Distributed collaborative detection system and control instruction generation method and device thereof

Abstract

The present disclosure relates to the field of radar target detection, and provides a distributed collaborative detection system and a method and device for generating control instructions thereof, the method comprising: a control center sends command information generated based on situation information that can support the distributed collaborative detection system to complete detection work for multiple frame periods to each radar node; each radar node receives the command information sent by the control center, executes the command corresponding to the first frame period, and feeds back the situation information corresponding to the generated first frame period to the control center; each radar node sequentially executes the commands corresponding to other frame periods after the first frame period, and at the same time, the control center generates new command information that can support the distributed collaborative detection system to complete detection work for multiple frame periods based on the situation information corresponding to the first frame period fed back by each radar node; the above steps are repeated until the distributed collaborative detection system stops working. The present disclosure can effectively improve the efficiency of generating control instructions and meet the needs of efficient resource control and scheduling.

Description

Technical Field

[0001] The present disclosure relates to the field of radar target detection technology, and in particular to a distributed collaborative detection system and a method and device for generating control instructions thereof. Background Art

[0002] The distributed collaborative detection system consists of a control center and multiple radar nodes. Each radar node is connected to the control center through a local area network to form a detection network. In the detection network, each radar node is widely distributed and can detect targets from multiple angles, reducing the impact of target RCS (Radar Cross Section) fluctuations on detection. Through resource management and data joint processing, collaborative detection is achieved, effectively improving target detection performance in complex electromagnetic environments. In view of the above characteristics, early warning detection based on distributed collaborative detection systems has become one of the key research directions in the field of radar detection.

[0003] Driven by combat needs, the future form of warfare will develop towards unmanned, boundless, invisible multi-dimensional space and the combined use of multiple methods, and the battlefield situation will become more complex and changeable. This requires the distributed collaborative detection system to be able to perceive battlefield situation changes in real time and achieve efficient resource management and scheduling based on situation information, thereby improving detection efficiency.

[0004] In the traditional distributed collaborative detection system control command generation process, the command generation and execution is based on the frame cycle, that is, each command generated and transmitted by the control center to each radar node can support the radar to complete the detection work of one frame cycle. The traditional distributed collaborative detection system control command generation method usually includes the following steps:

[0005] Step S1: Offline define the structure of the control command information generated by the control center and transmitted to each radar node and assign initial values. Define the command information list array All the command information generated by the control center is stored in the command information list array mp in the order of the time when the command is generated. The command information contained in the command information list array mp can support the work of the distributed collaborative detection system. K frame cycles. Among them, the kth instruction information array Expressed as , The command information contained can support the work of distributed collaborative detection system L Beam dwell time. Definition For the k Command information array The time interval corresponding to the frame period. For the k A set of instruction information for each instruction, which covers the radar node beam pointing within the corresponding dwell time of the instruction execution , beam width , Operating frequency , working bandwidth , beam dwell time , signal pulse width , Instruction execution start time Such information can support the distributed collaborative detection system to work for one beam dwell time, that is, the first Define x as the minimum time interval from when a command information set is generated by the control center to when the radar node is in a state to execute the command information set, that is, it is known that a control command is transmitted from the control center to each radar node and executed by each radar node for at least x seconds. The preset initial command information array can support the system to complete a frame cycle work.

[0006] Step S2: Let k =1, the execution time of the command generated by the control center is The instruction information array . The control center is more than the instruction information array mp k The earliest executed instruction information in Sent to each radar node.

[0007] Step S3: Each radar node prepares to execute the instruction information array The command information in .

[0008] Step S4: From Extract instruction information Let the radar execute, each radar node is based on the command information set Work.

[0009] Step S5: Set , determine the current Is the instruction information executed? If yes, go to step S6; if no, go to step S4; that is, , determine whether : If no (N), execute step S6; if yes (Y), jump to step S4.

[0010] Step S6: Execute each radar node The situation information such as the detected target point track generated after the command information is fed back to the control center.

[0011] Step S7: The control center generates an instruction information array based on the situation information fed back by each node ,in, .

[0012] Step S8: Control center ratio The earliest executed instruction information in Sent to each radar node.

[0013] Step S9: Manually determine whether to issue a stop command to the system: if so, the system stops working and the process ends; if not, , jump to step S3.

