A spatiotemporal synchronization method for coordinated detection of wide and narrow pulses

Abstract

This specification discloses a method for spatiotemporal synchronization of wide and narrow pulse collaborative detection, which relates to the field of pulse collaborative detection technology, including: configuring a wide pulse irradiation source, an extremely narrow pulse irradiation source, and a detection device; obtaining the direct wave signal, echo signal, and gate of the wide pulse and the extremely narrow pulse based on the wide pulse irradiation source, the extremely narrow pulse irradiation source, and the detection device, respectively, and then obtaining the system delay through the direct synchronization method for compensation to achieve time synchronization; constructing a first coordinate system based on the wide pulse irradiation source and a second coordinate system based on the extremely narrow pulse irradiation source, and obtaining the target spatial position information through the first coordinate system, and then converting it to the second coordinate system to achieve spatial synchronization. Based on this, the spatiotemporal synchronization of the receiving and transmitting pulses among the wide pulse irradiation source, the extremely narrow pulse irradiation source, and the detection device is achieved to solve the problems of poor clock frequency stability, low transmission rate, poor anti-interference ability, high cost, etc., and improve the detection stability and anti-interference ability.

Description

Technical Field

[0001] The invention relates to the technical field of pulse cooperative detection, in particular to a wide and narrow pulse cooperative detection time and space synchronization method. Background Art

[0002] In the traditional single-base irradiation source, the reception and transmission of the irradiation source signal are completed by the same irradiation source base station. The transmission and reception control can be synchronously controlled through the internal timing of the irradiation source, and the control and compensation of the transmission and reception time synchronization are easy to achieve. In the dual-base irradiation source, the detection equipment needs to receive the high-power echo signal and the conventional echo signal of the high-power ultra-narrow pulse irradiation source and the conventional wide pulse irradiation source. The high-power echo signal is an extremely narrow pulse intermittent 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 intermittent continuous wave signal, which has the characteristics of weak signal and large dynamic. Since the high-power ultra-narrow pulse irradiation source and the conventional wide pulse irradiation source are located in two places and are far away, there are bound to be many problems when transmitting and receiving signals. On the one hand, there is a time difference when controlling the transmission and reception of signals, resulting in poor ranging accuracy of the detection equipment; on the other hand, the detection beams of the wide and narrow pulse irradiation sources are narrow, and the target can only be detected in the overlapping area of ​​the transmission and reception beams. The gain of the transmitting and receiving antennas is difficult to fully utilize, and the data rate of the target is relatively low.

[0003] Therefore, when conducting coordinated detection of wide and narrow pulse illumination sources, if the target is to be accurately measured and the detection equipment is to be controlled to attack the target, the transmission channel of the extremely narrow pulse illumination source and the receiving channel of the wide pulse illumination source must not only maintain strict time synchronization, but also ensure coordinated operation and synchronous work in the same reference space coordinate system. At present, most of the indirect synchronization methods and multi-beam receiving technologies are used to achieve the time and space synchronization between the three. The indirect synchronization method is suitable for bistatic radars with fixed transmission pulse repetition cycle (constant PRf) or pre-set pseudo-random sequence. Its accuracy depends on the stability and calibration cycle of the clock used. Therefore, the clock is required to have both good short-term frequency stability and high long-term frequency stability, which is difficult to achieve. At the same time, the multi-beam receiving technology is expensive to process all channels in parallel, the equipment is complex, and the implementation cost is high. Summary of the invention

[0004] The present invention provides a wide and narrow pulse cooperative detection time and space synchronization method, which is used to solve the problems of poor clock frequency stability, low transmission rate, poor anti-interference ability and high cost when transmitting and receiving wide and narrow pulses.

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

[0006] The present invention provides a method for spatiotemporal synchronization of wide and narrow pulse collaborative detection, which is characterized in that it is used to achieve spatiotemporal synchronization of a wide pulse irradiation source, an extremely narrow pulse irradiation source and a detection device, and includes:

[0007] Based on the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device, a wide pulse direct wave signal, an extremely narrow pulse direct wave signal, an extremely narrow pulse echo signal, an extremely narrow pulse direct wave gating wave gate and an extremely narrow pulse echo gating wave gate are respectively obtained;

[0008] Acquire the system delay based on the wide pulse direct wave signal, the extremely narrow pulse direct wave signal, the extremely narrow pulse echo signal, the extremely narrow pulse direct wave gating gate and the extremely narrow pulse echo gating gate, and compensate according to the system delay to complete the time synchronization between the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device;

[0009] Constructing a first coordinate system based on the wide pulse irradiation source and a second coordinate system based on the extremely narrow pulse irradiation source, and acquiring target spatial position information through the first coordinate system;

[0010] The target spatial position information is converted to the second coordinate system so that the wide pulse irradiation source and the extremely narrow pulse irradiation source are simultaneously aimed at the target, thereby completing the spatial synchronization among the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device.

[0011] Optional,

[0012] The method of obtaining a wide pulse direct wave signal, an extremely narrow pulse direct wave signal, an extremely narrow pulse echo signal, an extremely narrow pulse direct wave gating gate and an extremely narrow pulse echo gating gate based on the wide pulse illumination source, the extremely narrow pulse illumination source and the detection device respectively comprises:

[0013] Based on the wide pulse illumination source, an illumination signal is emitted to illuminate the detection device and the target simultaneously;

[0014] Based on the wide pulse direct wave signal, the detection device sets an extremely narrow pulse direct wave gating gate and an extremely narrow pulse echo gating gate;

[0015] Based on the wide pulse direct wave signal, the extremely narrow pulse irradiation source emits an extremely narrow pulse direct wave signal to the detection device and the target according to a preset time delay;

[0016] Based on the extremely narrow pulse direct wave gating gate and the extremely narrow pulse echo gating gate, the detection device respectively acquires the extremely narrow pulse direct wave signal and the extremely narrow pulse echo signal reflected by the target.

[0017] Optional,

[0018] Based on the wide pulse direct wave signal, the detection device sets an extremely narrow pulse direct wave gating gate and an extremely narrow pulse echo gating gate, specifically including:

[0019] Based on the wide pulse irradiation source, a wide pulse direct wave signal is emitted to simultaneously irradiate the detection device and the target and then generate a wave gate signal;

[0020] The detection device sets an extremely narrow pulse direct wave gating gate and an extremely narrow pulse echo gating gate based on the gate signal.

[0021] Optional,

[0022] The method of acquiring the system delay based on the wide pulse direct wave signal, the extremely narrow pulse direct wave signal, the extremely narrow pulse echo signal, the extremely narrow pulse direct wave gating gate and the extremely narrow pulse echo gating gate, and performing compensation according to the system delay to complete the time synchronization between the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device includes:

[0023] Calculating a first time interval between the gate signal and the extremely narrow pulse direct wave gating gate;

[0024] Calculating a second time interval between the gate signal and the extremely narrow pulse echo gating gate;

[0025] Calculating a third time interval between the extremely narrow pulse direct wave gating gate and the extremely narrow pulse direct wave signal;

[0026] Calculating a fourth time interval between the extremely narrow pulse echo gating gate and the extremely narrow pulse echo signal;

[0027] A system delay is calculated based on the first time interval, the second time interval, the third time interval, and the fourth time interval.

