narrow pulse cooperative detection information fusion method of this embodiment is used to simulate the azimuth and elevation error of the radar echo signal. During the simulation, the target detection signal-to-noise ratio is set to X1dB. The simulation results are as follows: Figure 5-6 As shown in the figure, it can be seen that the azimuth and elevation angle measurement errors meet the requirements, the tracking error is low, and the detection equipment can correctly process the wide and narrow pulse signals and extract the target angle information.

[0076] Based on this, this method has the following technical effects:

[0077] 1. The top-level decision algorithm and multiple judgment algorithms are used to respectively realize the judgment of angle measurement results with different gaps, effectively and quickly select the corresponding angle measurement error as the continuous tracking angle error, saving time and cost.

[0078] 2. Use information fusion technology to make decisions on different angle measurement results under the two working modes of wide pulse irradiation and narrow pulse irradiation, and complete the information fusion processing during the coordinated detection of wide and narrow pulses.

[0079] In summary, this method uses the signal-to-noise ratio judgment method to obtain the signal-to-noise ratio of the wide and narrow pulse echo signals; then, when there is an obvious gap in the angular measurement errors of the wide and narrow pulse signals, the top-level decision algorithm is used to select the optimal item, and when the gap is not large, the multiple judgment algorithm is used to select the optimal item as the continuous tracking angular error; finally, the target tracking mark under the two working modes of wide pulse irradiation and narrow pulse irradiation is judged, and the angular error solved in the corresponding mode is selected to realize the information fusion processing during the coordinated detection of wide and narrow pulses, so as to solve the problems that the traditional information fusion method cannot realize the information fusion during the coordinated detection of wide and narrow pulses, and the traditional fusion technology has large errors and is difficult to implement. Example 2

[0080] Please refer to Figure 7 , Figure 7 The embodiment shows a method and device for fusion of wide and narrow pulse cooperative detection information. In this embodiment, the device includes:

[0081] A signal-to-noise ratio calculation module, used for obtaining a wide pulse echo signal-to-noise ratio and a narrow pulse echo signal-to-noise ratio based on the acquired wide pulse echo signal and narrow pulse echo signal;

[0082] An angle measurement error calculation module, used to calculate and obtain a wide pulse angle measurement error and a narrow pulse angle measurement error respectively based on the target angle error signal in the narrow pulse irradiation mode and the wide pulse irradiation mode;

[0083] A first information fusion module is used to determine a continuous tracking angle error based on a wide pulse echo signal-to-noise ratio and a narrow pulse echo signal-to-noise ratio when a difference between a wide pulse angle measurement error and a narrow pulse angle measurement error is greater than a preset difference threshold;

[0084] The second information fusion module is used to determine the continuous tracking angle error based on the preset angle measurement accuracy and the narrow pulse interference judgment result when the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is less than or equal to the preset difference threshold; the narrow pulse interference judgment result is used to characterize whether the narrow pulse echo signal is interfered by the interference signal.

[0085] Optionally, the signal-to-noise ratio calculation module includes:

[0086] An echo power determination unit, used for obtaining corresponding wide pulse echo power and narrow pulse echo power based on the acquired wide pulse echo signal and narrow pulse echo signal;

[0087] A signal power determination unit, used for calculating and obtaining target power, wide pulse signal power and narrow pulse signal power based on the target position;

[0088] An impulse noise determination unit, configured to obtain a wide pulse noise power and a narrow pulse noise signal based on differences between the target power and the wide pulse signal power and the narrow pulse signal power, respectively;

[0089] The echo signal-to-noise ratio determination unit is used to calculate and obtain the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio based on the wide pulse echo power, the narrow pulse echo power and the corresponding wide pulse noise power and the narrow pulse noise signal.

[0090] Optionally, the first information fusion module includes:

[0091] A tracking mark determination submodule, used to determine a narrow pulse target tracking mark in a narrow pulse irradiation mode and a wide pulse target tracking mark in a wide pulse irradiation mode when the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is greater than a preset difference threshold;

[0092] A fusion processing flag determination submodule is used to combine the narrow pulse tracking flag and the wide pulse tracking flag to obtain an information fusion processing flag; the information fusion processing flag is a binary number, wherein the high bit represents the narrow pulse target tracking flag and the low bit represents the wide pulse target tracking flag;

[0093] The first continuous tracking angle error determination submodule is used to determine the continuous tracking angle error based on the information fusion processing flag, the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio.