[0014] In the above-mentioned distributed collaborative detection system control instruction generation method, each time the control center generates a new instruction for a frame period, it needs to be based on the situation information fed back by each radar node after the execution of the instruction of the previous frame period is completed. This means that the control center needs to wait for the issued instructions to be executed by each radar node before it can generate corresponding new instructions based on the situation information fed back by each radar node. This makes the instruction generation efficiency of the distributed collaborative detection system low, and it is difficult to meet the needs of efficient resource control and scheduling. Summary of the invention

[0015] The present disclosure aims to solve at least one of the problems existing in the prior art and to provide a distributed collaborative detection system and a method and device for generating control instructions thereof.

[0016] In one aspect of the present disclosure, a method for generating control instructions for a distributed collaborative detection system is provided, which is applied to the distributed collaborative detection system, wherein the distributed collaborative detection system includes a control center and a plurality of radar nodes that are communicatively connected to the control center, and the method for generating control instructions includes the following steps:

[0017] The control center sends command information generated based on situation information that can support the distributed collaborative detection system to complete detection work for multiple frame cycles to each radar node;

[0018] Each of the radar nodes receives command information that can support the distributed collaborative detection system to complete detection work for multiple frame periods, executes the command corresponding to the first frame period, and feeds back the situation information corresponding to the first frame period to the control center;

[0019] Each of the radar nodes sequentially executes instructions corresponding to other frame periods after the first frame period; at the same time, the control center generates new instruction information capable of supporting the distributed collaborative detection system to complete detection work for multiple frame periods based on the situation information corresponding to the first frame period fed back by each of the radar nodes;

[0020] Repeat the above steps until the distributed collaborative detection system stops working.

[0021] Optionally, before the control center sends instruction information generated based on the situation information and capable of supporting the distributed collaborative detection system to complete detection work for multiple frame periods to each radar node, the control instruction generation method further includes:

[0022] The structure of the command information generated by the control center and sent to each radar node is defined offline.

[0023] Optionally, the offline definition of the structure of the command information generated by the control center and sent to each of the radar nodes includes:

[0024] Define the instruction information list array MP as ,in, They represent the first instruction information arrays, each of which includes instruction information capable of supporting the distributed collaborative detection system to complete detection work for K frame periods;

[0025] Define instruction information array Expressed as ,in, Respectively represent the 1st, 2nd, ..., kth, ..., Kth instruction information sub-arrays in the jth instruction information array, which respectively include instruction information capable of supporting the distributed collaborative detection system to complete the detection work of the 1st, 2nd, ..., kth, ..., Kth frame periods;

[0026] Define the instruction information subarray Expressed as ,in, They represent the kth instruction information subarray in the jth instruction information array that can support the distributed collaborative detection system. A set of command information for the beam dwell time;

[0027] Define a set of command information Expressed as ,in, They respectively represent the radar node beam pointing, beam width, operating frequency, operating bandwidth, beam dwell time, signal pulse width, and command execution start time during the execution of the corresponding beam dwell time of the command information set;

[0028] definition is the time interval of the frame period corresponding to the instruction information contained in the kth instruction information subarray in the jth instruction information array;

[0029] Define x as the minimum time interval from when a command information set is generated by the control center to when each radar node is in a state to execute the command information set.

[0030] Optionally, the control center sends command information generated based on the situation information and capable of supporting the distributed collaborative detection system to complete detection work of multiple frame cycles to each radar node, including:

[0031] Let j = 1, the control center generates the command information array , preset the instruction information array at this time The frame periods corresponding to each instruction information subarray in the are equal and are , then the command information array generated by the control center is The number K of instruction information subarrays contained in is expressed as ;

[0032] Control center command information array The earliest execution time of the instruction information in is advanced by at least x time, and the instruction information array containing K instruction information sub-arrays is Sent to each radar node.

[0033] Optionally, each of the radar nodes receives instruction information that can support the distributed collaborative detection system to complete detection work of multiple frame periods, executes instructions corresponding to the first frame period, and feeds back the generated situation information corresponding to the first frame period to the control center, including:

[0034] Each radar node receives the command information array , prepare to execute instruction information array Instruction information in, let k = 1, from the instruction information array Get the instruction information subarray from ;

[0035] make ;

[0036] Execute the first frame cycle command step: each radar node obtains the command information subarray Get the command information set , based on the instruction information set Execute the corresponding instructions;

[0037] make , determine the current instruction information subarray Whether all the instruction information sets in the command information set have been executed: if not, return to the step of executing the first frame cycle instruction; if so, execute the instruction information subarray of each radar node The situation information generated after the execution information is collected is fed back to the control center.