[0028] Optional,

[0029] The calculating of the system delay based on the first time interval, the second time interval, the third time interval and the fourth time interval specifically includes:

[0030] Δt=t4+t2-(t3+t1)

[0031] In the formula, Δt represents the system delay, t1 represents the first time interval, t2 represents the second time interval, t3 represents the third time interval, and t4 represents the fourth time interval.

[0032] Optional,

[0033] The step of constructing a first coordinate system based on the wide pulse illumination source and a second coordinate system based on the extremely narrow pulse illumination source, and acquiring the target spatial position information through the first coordinate system includes:

[0034] Taking the wide pulse illumination source as the origin, constructing a first geodetic polar coordinate system, and acquiring the target airspace position information of the target in the first geodetic polar coordinate system;

[0035] Extracting first target angle information based on the target spatial position information in the first geodetic polar coordinate system, where the first target angle information is used to characterize the angular position of the target relative to the wide pulse irradiation source coordinate system;

[0036] Converting the first target angle information into second angle position information, where the second angle position information is used to characterize the angle position of the target relative to the extremely narrow pulse illumination source coordinate system;

[0037] A second geodetic polar coordinate system is constructed with the extremely narrow pulse illumination source as the origin, and based on the second angular position information, the extremely narrow pulse illumination source is aligned with the target in the second geodetic polar coordinate system.

[0038] Optional,

[0039] The extracting first target angle information based on the target spatial position information in the first geodetic polar coordinate system, wherein the first target angle information is used to characterize the angular position of the target relative to the wide pulse illumination source coordinate system, includes:

[0040] Taking the wide pulse illumination source as the origin, constructing a first geodetic rectangular system;

[0041] Based on the first geodetic rectangular coordinate system, the target spatial position information is converted into first target angle information, and the target angle information is used to characterize the angular position of the target relative to the wide pulse illumination source coordinate system.

[0042] Optional,

[0043] The converting the first target angle information into second angle position information, where the second angle position information is used to characterize the angle position of the target relative to the extremely narrow pulse illumination source coordinate system, includes:

[0044] Taking the extremely narrow pulse illumination source as the origin, constructing a second geodetic rectangular system;

[0045] Setting a conversion matrix based on a first longitude, a first latitude, and a first altitude of the wide pulse illumination source and a second longitude, a second latitude, and a second altitude of the extremely narrow pulse illumination source;

[0046] Based on the second geodetic rectangular system and the conversion matrix, the first target angle information is converted into a second angle position, where the second angle position is used to characterize the angle position of the target relative to the extremely narrow pulse illumination source coordinate system.

[0047] Optional,

[0048] The converting the target spatial position information into the second coordinate system so that the wide pulse irradiation source and the extremely narrow pulse irradiation source are simultaneously aimed at the target, and the spatial synchronization among the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device is completed, comprises:

[0049] Converting the first target angle information into second angle position information, where the second angle position information is used to characterize the angle position of the target relative to the extremely narrow pulse illumination source coordinate system;

[0050] A second geodetic polar coordinate system is constructed with the extremely narrow pulse illumination source as the origin, and based on the second angular position information, the extremely narrow pulse illumination source is aligned with the target in the second geodetic polar coordinate system.

[0051] Optional,

[0052] After constructing a first coordinate system based on the wide pulse irradiation source and a second coordinate system based on the extremely narrow pulse irradiation source, acquiring target spatial position information through the first coordinate system, and then converting the target spatial position information into the second coordinate system, so that the wide pulse irradiation source and the extremely narrow pulse irradiation source are aligned with the target, thereby achieving spatial synchronization between the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device, the method further includes:

[0053] Based on the wide pulse illumination source, the wide pulse direct wave signal and the wide pulse echo signal are processed to obtain a first angle error of the target;

[0054] Based on the extremely narrow pulse illumination source, an extremely narrow pulse direct wave signal and an extremely narrow pulse echo signal are processed to obtain a second angular error of the target;

[0055] An optimal angular error is selected based on the first angular error and the second angular error to obtain angular tracking parameters of the target, thereby achieving spatiotemporal synchronous detection of wide and narrow pulses.

[0056] The present invention provides a wide and narrow pulse cooperative detection time and space synchronization system, the system is used to perform any of the above methods, including:

[0057] A time synchronization module, used to obtain a wide pulse direct wave signal, an extremely narrow pulse direct wave signal, an extremely narrow pulse echo signal, an extremely narrow pulse direct wave gating gate, and an extremely narrow pulse echo gating gate based on the wide pulse irradiation source, the extremely narrow pulse irradiation source, and the detection device, respectively, and then obtain a system delay by a direct synchronization method, and compensate according to the system delay, thereby achieving time synchronization between the wide pulse irradiation source, the extremely narrow pulse irradiation source, and the detection device;

[0058] A spatial synchronization module, used to construct a first coordinate system based on the wide pulse irradiation source and a second coordinate system based on the extremely narrow pulse irradiation source, and obtain the target spatial position information through the first coordinate system, and then convert the target spatial position information to the second coordinate system, so that the wide pulse irradiation source and the extremely narrow pulse irradiation source are aligned with the target, thereby achieving spatial synchronization between the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device;

[0059] The spatiotemporal synchronous detection module is used to obtain the first angular error and the second angular error based on the wide pulse illumination source and the narrow pulse illumination source respectively, and to select the optimal angular error to obtain the angular tracking parameters of the target, thereby realizing wide and narrow pulse spatiotemporal synchronous detection.

[0060] At least one of the above technical solutions adopted in this specification can achieve the following beneficial effects:

[0061] The invention discloses a method and system for time-space synchronization of wide and narrow pulse cooperative detection. First, a direct synchronization method is used to obtain the direct wave signal, echo signal and wave gate of a wide pulse irradiation source, an extremely narrow pulse irradiation source and a detection device respectively, so as to construct a system delay and perform delay compensation, so as to realize the time synchronization among the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device. Through time synchronization, the detection device has the advantages of high time transmission accuracy, low transmission loss, wide bandwidth, high speed, large capacity, low bit error rate and anti-electromagnetic interference, and ignores environmental factors. Data transmission can be realized in bad weather, which can meet the requirements of time synchronization of receiving and sending wide and narrow pulses and large-capacity data transmission. Secondly, in the process of cooperative detection of wide and narrow pulse irradiation sources, the wide pulse irradiation source is controlled by the spatial synchronization technology to irradiate the target according to the position information of the target in the airspace, so as to realize that the wide and narrow pulses are aimed at the target at the same time. Finally, the detection device antenna is pointed at the target through spatial synchronization, and the target can be quickly captured, which effectively improves the measurement accuracy, detection stability and anti-interference ability. The coordinate system conversion process only needs to obtain the longitude, latitude and altitude information of the wide and narrow pulse illumination source to build a conversion matrix. The parameter acquisition is simple and the implementation cost is low. Finally, the angular error information of the wide and narrow pulse illumination source is used to select the optimal angular error, realize the spatiotemporal synchronous coordinated detection of the wide and narrow pulse illumination source, and improve the detection stability and anti-interference ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 A flow chart of a method for spatiotemporal synchronization of wide and narrow pulse collaborative detection provided in one embodiment of this specification;