[0094] Optionally, the first continuous tracking angle error determination submodule includes:

[0095] a first determining unit, configured to determine whether the wide pulse illumination source is interfered with if the information fusion processing flag is "11", and if so, select the narrow pulse angle measurement error as the continuous tracking angle error; if not, determine the continuous tracking angle error based on the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio;

[0096] A second determining unit, configured to select the narrow pulse angle measurement error as a continuous tracking angle error if the information fusion processing flag is "10";

[0097] a third determining unit, configured to select the wide pulse angle measurement error as a continuous tracking angle error if the information fusion processing flag is "01";

[0098] The fourth determination unit is used to determine whether the current wide pulse irradiation mode and the narrow pulse irradiation mode are in the memory tracking state if the information fusion processing flag is "00". If so, the historical continuous tracking angle error before entering the memory tracking state is selected as the continuous tracking angle error; if not, the continuous tracking angle error is 0.

[0099] Optionally, the information fusion processing flag is "11", indicating that both the narrow pulse target tracking flag and the wide pulse target tracking flag are valid; the information fusion processing flag is "10", indicating that only the narrow pulse target tracking flag is valid; the information fusion processing flag is "01", indicating that only the wide pulse target tracking flag is valid; the information fusion processing flag is "00", indicating that both the narrow pulse target tracking flag and the wide pulse target tracking flag are invalid.

[0100] Optionally, the first determining unit includes:

[0101] The pulse period signal-to-noise ratio determination subunit is used to calculate and obtain the wide pulse period signal-to-noise ratio and the narrow pulse period signal-to-noise ratio based on the amplitudes and random clutter peaks of the wide pulse echo signal and the narrow pulse echo signal.

[0102] Optionally, the first determining unit further includes:

[0103] A wide pulse angle measurement error selection subunit is used to determine whether the wide pulse echo signal-to-noise ratio is greater than a signal-to-noise ratio threshold, and if so, select the wide pulse angle measurement error as the continuous tracking angle error; if not, determine whether the wide pulse period signal-to-noise ratio is greater than a signal-to-noise ratio threshold, and if so, use the wide pulse angle measurement error as the continuous tracking angle error;

[0104] The narrow pulse angle measurement error selection subunit is used to determine whether the narrow pulse echo signal-to-noise ratio and the narrow pulse period signal-to-noise ratio are both greater than the signal-to-noise ratio threshold if the wide pulse period signal-to-noise ratio is less than or equal to the signal-to-noise ratio threshold. If so, the narrow pulse angle measurement error is selected as the continuous tracking angle error; if not, the wide pulse angle measurement error is used as the continuous tracking angle error.

[0105] Optionally, the second information fusion module includes:

[0106] An optimal angle error determination submodule, used for selecting the optimal values ​​of the wide pulse angle measurement error and the narrow pulse angle measurement error as the wide pulse optimal angle error and the narrow pulse optimal angle error respectively when the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is less than or equal to a preset difference threshold;

[0107] The narrow pulse interference determination submodule is used to determine whether the wide pulse optimal angle error and the narrow pulse optimal angle error both meet the preset angle measurement accuracy. If so, the average value of the wide pulse optimal angle error and the narrow pulse optimal angle error is used as the continuous tracking angle error; if not, interference determination is performed on the narrow pulse echo signal to obtain a narrow pulse interference determination result;

[0108] The second continuous tracking angle error determination submodule is used to determine the continuous tracking angle error based on the narrow pulse interference determination result.

[0109] Optionally, the optimal value is the minimum error between the wide pulse angle measurement error and the narrow pulse angle measurement error.

[0110] Optionally, the second continuous tracking angle error determination submodule includes:

[0111] an interference selection unit, configured to select the narrow pulse angle measurement error as the continuous tracking angle error if the narrow pulse interference determination result is that the narrow pulse echo signal is interfered with;

[0112] The undisturbed selection unit is used to calculate the ratio of the target amplitude to the clutter amplitude if the narrow pulse interference determination result is that the narrow pulse echo signal is not disturbed, and take the maximum value of the ratio as the continuous tracking angle error.