[0038] Optionally, each of the radar nodes sequentially executes instructions corresponding to other frame periods after the first frame period, including:

[0039] Let k = 2;

[0040] Steps to retrieve the instruction information subarray: Get the instruction information subarray from ,make ;

[0041] Execute the remaining frame cycle command steps: Each radar node obtains the command information subarray Get the command information set , based on the instruction information set Execute the corresponding instructions;

[0042] make , determine the current instruction information subarray Whether all instruction information sets in the are executed: if not, return to the step of executing the remaining frame period instructions; if so, then:

[0043] Let k=k+1, determine the current instruction information array Whether all instruction information sub-arrays in the instruction information are executed: if not, return to the step of retrieving the instruction information sub-array.

[0044] Optionally, the control center generates new instruction information capable of supporting the distributed collaborative detection system to complete detection work of multiple frame cycles based on the situation information corresponding to the first frame cycle fed back by each radar node, including:

[0045] The control center generates a new instruction information array that can support the distributed detection system to complete detection work for multiple frame cycles based on the situation information corresponding to the first frame cycle fed back by each radar node. ,in, .

[0046] Another aspect of the present disclosure provides a control instruction generating device for a distributed collaborative detection system, which is applied to the distributed collaborative detection system, wherein the distributed collaborative detection system includes a control center and a plurality of radar nodes communicatively connected to the control center, and the control instruction generating device includes:

[0047] The first driving module is used to drive the control center to send command information generated based on the situation information and capable of supporting the distributed collaborative detection system to complete detection work of multiple frame cycles to each radar node;

[0048] The second driving module is used to drive each of the radar nodes to receive instruction information that can support the distributed collaborative detection system to complete the detection work of multiple frame cycles, and execute the instruction corresponding to the first frame cycle, and feed back the situation information corresponding to the first frame cycle to the control center;

[0049] The third driving module is used to drive each of the radar nodes to sequentially execute instructions corresponding to other frame periods after the first frame period; at the same time, drive the control center to generate new instruction information that can support the distributed collaborative detection system to complete detection work for multiple frame periods based on the situation information corresponding to the first frame period fed back by each of the radar nodes;

[0050] The iteration module is used to repeatedly drive the first driving module, the second driving module, and the third driving module in sequence until the distributed collaborative detection system stops working.

[0051] Optionally, the control instruction generating device further includes:

[0052] A definition module is used to offline define the structure of the command information generated by the control center and sent to each radar node before the first driving module drives the control center to send the command information generated based on the situation information and capable of supporting the distributed collaborative detection system to complete the detection work of multiple frame cycles to each radar node.

[0053] Another aspect of the present disclosure provides a distributed collaborative detection system, which includes a control center and multiple radar nodes communicatively connected to the control center. The distributed collaborative detection system uses the control instruction generation method of the distributed collaborative detection system described above to generate control instructions.

[0054] Compared with the prior art, the present invention effectively improves the efficiency of generating control instructions of the distributed collaborative detection system by coordinating the instruction execution of each radar node with the instruction generation of the control center, and meets the needs of efficient resource control and scheduling of the distributed collaborative detection system. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0056] Figure 1 A flow chart of a method for generating control instructions for a distributed collaborative detection system provided in one embodiment of the present disclosure;

[0057] Figure 2 A flowchart of a method for generating control instructions for a distributed collaborative detection system provided in another embodiment of the present disclosure;

[0058] Figure 3A flowchart of thread 1 in a method for generating control instructions for a distributed collaborative detection system provided in another embodiment of the present disclosure;

[0059] Figure 4 A flowchart of thread 2 in a method for generating control instructions for a distributed collaborative detection system provided in another embodiment of the present disclosure;

[0060] Figure 5 A schematic structural diagram of a control instruction generating device for a distributed collaborative detection system provided in another embodiment of the present disclosure. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical scheme and advantages of the embodiments of the present disclosure clearer, the embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. However, it can be understood by those skilled in the art that in each embodiment of the present disclosure, many technical details are proposed in order to enable readers to better understand the present disclosure. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed for protection in the present disclosure can also be implemented. The division of the following embodiments is for the convenience of description and should not constitute any limitation on the specific implementation of the present disclosure. The various embodiments can be combined and referenced with each other without contradiction.

[0062] One embodiment of the present disclosure relates to a method for generating control instructions for a distributed collaborative detection system, which is applied to the distributed collaborative detection system. The distributed collaborative detection system includes a control center and multiple radar nodes that are communicatively connected to the control center.