[0063] Figure 2 A schematic diagram of pulse signal transmission synchronization provided in an embodiment of this specification;

[0064] Figure 3 A schematic diagram of a time synchronization technology simulation provided in an embodiment of this specification;

[0065] Figure 4 A schematic diagram showing a comparison of the spatial correction of the altitude and azimuth angles in the simulation of the spatial synchronization technology provided in an embodiment of this specification;

[0066] Figure 5 A schematic diagram of a collaborative detection signal processing event provided in an embodiment of this specification;

[0067] Figure 6 A schematic diagram of a wide and narrow pulse collaborative detection space-time synchronization system provided in one embodiment of this specification. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solutions and advantages of this specification clearer, the technical solutions of this specification are clearly and completely described below in combination with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0069] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0070] It should be noted that the terms "first", "second", etc. in the description and claims of the embodiments of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein.

[0071] The "multiple or several" mentioned in this article refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0072] The preferred embodiments of the present invention are described below in conjunction with the drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. In addition, the embodiments of the present invention and the features in the embodiments may be combined with each other if there is no conflict.

[0073] Figure 1A flow chart of a method for spatiotemporal synchronization of wide and narrow pulse coordinated detection provided in an embodiment of this specification includes:

[0074] Step 102: Based on the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device, a wide pulse direct wave signal, an extremely narrow pulse direct wave signal, an extremely narrow pulse echo signal, an extremely narrow pulse direct wave gating gate and an extremely narrow pulse echo gating gate are respectively obtained.

[0075] Step 104, acquiring the system delay based on the wide pulse direct wave signal, the extremely narrow pulse direct wave signal, the extremely narrow pulse echo signal, the extremely narrow pulse direct wave gating gate and the extremely narrow pulse echo gating gate, and performing compensation according to the system delay to complete the time synchronization between the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device;

[0076] Step 106: construct a first coordinate system based on the wide pulse illumination source and a second coordinate system based on the extremely narrow pulse illumination source, and obtain the target spatial position information through the first coordinate system.

[0077] Step 108, converting the target spatial position information into the second coordinate system, so that the wide pulse irradiation source and the extremely narrow pulse irradiation source are simultaneously aimed at the target, completing the spatial synchronization between the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device;

[0078] Step 110: Obtain a first angular error and a second angular error based on the wide pulse illumination source and the narrow pulse illumination source, respectively, and select an optimal angular error.

[0079] In one embodiment, one implementation of step 102 and step 104 is:

[0080] Based on the wide pulse illumination source, an illumination signal is emitted to illuminate the detection device and the target simultaneously;

[0081] Based on the wide pulse direct wave signal, the detection device sets an extremely narrow pulse direct wave gating gate and an extremely narrow pulse echo gating gate;

[0082] Based on the wide pulse direct wave signal, the extremely narrow pulse irradiation source emits an extremely narrow pulse direct wave signal to the detection device and the target according to a preset time delay;

[0083] Based on the extremely narrow pulse direct wave gating gate and the extremely narrow pulse echo gating gate, the detection device respectively acquires the extremely narrow pulse direct wave signal and the extremely narrow pulse echo signal reflected by the target;

[0084] Calculating system delay based on the wide pulse direct wave signal, the extremely narrow pulse direct wave signal, the extremely narrow pulse echo signal, the extremely narrow pulse direct wave gating gate and the extremely narrow pulse echo gating gate;

[0085] Based on the system delay, time compensation is performed between the wide pulse illumination source, the extremely narrow pulse illumination source and the detection device.

[0086] Wherein, based on the wide pulse direct wave signal, the detection device sets a narrow pulse direct wave gating gate and an extremely narrow pulse echo gating gate, specifically including:

[0087] A gate signal is generated after the wide pulse illumination source emits an illumination signal and illuminates the detection device and the target simultaneously;

[0088] The detection device sets a narrow pulse direct wave gating gate and an extremely narrow pulse echo gating gate based on the gate signal. The system delay is calculated based on the wide pulse direct wave signal, the extremely narrow pulse direct wave signal, the extremely narrow pulse echo signal, the extremely narrow pulse direct wave gating gate and the extremely narrow pulse echo gating gate, including:

[0089] Calculating a first time interval between the gate signal and the extremely narrow pulse direct wave gating gate;

[0090] Calculating a second time interval between the gate signal and the extremely narrow pulse echo gating gate;

[0091] Calculating a third time interval between the extremely narrow pulse direct wave gating gate and the extremely narrow pulse direct wave signal;

[0092] Calculating a fourth time interval between the extremely narrow pulse echo gating gate and the extremely narrow pulse echo signal;

[0093] A system delay is calculated based on the first time interval, the second time interval, the third time interval, and the fourth time interval.

[0094] The calculating the system delay based on the first time interval, the second time interval, the third time interval and the fourth time interval specifically includes:

[0095] Δt=t4+t2-(t3+t1)

[0096] In the formula, Δt represents the system delay, t1 represents the first time interval, t2 represents the second time interval, t3 represents the third time interval, and t4 represents the fourth time interval.

[0097] When performing time compensation, add -Δt to the system time.

[0098] In a specific embodiment, an implementation of step 102 and step 104 is:

[0099] The direct synchronization method is used to achieve time synchronization between the wide pulse irradiation source, the ultra-narrow pulse irradiation source, and the detection equipment. The synchronization pulse timing is shown in Figure 2 As shown. The wide pulse irradiation source and the narrow pulse irradiation source are connected through an optical fiber. First, the wide pulse irradiation source emits an irradiation signal and simultaneously irradiates the detection device and the target to generate a gate signal. The detection device uses the gate signal as a reference to generate two gating gates, namely, an extremely narrow pulse direct wave and an echo. Secondly, after receiving the wide pulse direct wave signal, the extremely narrow pulse direct wave signal is emitted according to a fixed time delay. Then, the detection device obtains the extremely narrow pulse direct wave signal and the extremely narrow pulse echo signal reflected by the target based on the narrow pulse direct wave gating gate and the extremely narrow pulse echo gating gate. Finally, the detection device calculates the system delay and performs time compensation based on the wide pulse direct wave signal, the extremely narrow pulse direct wave signal, the extremely narrow pulse echo signal, the extremely narrow pulse direct wave gating gate and the extremely narrow pulse echo gating gate. The calculation process is as follows:

[0100] Δt=t4+t2-(t3+t1)

[0101] In the formula, Δt represents the system delay, t1 represents the time interval between the wide pulse direct wave signal and the extremely narrow pulse direct wave gate, t2 represents the time interval between the wide pulse direct wave signal and the extremely narrow pulse echo gate, t3 represents the time interval between the extremely narrow pulse direct wave gate and the extremely narrow pulse direct wave signal, and t4 represents the time interval between the extremely narrow pulse echo gate and the extremely narrow pulse echo signal. t1 and t2 are known variables determined when the detection device opens the door, and t3 and t4 are obtained by processing the received signal of the detection device.