[0113] Based on this, the device adopts the signal-to-noise ratio judgment method to obtain the signal-to-noise ratio of the wide and narrow pulse echo signals; then, when there is an obvious gap in the angular measurement errors of the wide and narrow pulse signals, the top-level decision algorithm is used to select the optimal item, and when the gap is not large, the multiple judgment algorithm is used to select the optimal item as the continuous tracking angular error; finally, the target tracking mark under the two working modes of wide pulse irradiation and narrow pulse irradiation is judged, and the angular error solved in the corresponding mode is selected to realize the information fusion processing during the collaborative detection of wide and narrow pulses, so as to solve the problems that the traditional information fusion method cannot realize the information fusion during the collaborative detection of wide and narrow pulses, and the traditional fusion technology has large errors and is difficult to implement. Example 3

[0114] Please refer to Figure 8 , this embodiment provides an electronic device, which includes a processor, an internal bus, a network interface, a memory and a non-volatile memory, and of course may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, forming a wide and narrow pulse collaborative detection information fusion method at the logical level. Of course, in addition to software implementation methods, this specification does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0115] The network interface, processor and memory can be connected to each other through a bus system. The above bus can be divided into an address bus, a data bus, a control bus, etc.

[0116] The memory is used to store programs. Specifically, the program may include program code, and the program code includes computer operation instructions. The memory may include a read-only memory and a random access memory, and provides instructions and data to the processor.

[0117] The processor is used to execute the program stored in the above memory, and specifically perform:

[0118] Step 102, obtaining a wide pulse echo signal-to-noise ratio and a narrow pulse echo signal-to-noise ratio based on the acquired wide pulse echo signal and narrow pulse echo signal;

[0119] Step 104, based on the target angle error signals in the narrow pulse irradiation mode and the wide pulse irradiation mode, respectively calculate and obtain the wide pulse angle measurement error and the narrow pulse angle measurement error;

[0120] Step 106, when the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is greater than a preset difference threshold, determining a continuous tracking angle error based on the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio;

[0121] Step 108, when the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is less than or equal to a preset difference threshold, determine the continuous tracking angle error based on the preset angle measurement accuracy and the narrow pulse interference judgment result; the narrow pulse interference judgment result is used to characterize whether the narrow pulse echo signal is interfered by the interference signal.

[0122] The processor may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method may be completed by an integrated logic circuit of the processor hardware or by instructions in the form of software.

[0123] Based on the same invention, the embodiment of this specification also provides a computer-readable storage medium, which stores one or more programs. When the one or more programs are executed by an electronic device including multiple application programs, the electronic device executes Figure 1-Figure 6 A corresponding embodiment provides a method for fusion of wide and narrow pulse collaborative detection information.

[0124] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on one or more computer-readable storage media containing computer-usable program code.

[0125] In addition, for the above-mentioned specific implementation of the system, since it is basically similar to the method implementation, the description is relatively simple, and the relevant parts can be referred to the partial description of the method implementation. Moreover, it should be noted that in each module of the system of the present application, the components therein are logically divided according to the functions to be implemented, but the present application is not limited thereto, and the components can be re-divided or combined as needed.

[0126] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other. Each embodiment focuses on the differences between it and other embodiments.