[0063] like Figure 1 As shown, the control instruction generation method provided in this embodiment includes the following steps:

[0064] In step S110, the control center sends command information generated based on the situation information and capable of supporting the distributed collaborative detection system to complete detection work for multiple frame periods to each radar node.

[0065] In step S120, each radar node receives command information that can support the distributed collaborative detection system to complete detection work for multiple frame periods, executes the command corresponding to the first frame period, and feeds back the situation information corresponding to the first frame period to the control center.

[0066] In step S130, each radar node sequentially executes instructions corresponding to other frame cycles after the first frame cycle; at the same time, the control center generates new instruction information that can support the distributed collaborative detection system to complete detection work for multiple frame cycles based on the situation information corresponding to the first frame cycle fed back by each radar node.

[0067] Step S140, repeat the above steps until the distributed collaborative detection system stops working.

[0068] Compared with the prior art, the method for generating control instructions for a distributed collaborative detection system provided in the embodiments of the present invention effectively improves the efficiency of generating control instructions for the distributed collaborative detection system by coordinating the instruction execution of each radar node with the instruction generation of the control center, and meets the needs of efficient resource control and scheduling of the distributed collaborative detection system.

[0069] Exemplarily, before step S110, the control instruction generation method further includes: offline defining the structure of instruction information generated by the control center and sent to each radar node.

[0070] Specifically, the structure of the command information generated by the control center and sent to each radar node is defined offline, including:

[0071] Define the instruction information list array MP as ,in, They represent the first The command information arrays each include command information that can support the distributed collaborative detection system to complete the detection work of K frame periods. All command information generated by the control center is stored in the array MP in the order of the time when the corresponding command is generated.

[0072] Define instruction information array Expressed as ,in, They represent the 1st, 2nd, ..., kth, ..., Kth instruction information subarrays in the jth instruction information array, respectively, which include instruction information that can support the distributed collaborative detection system to complete the detection work of the 1st, 2nd, ..., kth, ..., Kth frame cycles. That is, the instruction information array The included instruction information can support the distributed collaborative detection system to work for K frame cycles.

[0073] Define the instruction information subarray Expressed as ,in, They represent the kth instruction information subarray in the jth instruction information array that can support the distributed collaborative detection system. The command information set of the beam dwell time. That is, the command information subarray The included command information can support the distributed collaborative detection system to work for L beam dwell times.

[0074] Define a set of command information Expressed as ,in, They respectively represent the radar node beam pointing, beam width, operating frequency, operating bandwidth, beam dwell time, signal pulse width, and command execution start time during the execution of the corresponding beam dwell time of the instruction information set. Contains the corresponding instructions to execute the radar node beam pointing within the corresponding beam dwell time , beam width , Operating frequency , working bandwidth , beam dwell time , signal pulse width , Instruction execution start time . Instruction Information Instruction It can support the distributed collaborative detection system to work in the The distributed collaborative detection system can be supported to work for one beam dwell time.

[0075] definition is the time interval of the frame period corresponding to the instruction information contained in the kth instruction information subarray in the jth instruction information array. The corresponding frame period is .

[0076] Define x as the minimum time interval from when a command information set is generated by the control center to when each radar node is in a state to execute the command information set.

[0077] By offline defining the structure of the command information generated by the control center and sent to each radar node, the standardization and consistency of the command information can be ensured, making each command information easy to maintain and manage, and effectively improving communication efficiency and system reliability.

[0078] Exemplarily, step S110 includes: let j=1, the control center generates a command information array , preset the instruction information array at this time The frame periods corresponding to each instruction information subarray in the are equal and are , then the command information array generated by the control center is The number K of instruction information subarrays contained in is expressed as ; Control center command information array The earliest execution time of the instruction information in is advanced by at least x time, and the instruction information array containing K instruction information sub-arrays is Sent to each radar node.

[0079] Specifically, when j=1, for the instruction information array , preset each instruction information sub-array The corresponding frame periods are equal, that is, , then each instruction information subarray The corresponding frame period can be To indicate that, at this time, x and Round up the ratio and add 2 to the rounded result to get the instruction information array. The number of instruction information subarrays contained in K, that is, K is expressed as .

[0080] It should be noted that the control center needs to send the instruction information array to the The command information array is sent to each radar node so that each radar node can prepare to execute the command before the preset execution time arrives, and execute the corresponding command on time when the preset execution time arrives. Therefore, the control center can The earliest execution time of the instruction information in is advanced by at least x time, and the instruction information array containing K instruction information sub-arrays is Sent to each radar node.