[0102] When performing time compensation, add -Δt to the system time.

[0103] Since the width of the gate generated by the narrow pulse source is much larger than the signal time, it is necessary to ensure that the narrow pulse signal is contained in the gate. Since the gate opening time is in microseconds, the system uses the fast level conversion chip SN74AVC8T245 to maximize the transmission low latency performance, the high-performance V7 FPGA signal processing chip to receive the gate signal, and the clock driver chip with a clock stability of 0.05ppm to ensure the accuracy of the gate opening.

[0104] In one embodiment, the simulation verification result of the time synchronization method in step 104 is:

[0105] The detection gate width of the extremely narrow pulse echo signal is set. The detection equipment sends the leading edge of the illumination gate signal through the wide pulse illumination source. According to the distance relationship between the extremely narrow pulse illumination source, the wide pulse illumination source and the target, the extremely narrow pulse echo signal is detected in real time within the extremely narrow pulse echo gate. Figure 3 This is the simulation verification result of the time synchronization method. It can be seen that the maximum signal position of the extremely narrow pulse echo in the figure ranges from 0 to 8000. If the time can be synchronized in each irradiation cycle, the echo signal detected in each cycle should be around 4000-5000; if the detection equipment detects the echo signal within the wave gate, the maximum signal position of the extremely narrow pulse echo is before 4000-5000, which proves that the detection equipment can detect the maximum echo signal in each cycle, that is, the time synchronization of the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection equipment is achieved.

[0106] In one embodiment, an implementation of step 106 and step 108 is:

[0107] Spatial synchronization technology means that the transmitter and receiver antennas located in two different places must have the ability to illuminate the same target space at the same time. Through spatial synchronization, the antenna of the detection equipment is pointed at the target and the target is quickly captured. In the process of collaborative detection of wide and narrow pulse irradiation sources, the wide pulse irradiation source controls the extremely narrow pulse irradiation source to irradiate the target according to the position information of the target in the airspace. Therefore, it is necessary to convert the target coordinate information in the wide pulse irradiation source coordinate system to the target coordinate in the narrow pulse irradiation source coordinate system. The implementation method is as follows: With the wide pulse irradiation source as the origin, a first geodetic polar coordinate system is constructed, and the target airspace position information of the target in the first geodetic polar coordinate system is obtained. The specific method is:

[0108] Taking the wide pulse irradiation source as the origin, constructing the wide pulse irradiation source geodetic polar coordinate system, i.e., the first geodetic polar coordinate system, controlling the wide pulse irradiation source to irradiate the target, and then calculating the geodetic polar coordinates of the target in the wide pulse irradiation source geodetic polar coordinate system, i.e., the target airspace position information, according to the time interval of receiving the echo signal reflected by the target;

[0109] The first target angle information is extracted based on the target spatial position information in the first geodetic polar coordinate system, and the first target angle information is used to characterize the angle position of the target relative to the wide pulse illumination source coordinate system, specifically in the following manner:

[0110] Then, taking the wide pulse irradiation source as the origin, a wide pulse irradiation source geodetic rectangular coordinate system is constructed. According to the wide pulse irradiation source geodetic rectangular coordinate system, the geodetic polar coordinates of the target in the wide pulse irradiation source coordinate system are converted into the geodetic rectangular coordinates of the target in the wide pulse irradiation source coordinate system, that is, the first target angle information. The geodetic rectangular coordinates of the target in the wide pulse irradiation source coordinate system are used to characterize the angular position of the target relative to the wide pulse irradiation source coordinate system. The method for converting the geodetic polar coordinates of the target in the wide pulse irradiation source coordinate system into the geodetic rectangular coordinates of the target in the wide pulse irradiation source coordinate system is as follows:

[0111]

[0112] In the formula, x z (k), y z (k), z z (k) represents the geodetic rectangular coordinate of the target in the wide pulse irradiation source coordinate system, β z (k), ε z (k), R z (k) represents the geodetic polar coordinates of the target in the wide pulse irradiation source coordinate system, and k is a constant.

[0113] The first target angle information is converted into second angle position information, where the second angle position information is used to characterize the angle position of the target relative to the extremely narrow pulse illumination source coordinate system, specifically in the following manner:

[0114] Taking the extremely narrow pulse irradiation source as the origin, construct the geodetic rectangular coordinates of the extremely narrow pulse irradiation source; based on the longitude, latitude and altitude of the wide and narrow pulse irradiation source and the longitude, latitude and altitude of the extremely narrow pulse irradiation source, set a conversion matrix to convert the first target angle information into the geodetic rectangular coordinates of the target in the extremely narrow pulse irradiation source coordinate system, that is, the second angle position information. The geodetic rectangular coordinates of the target in the extremely narrow pulse irradiation source coordinate system are used to characterize the angular position of the target relative to the extremely narrow pulse irradiation source coordinate system. The specific formula for converting the geodetic rectangular coordinates of the target in the wide pulse irradiation source coordinate system to the geodetic rectangular coordinates of the target in the extremely narrow pulse irradiation source coordinate system is as follows:

[0115]

[0116] Where R is the radius of the earth, x m (k), y m (k), z m (k) represents the geodetic rectangular coordinate of the target in the coordinate system of the target extremely narrow pulse irradiation source, x z (k), y z (k), z z (k) represents the geodetic rectangular coordinate of the target in the wide pulse irradiation source coordinate system, J Z , HZ , H Z represents the longitude, latitude and altitude of the wide pulse irradiation source, J o , W o , H o represents the longitude, latitude and altitude of the extremely narrow pulse illumination source, and k is a constant.

[0117] A second geodetic polar coordinate system is constructed with the extremely narrow pulse illumination source as the origin, and based on the second angular position information, the extremely narrow pulse illumination source is aligned with the target in the second geodetic polar coordinate system, specifically in the following manner:

[0118] Taking the narrow pulse irradiation source as the origin, a narrow pulse irradiation source geodetic polar coordinate system, i.e., a second geodetic polar coordinate system, is constructed, and the second angle position information is converted into the geodetic polar coordinates of the target in the narrow pulse irradiation source coordinate system. The irradiation source is adjusted according to the geodetic polar coordinates of the target in the narrow pulse irradiation source coordinate system, so that the narrow pulse irradiation source is aligned with the target in the narrow pulse irradiation source geodetic polar coordinate system. The method for converting the geodetic rectangular coordinates of the target in the narrow pulse irradiation source coordinate system into the geodetic polar coordinate system of the target in the narrow pulse irradiation source coordinate system is as follows:

[0119]

[0120] Where R is the radius of the earth, β m , ε m , R m represents the geodetic polar coordinates of the target in the narrow pulse irradiation source coordinate system, x m (k), y m (k), z m (k) represents the geodetic rectangular coordinate of the target in the narrow pulse illumination source coordinate system, and k is a constant. In one embodiment, the simulation verification result of the spatial synchronization method in step 106 is:

[0121] Bring the parameters into the space synchronization technology model for simulation, set the target flight speed and encounter slant range, and the simulation results are as follows Figure 4 The actual angle in the figure is the target position that the detection device actually tracks, and the correction angle is the simulation value obtained after the spatial synchronization technology model algorithm. Figure 4 It can be seen that the actual angle is basically consistent with the correction angle calculated by the model, realizing the spatial synchronization of the wide pulse irradiation source, ultra-narrow pulse irradiation source and detection equipment.