[0127] The above is a description of a specific embodiment of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the specific order or sequential order shown in the process depicted in the drawings is not necessarily required to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0128] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for fusion of wide and narrow pulse cooperative detection information, characterized in that: include: Based on the acquired wide pulse echo signal and narrow pulse echo signal, a wide pulse echo signal-to-noise ratio and a narrow pulse echo signal-to-noise ratio are obtained; Based on the target angle error signals in the narrow pulse irradiation mode and the wide pulse irradiation mode, the wide pulse angle measurement error and the narrow pulse angle measurement error are calculated respectively; When the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is greater than a preset difference threshold, a continuous tracking angle error is determined based on the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio; When the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is greater than a preset difference threshold, determining the continuous tracking angle error based on the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio includes: When the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is greater than a preset difference threshold, determining a narrow pulse target tracking mark in the narrow pulse irradiation mode and a wide pulse target tracking mark in the wide pulse irradiation mode; The narrow pulse tracking flag and the wide pulse tracking flag are combined to obtain an information fusion processing flag; the information fusion processing flag is a binary number, wherein the high bit represents the narrow pulse target tracking flag and the low bit represents the wide pulse target tracking flag; Determining a continuous tracking angle error based on the information fusion processing flag, the wide pulse echo signal-to-noise ratio, and the narrow pulse echo signal-to-noise ratio; The determining of the continuous tracking angle error based on the information fusion processing flag, the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio comprises: If the information fusion processing flag is "11", it is determined whether the wide pulse illumination source is interfered with. If so, the narrow pulse angle measurement error is selected as the continuous tracking angle error; if not, the continuous tracking angle error is determined based on the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio; the information fusion processing flag is "11" indicating that both the narrow pulse target tracking flag and the wide pulse target tracking flag are valid; If the information fusion processing flag is "10", the narrow pulse angle measurement error is selected as the continuous tracking angle error; the information fusion processing flag is "10" indicating that only the narrow pulse target tracking flag is valid; If the information fusion processing flag is "01", the wide pulse angle measurement error is selected as the continuous tracking angle error; the information fusion processing flag is "01" indicating that only the wide pulse target tracking flag is valid; If the information fusion processing flag is "00", it is determined whether the current wide pulse irradiation mode and the narrow pulse irradiation mode are in the memory tracking state. If so, the historical continuous tracking angle error before entering the memory tracking state is selected as the continuous tracking angle error; if not, the continuous tracking angle error is 0; the information fusion processing flag is "00" indicating that both the narrow pulse target tracking flag and the wide pulse target tracking flag are invalid; When the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is less than or equal to a preset difference threshold, the continuous tracking angle error is determined based on the preset angle measurement accuracy and the narrow pulse interference determination result; the narrow pulse interference determination result is used to characterize whether the narrow pulse echo signal is interfered by the interference signal; When the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is less than or equal to a preset difference threshold, determining the continuous tracking angle error based on the preset angle measurement accuracy and the narrow pulse interference determination result includes: When the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is less than or equal to a preset difference threshold, the optimal values ​​of the wide pulse angle measurement error and the narrow pulse angle measurement error are selected as the wide pulse optimal angle error and the narrow pulse optimal angle error respectively; Determine whether the wide pulse optimal angle error and the narrow pulse optimal angle error both meet the preset angle measurement accuracy range. If so, take the average value of the wide pulse optimal angle error and the narrow pulse optimal angle error as the continuous tracking angle error; if not, perform interference judgment on the narrow pulse echo signal to obtain a narrow pulse interference judgment result; Based on the narrow pulse interference judgment result, the continuous tracking angle error is determined.

2. The wide and narrow pulse collaborative detection information fusion method according to claim 1 is characterized in that: The step of obtaining a wide pulse echo signal-to-noise ratio and a narrow pulse echo signal-to-noise ratio based on the acquired wide pulse echo signal and narrow pulse echo signal comprises: Based on the acquired wide pulse echo signal and narrow pulse echo signal, corresponding wide pulse echo power and narrow pulse echo power are obtained; Based on the target position, the target power, the wide pulse signal power and the narrow pulse signal power are calculated and obtained; Based on the difference between the target power and the wide pulse signal power and the narrow pulse signal power, the wide pulse noise power and the narrow pulse noise signal are obtained; Based on the wide pulse echo power, the narrow pulse echo power and the corresponding wide pulse noise power and narrow pulse noise signal, the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio are calculated.

3. The wide and narrow pulse collaborative detection information fusion method according to claim 1, characterized in that: If the information fusion processing flag is "11", it is determined whether the wide pulse illumination source is interfered. If so, the narrow pulse angle measurement error is selected as the continuous tracking angle error; if not, the continuous tracking angle error is determined based on the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio; the information fusion processing flag is "11" indicating that both the narrow pulse target tracking flag and the wide pulse target tracking flag are valid, including: Based on the amplitudes and random clutter peaks of the wide pulse echo signal and the narrow pulse echo signal, the wide pulse period signal-to-noise ratio and the narrow pulse period signal-to-noise ratio are calculated and obtained; The determining of the continuous tracking angle error based on the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio comprises: The continuous tracking angle error is determined based on the relationship between the wide pulse echo signal-to-noise ratio, the narrow pulse echo signal-to-noise ratio, the wide pulse period signal-to-noise ratio, the narrow pulse period signal-to-noise ratio and a signal-to-noise ratio threshold.

4. The wide and narrow pulse collaborative detection information fusion method according to claim 3 is characterized in that: The determining of the continuous tracking angle error based on the relationship between the wide pulse echo signal-to-noise ratio, the narrow pulse echo signal-to-noise ratio, the wide pulse period signal-to-noise ratio, the narrow pulse period signal-to-noise ratio and the signal-to-noise ratio threshold comprises: Determine whether the wide pulse echo signal-to-noise ratio is greater than a signal-to-noise ratio threshold, and if so, select the wide pulse angle measurement error as the continuous tracking angle error; if not, determine whether the wide pulse period signal-to-noise ratio is greater than a signal-to-noise ratio threshold, and if so, use the wide pulse angle measurement error as the continuous tracking angle error; If the wide pulse period signal-to-noise ratio is less than or equal to the signal-to-noise ratio threshold, determine whether the narrow pulse echo signal-to-noise ratio and the narrow pulse period signal-to-noise ratio are both greater than the signal-to-noise ratio threshold. If so, select the narrow pulse angle measurement error as the continuous tracking angle error; if not, select the wide pulse angle measurement error as the continuous tracking angle error.