[0081] Exemplarily, each radar node receives instruction information that can support the distributed collaborative detection system to complete detection work for multiple frame periods, executes instructions corresponding to the first frame period, and feeds back the generated situation information corresponding to the first frame period to the control center, including:

[0082] Each radar node receives the command information array , prepare to execute instruction information array Instruction information in, let k = 1, from the instruction information array Get the instruction information subarray from ;

[0083] make ;

[0084] Execute the first frame cycle command step: each radar node obtains the command information subarray Get the command information set , based on the instruction information set Execute the corresponding instructions;

[0085] make , determine the current instruction information subarray Whether all the instruction information sets in the command information set have been executed: if not, return to the step of executing the first frame cycle instruction; if so, each radar node executes the instruction information subarray The situation information generated after the execution information is collected is fed back to the control center.

[0086] Specifically, the situation information fed back by each radar node may include, but is not limited to, information such as the target point track generated by each radar node.

[0087] For the instruction information array For example, the instruction information corresponding to the first frame period is the instruction information subarray when k=1 Therefore, each radar node needs to execute the command information sub-array in turn. The command information sets in the first frame cycle are executed to complete the command information corresponding to the first frame cycle.

[0088] When the instruction information subarray It includes L instruction information sets, namely When The relationship with L is used to determine the instruction information subarray Whether all instruction information sets in the , then it represents the instruction information subarray The L instruction information sets included are all executed. If , then it represents the instruction information subarray The included L instruction information sets have not yet been executed.

[0089] Exemplarily, each radar node sequentially executes instructions corresponding to other frame periods after the first frame period, including:

[0090] Let k = 2;

[0091] Steps to retrieve the instruction information subarray: Get the instruction information subarray from ,make ;

[0092] Execute the remaining frame cycle command steps: Each radar node obtains the command information subarray Get the command information set , based on the instruction information set Execute the corresponding instructions;

[0093] make , determine the current instruction information subarray Whether all instruction information sets in the are executed: if not, return to the step of executing the remaining frame cycle instructions; if so, then:

[0094] Let k=k+1, determine the current instruction information array Whether all instruction information sub-arrays in have been executed: if not, return to the step of retrieving instruction information sub-arrays.

[0095] Specifically, when k=2,3,…,K, the instruction information subarray The included instruction information is the instruction information corresponding to other frame periods except the first frame period.

[0096] When the instruction information array It includes K instruction information sub-arrays, namely When the instruction information array is determined, the relationship between k and K can be determined. Whether all instruction information subarrays in have been executed. If k>K, it means that the instruction information array The K instruction information subarrays included are all executed. If k≤K, it means that the instruction information array The included K instruction information sub-arrays have not yet been executed.

[0097] Exemplarily, the control center generates new instruction information capable of supporting the distributed collaborative detection system to complete detection work for multiple frame cycles based on the situation information corresponding to the first frame cycle fed back by each radar node, including: the control center generates a new instruction information array capable of supporting the distributed collaborative detection system to complete detection work for multiple frame cycles based on the situation information corresponding to the first frame cycle fed back by each radar node ,in, .

[0098] By utilizing the situation information corresponding to the first frame period fed back by each radar node, the control center generates a new instruction information array that can support the distributed detection system to complete detection work for multiple frame periods. This can further achieve efficient resource management and scheduling based on situation information and improve detection efficiency.

[0099] In order to enable those skilled in the art to better understand the above implementation, a specific example is provided below for illustration.

[0100] Combined Figure 2 , a method for generating control instructions for a distributed collaborative detection system, comprising the following steps:

[0101] Step S1: Offline definition of the structure of the command information generated by the control center and sent to each radar node. Define the command information list array All command information generated by the control center is stored in the MP in the order of the time when the command is generated. Among them, the command information array is , The command information contained can support the distributed collaborative detection system to work for K frame cycles. The command information subarray is , The command information contained in can support the distributed collaborative detection system to work for L beam dwell times. It is a set of command information, which covers the radar node beam pointing within the corresponding beam dwell time of the command execution , beam width , Operating frequency , working bandwidth , beam dwell time , signal pulse width , Instruction execution start time , which can support the distributed cooperative detection system to work for one beam dwell time. Definition is the time interval of the frame period corresponding to the instruction information in the kth instruction information subarray in the jth instruction information array. Define x as the minimum time interval required for a command information set to be generated by the control center and for the radar node to have the state to execute the command information set, that is, the minimum time required for a control instruction to be transmitted from the control center to each radar node and for each radar node to start executing is x, where one instruction corresponds to one command information set.