[0122] In one embodiment, an implementation of step 110 is:

[0123] Based on the wide pulse illumination source, the wide pulse direct wave signal and the wide pulse echo signal are processed to obtain the first angle error of the target, specifically in the following manner:

[0124] To process the wide pulse direct wave and echo signal, first the wide pulse detection device presets a target angle value, then the detection device performs multiple searches, intercepts and tracks the target according to the preset angle value, and tests to obtain multiple angle position values ​​of the target. Finally, the multiple angle position values ​​obtained by the test are compared with the preset angle value, the average error is calculated, the first angle error is obtained, and the gain control amount of the receiver channel is given according to the signal energy.

[0125] Based on the extremely narrow pulse illumination source, the extremely narrow pulse direct wave signal and the extremely narrow pulse echo signal are processed to obtain the second angular error of the target, specifically in the following manner:

[0126] To process the narrow pulse direct wave and echo signal, first the narrow pulse detection device presets a target angle value, then the detection device performs multiple searches, intercepts and tracks the target according to the preset angle value, and tests to obtain multiple angle position values ​​of the target. Finally, the multiple angle position values ​​obtained by the test are compared with the preset angle value, the average error is calculated, the second angle error is obtained, and the gain control amount of the receiver channel is given according to the signal energy.

[0127] An optimal angular error is selected based on the first angular error and the second angular error to obtain the angular tracking parameter of the target, thereby realizing the spatiotemporal synchronous detection of wide and narrow pulses, specifically in the following manner:

[0128] First, a signal-to-noise ratio value is preset. When the signal-to-noise ratio measured in the wide pulse irradiation mode is greater than the preset signal-to-noise ratio value, the first angle error signal obtained in the wide pulse medium irradiation mode is selected as the angle tracking parameter. When the signal-to-noise ratio in the wide pulse irradiation mode does not meet the conditions, and the signal-to-noise ratio in the narrow pulse irradiation mode is greater than the preset signal-to-noise ratio value, the second angle error signal obtained in the narrow pulse irradiation mode is selected as the angle tracking parameter.

[0129] In one embodiment, a specific implementation of step 110 is:

[0130] The spatiotemporal synchronization of the wide pulse irradiation source, the ultra-narrow pulse irradiation source, and the detection equipment is realized by using the spatiotemporal synchronization of ... wide pulse irradiation source, the ultra-narrow pulse irradiation source, and the detection equipment. Figure 5 The detection device uses the same set of hardware to receive wide pulse irradiation signals and narrow pulse irradiation signals, and the scheduling of hardware resources for collaborative detection requires fast response time and accurate response, and the output of information for wide pulse irradiation requires high precision and accurate information. Therefore, the collaborative signal processing of the detection device is based on the irradiation wave gate, triggered by the gate wave gate, and cycled with the irradiation wave gate period. It includes 9 events in total. Figure 5 As shown in the figure, events 3 and 6 are processed in parallel with events 2, 4, 5, and 7.

[0131] Event 1 is sampling wide pulse direct wave and echo signal. After the wide pulse illumination wave gate is effective, a wide pulse selection wave gate is generated to control the selection of receiver channel, and the digital signal processor controls the AD to sample the wide pulse signal;

[0132] Event 2 is to control the receiver channel selection, channel gain, local oscillator source frequency, etc. of the detection equipment, and prepare to receive extremely narrow pulse direct waves and echo signals. Event 2 occurs immediately after Event 1, and controls the receiver and local oscillator source of the detection equipment within time C minus time B, which is several hundred microseconds. The receiver channel selection switch response time is no more than 100ns, the gain control response time is less than 100μs, the local oscillator source frequency switching time is less than 20μs, and the event 2 control time is less than 250μs;

[0133] Event 3 is the processing of wide pulse direct wave and echo signal. First, the wide pulse detection device presets a target angle value, and then the detection device performs multiple searches, intercepts and tracks the target according to the preset angle value, and tests to obtain multiple angle position values ​​of the target. Finally, the multiple angle position values ​​obtained by the test are compared with the preset angle value, and the average error is calculated to obtain the first angle error, and the gain control amount of the receiver channel is given according to the signal energy;

[0134] Event 4 is sampling of the ultra-narrow pulse direct wave and echo signal. After the wide pulse irradiates the gate for effective time C, an ultra-narrow pulse gate is generated to control the selection of the receiver channel, and the digital signal processor controls the AD sampling time D length signal;

[0135] Event 5 is the processing of narrow pulse direct wave and echo signal. First, the narrow pulse detection device presets a target angle value, and then the detection device performs multiple searches, intercepts and tracks the target according to the preset angle value, and tests to obtain multiple angle position values ​​of the target. Finally, the multiple angle position values ​​obtained by the test are compared with the preset angle value, and the average error is calculated to obtain the second angle error, and the gain control amount of the receiver channel is given according to the signal energy;

[0136] Event 6 is the preparation of wide pulse data. Prepare the gain control amount to control the channel gain, prepare the product and the target relative Doppler frequency according to the target speed to adjust the output frequency of the local oscillator; prepare the first angle error signal and send it to the optimal angle error selection module for top-level decision-making;

[0137] Event 7 is the preparation of extremely narrow pulse data. Prepare the gain control amount for controlling the channel gain; prepare the second angle error signal and send it to the optimal angle error selection module for top-level decision-making;

[0138] Event 8 is the optimal angle error selection process. First, a signal-to-noise ratio value is preset. When the signal-to-noise ratio measured in the wide pulse irradiation mode is greater than the preset signal-to-noise ratio value, the first angle error signal obtained in the wide pulse medium irradiation mode is selected as the angle tracking parameter; when the signal-to-noise ratio in the wide pulse irradiation mode does not meet the conditions, and the signal-to-noise ratio in the narrow pulse irradiation mode is greater than the preset signal-to-noise ratio value, the second angle error signal obtained in the narrow pulse irradiation mode is selected as the angle tracking parameter;

[0139] Event 9 is to control the receiver channel selection, channel gain, local oscillator source frequency, etc. of the detection equipment, and prepare to receive wide pulse direct wave and echo signal. Event 9 occurs after the third event 4, and the configuration is completed before the next cycle wide pulse irradiates the wave gate.