5. The wide and narrow pulse collaborative detection information fusion method according to claim 1, characterized in that: The optimal value is the minimum error between the wide pulse angle measurement error and the narrow pulse angle measurement error.

6. The wide and narrow pulse collaborative detection information fusion method according to claim 5, characterized in that: The determining of the continuous tracking angle error based on the narrow pulse interference determination result comprises: If the narrow pulse interference determination result is that the narrow pulse echo signal is interfered, then the narrow pulse angle measurement error is selected as the continuous tracking angle error; If the narrow pulse interference determination result is that the narrow pulse echo signal is not interfered with, the ratio of the detected target amplitude and the clutter amplitude is calculated, and the maximum value of the ratio is taken as the continuous tracking angle error.

7. A wide and narrow pulse collaborative detection information fusion device, characterized in that: include: A signal-to-noise ratio calculation module, used for obtaining a wide pulse echo signal-to-noise ratio and a narrow pulse echo signal-to-noise ratio based on the acquired wide pulse echo signal and narrow pulse echo signal; An angle measurement error calculation module, used to calculate and obtain a wide pulse angle measurement error and a narrow pulse angle measurement error respectively based on the target angle error signal in the narrow pulse irradiation mode and the wide pulse irradiation mode; A first information fusion module is used to determine a continuous tracking angle error based on a wide pulse echo signal-to-noise ratio and a narrow pulse echo signal-to-noise ratio when a difference between a wide pulse angle measurement error and a narrow pulse angle measurement error is greater than a preset difference threshold; The first information fusion module includes: A tracking mark determination submodule, used to determine a narrow pulse target tracking mark in a narrow pulse irradiation mode and a wide pulse target tracking mark in a wide pulse irradiation mode when the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is greater than a preset difference threshold; A fusion processing flag determination submodule is used to combine the narrow pulse tracking flag and the wide pulse tracking flag to obtain an information fusion processing flag; the information fusion processing flag is a binary number, wherein the high bit represents the narrow pulse target tracking flag and the low bit represents the wide pulse target tracking flag; A first continuous tracking angle error determination submodule, used to determine the continuous tracking angle error based on the information fusion processing flag, the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio; The first continuous tracking angle error determination submodule includes: a first determination unit, configured to determine whether the wide pulse illumination source is interfered with if the information fusion processing flag is "11", and if so, select the narrow pulse angle measurement error as the continuous tracking angle error; if not, determine the continuous tracking angle error based on the wide pulse echo signal-to-noise ratio and the narrow pulse echo signal-to-noise ratio; A second determining unit, configured to select the narrow pulse angle measurement error as the continuous tracking angle error if the information fusion processing flag is "10"; A third determining unit, configured to select the wide pulse angle measurement error as a continuous tracking angle error if the information fusion processing flag is "01"; a fourth determination unit, for determining whether the current wide pulse irradiation mode and the narrow pulse irradiation mode are in a memory tracking state if the information fusion processing flag is "00", and if so, selecting the historical continuous tracking angle error before entering the memory tracking state as the continuous tracking angle error; if not, the continuous tracking angle error is 0; The second information fusion module is used to determine the continuous tracking angle error based on the preset angle measurement accuracy and the narrow pulse interference determination result when the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is less than or equal to the preset difference threshold; the narrow pulse interference determination result is used to characterize whether the narrow pulse echo signal is interfered by the interference signal; The second information fusion module includes: An optimal angle error determination submodule, used for selecting the optimal values ​​of the wide pulse angle measurement error and the narrow pulse angle measurement error as the wide pulse optimal angle error and the narrow pulse optimal angle error respectively when the difference between the wide pulse angle measurement error and the narrow pulse angle measurement error is less than or equal to a preset difference threshold; The narrow pulse interference determination submodule is used to determine whether the wide pulse optimal angle error and the narrow pulse optimal angle error both meet the preset angle measurement accuracy. If so, the average value of the wide pulse optimal angle error and the narrow pulse optimal angle error is used as the continuous tracking angle error; if not, interference determination is performed on the narrow pulse echo signal to obtain a narrow pulse interference determination result; The second continuous tracking angle error determination submodule is used to determine the continuous tracking angle error based on the narrow pulse interference determination result.

Images