[0140] It can be seen from this that the present invention is a method for time-space synchronization of wide and narrow pulse collaborative detection. First, the direct synchronization method is used to obtain the direct wave signal, echo signal and wave gate of the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device respectively, so as to construct the system delay, and perform delay compensation, so as to achieve the time synchronization between the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device. Through time synchronization, the detection system has the advantages of high time transmission accuracy, low transmission loss, wide bandwidth, high rate, large capacity, low bit error rate, and anti-electromagnetic interference, and ignores environmental factors. Data transmission can be achieved in bad weather, which can meet the requirements of time synchronization and large-capacity data transmission of wide and narrow pulses. Secondly, in the process of collaborative detection of wide and narrow pulse irradiation sources, the coordinate system conversion is realized by spatial synchronization technology, so that the wide pulse irradiation source controls the narrow pulse irradiation source to irradiate the target according to the position information of the target in the airspace, so as to achieve the simultaneous irradiation of the wide and narrow pulses to the same target in space, and the detection device antenna is pointed to the target through spatial synchronization, so that the target can be quickly captured, and the measurement accuracy is effectively improved, and the detection stability and anti-interference ability are improved. The coordinate system conversion process only needs to obtain the longitude, latitude and altitude information of the wide and narrow pulse illumination source to build a conversion matrix. The parameter acquisition is simple and the implementation cost is low. Finally, the angular error information of the wide and narrow pulse illumination source is used to select the optimal angular error, realize the spatiotemporal synchronous coordinated detection of the wide and narrow pulse illumination source, and improve the detection stability and anti-interference ability.

[0141] like Figure 6 A schematic diagram of a wide and narrow pulse cooperative detection space-time synchronization system is shown in FIG.

[0142] Module 202, a time synchronization module, is used to obtain a wide pulse direct wave signal, an extremely narrow pulse direct wave signal, an extremely narrow pulse echo signal, an extremely narrow pulse direct wave gating gate, and an extremely narrow pulse echo gating gate based on the wide pulse irradiation source, the extremely narrow pulse irradiation source, and the detection device, respectively, and then obtain the system delay by a direct synchronization method, and compensate according to the system delay, so as to achieve time synchronization between the wide pulse irradiation source, the extremely narrow pulse irradiation source, and the detection device;

[0143] Module 204, a spatial synchronization module, is used to construct a first coordinate system based on the wide pulse irradiation source and a second coordinate system based on the extremely narrow pulse irradiation source, and obtain the target spatial position information through the first coordinate system, and then convert the target spatial position information to the second coordinate system, so that the wide pulse irradiation source and the extremely narrow pulse irradiation source are aligned with the target, thereby achieving spatial synchronization between the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device;

[0144] Module 206, a spatiotemporal synchronous detection module, is used to obtain a first angular error and a second angular error based on the wide pulse illumination source and the extremely narrow pulse illumination source, respectively, and select an optimal angular error.

[0145] In one embodiment, one implementation of module 202 is:

[0146] The direct synchronization method is used to achieve time synchronization between the wide pulse irradiation source, the ultra-narrow pulse irradiation source, and the detection equipment. The synchronization pulse timing is shown in Figure 2 As shown. The wide pulse irradiation source and the narrow pulse irradiation source are connected through an optical fiber. First, the wide pulse irradiation source emits an irradiation signal and simultaneously irradiates the detection device and the target to generate a gate signal. The detection device uses the gate signal as a reference to generate two gating gates, namely, an extremely narrow pulse direct wave and an echo. Secondly, after receiving the wide pulse direct wave signal, the extremely narrow pulse direct wave signal is emitted according to a fixed time delay. Then, the detection device obtains the extremely narrow pulse direct wave signal and the extremely narrow pulse echo signal reflected by the target based on the narrow pulse direct wave gating gate and the extremely narrow pulse echo gating gate. Finally, the detection device calculates the system delay and performs time compensation based on the wide pulse direct wave signal, the extremely narrow pulse direct wave signal, the extremely narrow pulse echo signal, the extremely narrow pulse direct wave gating gate and the extremely narrow pulse echo gating gate. The calculation process is as follows:

[0147] Δt=t4+t2-(t3+t1)

[0148] In the formula, Δt represents the system delay, t1 represents the time interval between the wide pulse direct wave signal and the extremely narrow pulse direct wave gate, t2 represents the time interval between the wide pulse direct wave signal and the extremely narrow pulse echo gate, t3 represents the time interval between the extremely narrow pulse direct wave gate and the extremely narrow pulse direct wave signal, and t4 represents the time interval between the extremely narrow pulse echo gate and the extremely narrow pulse echo signal. t1 and t2 are known variables determined when the detection device opens the door, and t3 and t4 are obtained by processing the received signal of the detection device.

[0149] When performing time compensation, add -Δt to the system time.

[0150] In one embodiment, one implementation of module 204 is:

[0151] Firstly, taking the wide pulse irradiation source as the origin, constructing the wide pulse irradiation source geodetic polar coordinate system and the wide pulse irradiation source geodetic rectangular coordinate system, obtaining the geodetic polar coordinates of the target in the wide pulse irradiation source coordinate system based on the wide pulse irradiation source geodetic polar coordinate system, and then converting the geodetic polar coordinates of the target in the wide pulse irradiation source coordinate system into the geodetic rectangular coordinates of the target in the wide pulse irradiation source coordinate system according to the wide pulse irradiation source geodetic rectangular coordinate system, the geodetic rectangular coordinates of the target in the wide pulse irradiation source coordinate system are used to characterize the angular position of the target relative to the wide pulse irradiation source coordinate system, and converting the geodetic polar coordinates of the target in the wide pulse irradiation source coordinate system into the geodetic rectangular coordinates of the target in the wide pulse irradiation source coordinate system is as follows:

[0152]

[0153] In the formula, x z (k), y z (k), z z (k) represents the geodetic rectangular coordinate of the target in the wide pulse irradiation source coordinate system, β z (k), ε z (k), R z (k) represents the geodetic polar coordinates of the target in the wide pulse irradiation source coordinate system, and k is a constant.

[0154] Secondly, taking the extremely narrow pulse irradiation source as the origin, constructing the geodetic rectangular coordinates of the extremely narrow pulse irradiation source; based on the longitude, latitude and altitude of the wide and narrow pulse irradiation source and the longitude, latitude and altitude of the extremely narrow pulse irradiation source, setting a conversion matrix to convert the geodetic rectangular coordinates of the target in the wide pulse irradiation source coordinate system into the geodetic rectangular coordinates of the target in the extremely narrow pulse irradiation source coordinate system, the geodetic rectangular coordinates of the target in the extremely narrow pulse irradiation source coordinate system are used to characterize the angular position of the target relative to the extremely narrow pulse irradiation source coordinate system, and the specific formula for converting the geodetic rectangular coordinates of the target in the wide pulse irradiation source coordinate system into the geodetic rectangular coordinates of the target in the extremely narrow pulse irradiation source coordinate system is as follows:

[0155]

[0156] Where R is the radius of the earth, x m (k), y m (k), z m (k) represents the geodetic rectangular coordinate of the target in the coordinate system of the target extremely narrow pulse irradiation source, x z (k), y z (k), z z (k) represents the geodetic rectangular coordinate of the target in the wide pulse irradiation source coordinate system, J Z , H Z , H Z represents the longitude, latitude and altitude of the wide pulse irradiation source, J o , W o , H o represents the longitude, latitude and altitude of the extremely narrow pulse illumination source, and k is a constant.

[0157] Thirdly, taking the narrow pulse irradiation source as the origin, construct the geodetic polar coordinate system of the narrow pulse irradiation source, and transform the geodetic rectangular coordinates of the target in the extremely narrow pulse irradiation source coordinate system into the geodetic polar coordinates of the target in the narrow pulse irradiation source coordinate system, so that the narrow pulse irradiation source is aligned with the target in the geodetic polar coordinate system of the narrow pulse irradiation source. The method for transforming the geodetic rectangular coordinates of the target in the narrow pulse irradiation source coordinate system into the geodetic polar coordinate system of the target in the narrow pulse irradiation source coordinate system is as follows:

[0158]

[0159]

[0160] Where R is the radius of the earth, β m , ε m , R m represents the geodetic polar coordinates of the target in the narrow pulse irradiation source coordinate system, x m (k), y m (k), z m (k) represents the geodetic rectangular coordinate of the target in the narrow pulse irradiation source coordinate system, and k is a constant.

[0161] In one embodiment, one implementation of module 206 is:

[0162] The spatiotemporal synchronization of the wide pulse irradiation source, the ultra-narrow pulse irradiation source, and the detection equipment is realized by using the spatiotemporal synchronization of ... wide pulse irradiation source, the ultra-narrow pulse irradiation source, and the detection equipment. Figure 5The detection device uses the same set of hardware to receive wide pulse irradiation signals and narrow pulse irradiation signals, and the scheduling of hardware resources for collaborative detection requires fast response time and accurate response, and the output of information for wide pulse irradiation requires high precision and accurate information. Therefore, the collaborative signal processing of the detection device is based on the irradiation wave gate, triggered by the gate wave gate, and cycled with the irradiation wave gate period. It includes 9 events in total. Figure 5 As shown in the figure, events 3 and 6 are processed in parallel with events 2, 4, 5, and 7.

[0163] Event 1 is sampling wide pulse direct wave and echo signal. After the wide pulse illumination wave gate is effective, a wide pulse selection wave gate is generated to control the selection of receiver channel, and the digital signal processor controls the AD to sample the wide pulse signal;

[0164] Event 2 is to control the receiver channel selection, channel gain, local oscillator source frequency, etc. of the detection equipment, and prepare to receive extremely narrow pulse direct waves and echo signals. Event 2 occurs immediately after Event 1, and controls the receiver and local oscillator source of the detection equipment within time C minus time B, which is several hundred microseconds. The receiver channel selection switch response time is no more than 100ns, the gain control response time is less than 100μs, the local oscillator source frequency switching time is less than 20μs, and the event 2 control time is less than 250μs;

[0165] Event 3 is the processing of wide pulse direct wave and echo signal. First, the wide pulse detection device presets a target angle value, and then the detection device performs multiple searches, intercepts and tracks the target according to the preset angle value, and tests to obtain multiple angle position values ​​of the target. Finally, the multiple angle position values ​​obtained by the test are compared with the preset angle value, and the average error is calculated to obtain the first angle error, and the gain control amount of the receiver channel is given according to the signal energy;

[0166] Event 4 is sampling of the ultra-narrow pulse direct wave and echo signal. After the wide pulse irradiates the gate for effective time C, an ultra-narrow pulse gate is generated to control the selection of the receiver channel, and the digital signal processor controls the AD sampling time D length signal;

[0167] Event 5 is the processing of narrow pulse direct wave and echo signal. First, the narrow pulse detection device presets a target angle value, and then the detection device performs multiple searches, intercepts and tracks the target according to the preset angle value, and tests to obtain multiple angle position values ​​of the target. Finally, the multiple angle position values ​​obtained by the test are compared with the preset angle value, and the average error is calculated to obtain the second angle error, and the gain control amount of the receiver channel is given according to the signal energy;

[0168] Event 6 is the preparation of wide pulse data. Prepare the gain control amount to control the channel gain, prepare the product and the target relative Doppler frequency according to the target speed to adjust the output frequency of the local oscillator; prepare the first angle error signal and send it to the optimal angle error selection module for top-level decision-making;

[0169] Event 7 is the preparation of extremely narrow pulse data. Prepare the gain control amount for controlling the channel gain; prepare the second angle error signal and send it to the optimal angle error selection module for top-level decision-making;

[0170] Event 8 is the optimal angle error selection process. First, a signal-to-noise ratio value is preset. When the signal-to-noise ratio measured in the wide pulse irradiation mode is greater than the preset signal-to-noise ratio value, the first angle error signal obtained in the wide pulse medium irradiation mode is selected as the angle tracking parameter. When the signal-to-noise ratio in the wide pulse irradiation mode does not meet the conditions, and the signal-to-noise ratio in the narrow pulse irradiation mode is greater than the preset signal-to-noise ratio value, the second angle error signal obtained in the narrow pulse irradiation mode is selected as the angle tracking parameter.

[0171] Event 9 is to control the receiver channel selection, channel gain, local oscillator source frequency, etc. of the detection equipment, and prepare to receive wide pulse direct wave and echo signal. Event 9 occurs after the third event 4, and the configuration is completed before the next cycle wide pulse irradiates the wave gate.

[0172] It can be seen from this that the present invention is a method for time-space synchronization of wide and narrow pulse collaborative detection. First, the direct synchronization method is used to obtain the direct wave signal, echo signal and wave gate of the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device respectively, so as to construct the system delay, and perform delay compensation, so as to achieve the time synchronization between the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device. Through time synchronization, the detection system has the advantages of high time transmission accuracy, low transmission loss, wide bandwidth, high rate, large capacity, low bit error rate, and anti-electromagnetic interference, and ignores environmental factors. Data transmission can be achieved in bad weather, which can meet the requirements of time synchronization and large-capacity data transmission of wide and narrow pulses. Secondly, the coordinate system conversion is realized through the spatial synchronization technology, so that the wide pulse irradiation source controls the narrow pulse irradiation source to irradiate the target according to the position information of the target in the airspace, so as to achieve the simultaneous irradiation of the wide and narrow pulses to the same target in space, and the detection device antenna is pointed to the target through spatial synchronization, so that the target can be quickly captured, effectively improving the measurement accuracy, detection stability and anti-interference ability.

[0173] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0174] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device for execution to generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that specifies functions in one or more boxes.

[0175] These computer program instructions may also be stored in a computer readable memory that directs a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device that implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0176] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0177] 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 spatiotemporal synchronization of wide and narrow pulse cooperative detection, characterized in that: Used to achieve the time and space synchronization of wide pulse irradiation source, extremely narrow pulse irradiation source and detection equipment, including: Based on the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device, a wide pulse direct wave signal, an extremely narrow pulse direct wave signal, an extremely narrow pulse echo signal, an extremely narrow pulse direct wave gating wave gate and an extremely narrow pulse echo gating wave gate are respectively obtained; Acquire the system delay based on the wide pulse direct wave signal, the extremely narrow pulse direct wave signal, the extremely narrow pulse echo signal, the extremely narrow pulse direct wave gating gate and the extremely narrow pulse echo gating gate, and compensate according to the system delay to complete the time synchronization between the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device; Constructing a first coordinate system based on the wide pulse irradiation source and a second coordinate system based on the extremely narrow pulse irradiation source, and acquiring target spatial position information through the first coordinate system; The target spatial position information is converted to the second coordinate system so that the wide pulse irradiation source and the extremely narrow pulse irradiation source are simultaneously aimed at the target, thereby completing the spatial synchronization among the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device.

2. A method for spatiotemporal synchronization of wide and narrow pulse cooperative detection according to claim 1, characterized in that: The method of respectively acquiring a wide pulse direct wave signal, an extremely narrow pulse direct wave signal, an extremely narrow pulse echo signal, an extremely narrow pulse direct wave gating gate, and an extremely narrow pulse echo gating gate based on the wide pulse irradiation source, the extremely narrow pulse irradiation source, and the detection device comprises: Based on the wide pulse illumination source, an illumination signal is emitted to illuminate the detection device and the target simultaneously; Based on the wide pulse direct wave signal, the detection device sets an extremely narrow pulse direct wave gating gate and the extremely narrow pulse echo gating gate; Based on the wide pulse direct wave signal, the extremely narrow pulse irradiation source emits an extremely narrow pulse direct wave signal to the detection device and the target according to a preset time delay; Based on the extremely narrow pulse direct wave gating gate and the extremely narrow pulse echo gating gate, the detection device respectively acquires the extremely narrow pulse direct wave signal and the extremely narrow pulse echo signal reflected by the target.

3. A method for spatiotemporal synchronization of wide and narrow pulse cooperative detection according to claim 2, characterized in that: Based on the wide pulse direct wave signal, the detection device sets an extremely narrow pulse direct wave gating gate and an extremely narrow pulse echo gating gate, specifically including: Based on the wide pulse irradiation source, a wide pulse direct wave signal is emitted to simultaneously irradiate the detection device and the target and then generate a wave gate signal; The detection device sets an extremely narrow pulse direct wave gating gate and an extremely narrow pulse echo gating gate based on the gate signal.

4. A method for spatiotemporal synchronization of wide and narrow pulse cooperative detection according to claim 3, characterized in that: The method of acquiring the system delay based on the wide pulse direct wave signal, the extremely narrow pulse direct wave signal, the extremely narrow pulse echo signal, the extremely narrow pulse direct wave gating gate and the extremely narrow pulse echo gating gate, and performing compensation according to the system delay to complete the time synchronization between the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device includes: Calculating a first time interval between the gate signal and the extremely narrow pulse direct wave gating gate; Calculating a second time interval between the gate signal and the extremely narrow pulse echo gating gate; Calculating a third time interval between the extremely narrow pulse direct wave gating gate and the extremely narrow pulse direct wave signal; Calculating a fourth time interval between the extremely narrow pulse echo gating gate and the extremely narrow pulse echo signal; A system delay is calculated based on the first time interval, the second time interval, the third time interval, and the fourth time interval.

5. A method for spatiotemporal synchronization of wide and narrow pulse cooperative detection according to claim 4, characterized in that: The calculating of the system delay based on the first time interval, the second time interval, the third time interval and the fourth time interval specifically includes: Δt=t4+t2-(t3+t1) In the formula, Δt represents the system delay, t1 represents the first time interval, t2 represents the second time interval, t3 represents the third time interval, and t4 represents the fourth time interval.

6. A method for spatiotemporal synchronization of wide and narrow pulse cooperative detection according to claim 1, characterized in that: The step of constructing a first coordinate system based on the wide pulse illumination source and a second coordinate system based on the extremely narrow pulse illumination source, and acquiring the target spatial position information through the first coordinate system includes: Taking the wide pulse illumination source as the origin, constructing a first geodetic polar coordinate system, and acquiring the target airspace position information of the target in the first geodetic polar coordinate system; First target angle information is extracted based on the target spatial position information in the first geodetic polar coordinate system, where the first target angle information is used to characterize the angular position of the target relative to the wide pulse illumination source coordinate system.

7. A method for spatiotemporal synchronization of wide and narrow pulse cooperative detection according to claim 6, characterized in that: The extracting first target angle information based on the target spatial position information in the first geodetic polar coordinate system, wherein the first target angle information is used to characterize the angular position of the target relative to the wide pulse irradiation source coordinate system, includes: Taking the wide pulse illumination source as the origin, constructing a first geodetic rectangular system; Based on the first geodetic rectangular coordinate system, the target spatial position information is converted into first target angle information, and the target angle information is used to characterize the angular position of the target relative to the wide pulse illumination source coordinate system.

8. A method for spatiotemporal synchronization of wide and narrow pulse cooperative detection according to claim 6, characterized in that: The converting the target spatial position information into the second coordinate system so that the wide pulse irradiation source and the extremely narrow pulse irradiation source are simultaneously aimed at the target, and the spatial synchronization among the wide pulse irradiation source, the extremely narrow pulse irradiation source and the detection device is completed, comprises: Converting the first target angle information into second angle position information, where the second angle position information is used to characterize the angle position of the target relative to the extremely narrow pulse illumination source coordinate system; A second geodetic polar coordinate system is constructed with the extremely narrow pulse illumination source as the origin, and based on the second angular position information, the extremely narrow pulse illumination source is aligned with the target in the second geodetic polar coordinate system.

9. A method for spatiotemporal synchronization of wide and narrow pulse cooperative detection according to claim 8, characterized in that: The converting the first target angle information into second angle position information, where the second angle position information is used to characterize the angle position of the target relative to the extremely narrow pulse illumination source coordinate system, includes: Taking the extremely narrow pulse illumination source as the origin, constructing a second geodetic rectangular system; Setting a conversion matrix based on a first longitude, a first latitude, and a first altitude of the wide pulse illumination source and a second longitude, a second latitude, and a second altitude of the extremely narrow pulse illumination source; Based on the second geodetic rectangular system and the conversion matrix, the first target angle information is converted into a second angle position, where the second angle position is used to characterize the angle position of the target relative to the extremely narrow pulse illumination source coordinate system.

10. A method for spatiotemporal synchronization of wide and narrow pulse cooperative detection according to claim 1, characterized in that: The step of converting the target spatial position information into the second coordinate system so that the wide pulse illumination source and the extremely narrow pulse illumination source are simultaneously aligned with the target and completing the spatial synchronization between the wide pulse illumination source, the extremely narrow pulse illumination source and the detection device further includes: Based on the wide pulse illumination source, the wide pulse direct wave signal and the wide pulse echo signal are processed to obtain a first angle error of the target; Based on the extremely narrow pulse illumination source, an extremely narrow pulse direct wave signal and an extremely narrow pulse echo signal are processed to obtain a second angular error of the target; Selecting an optimal angular error based on the first angular error and the second angular error to obtain an angular tracking parameter of the target, thereby achieving spatiotemporal synchronous detection of wide and narrow pulses; The optimal angular error selection refers to presetting a signal-to-noise ratio value. When the signal-to-noise ratio measured in the wide pulse irradiation mode is greater than the signal-to-noise ratio value, the first angular error signal is selected as the angular tracking parameter; when the signal-to-noise ratio in the wide pulse irradiation mode does not meet the signal-to-noise ratio value, but the signal-to-noise ratio in the narrow pulse irradiation mode is greater than the signal-to-noise ratio value, the second angular error signal is selected as the angular tracking parameter.

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