[0102] Step S2: Assign initial value, set j=1, default initial instruction information array The time required for executing instructions in each instruction information subarray is the same, that is, the frame period is equal, that is, , so the initial instruction information array The number of instruction information subarrays K in Afterwards, the control center generates a command information array containing K command information sub-arrays , than the instruction information array The earliest executed execution information in Sent to each radar node. That is, the control center sends the command information array The earliest execution time of the instruction information in is advanced by at least x time, and the instruction information array containing K instruction information sub-arrays is Sent to each radar node.

[0103] Step S3: Each radar node prepares to execute the instruction information array Instruction information in. Let k = 1, from the instruction information array Get the instruction information subarray from .make .

[0104] Step S4: From Get the command information set Let the radar execute, that is, each radar node from the command information subarray Get the command information set , based on the instruction information set Execute the corresponding instructions.

[0105] Step S5: Set , determine whether : If yes, it indicates the current instruction information subarray The instruction information in the subarray has not been executed yet, jump to step S4; if not, it means that the current instruction information subarray The command information in is executed.

[0106] Step S6: Each radar node sequentially executes subsequent frame cycle instructions, i.e., instructions corresponding to other frame cycles after the first frame cycle. At the same time, the control center generates new instruction information that can support the distributed collaborative detection system to complete multiple frame cycle work based on the situation information fed back after each radar node completes the execution of the first frame cycle instruction. In this step, each radar node executes subsequent instructions and the control center generates new instructions at the same time, so there are two threads, i.e., thread 1 and thread 2, and the two threads start running at the same time.

[0107] Combined Figure 3 , thread 1 includes:

[0108] Step 1-1: Each radar node will execute the command information subarray The situation information such as the detected target point track generated after the command information is fed back to the control center.

[0109] Step 1-2: Based on the situation information fed back by each radar node, the control center generates a new instruction information array that can support the distributed detection system to complete the detection work of multiple frame cycles. ,in, .

[0110] Step 1-3: Control Center Ratio The earliest instruction information to be executed in the Sent to each radar node, that is, the control center's command information array The earliest execution time of the instruction information in the command information array is advanced by at least x time. Sent to each radar node.

[0111] Combined Figure 4 , thread 2 includes:

[0112] Step 2-1: Let k=2.

[0113] Step 2-2: From the instruction information array Get the instruction information subarray from ,make .

[0114] Step 2-3: From Get the command information set Let each radar node execute. That is, each radar node from the instruction information sub-array Get the command information set , based on the instruction information set Execute the corresponding instructions.

[0115] Step 2-4: Order , determine whether : If yes, go to step 2-3; if no, go to step 2-5.

[0116] Step 2-5: Let k=k+1, and determine whether k≤K is satisfied: if so, jump to step 2-2; if not, execute step S7.

[0117] Step S7: Determine the current instruction information array Has the execution been completed and the new instruction information array has been generated and sent, that is, whether the control center has compared the instruction information array The earliest execution time of the instruction information in the command information array is advanced by at least x time. Send to each radar node: If yes, execute step S8; if not, wait for a fixed time and re-judge, that is, wait for a fixed time and execute step S7 again.

[0118] Step S8: Determine whether a manual stop command is issued to the distributed collaborative detection system: if so, the distributed collaborative detection system stops working and the process ends; if not, , jump to step S3.

[0119] Another embodiment of the present disclosure relates to a control instruction generating device for a distributed collaborative detection system, which is applied to the distributed collaborative detection system. The distributed collaborative detection system includes a control center and multiple radar nodes that are communicatively connected to the control center. Figure 5 As shown, the control instruction generating device includes a first driving module 510 , a second driving module 520 , a third driving module 530 , and an iteration module 540 .

[0120] The first driving module 510 is used to drive the control center to send command information generated based on the situation information and capable of supporting the distributed collaborative detection system to complete detection work of multiple frame cycles to each radar node.

[0121] The second driving module 520 is used to drive each radar node to receive command information that can support the distributed collaborative detection system to complete detection work for multiple frame cycles, and execute the instructions corresponding to the first frame cycle, and feed back the situation information corresponding to the first frame cycle to the control center.

[0122] The third driving module 530 is used to drive each radar node to sequentially execute instructions corresponding to other frame cycles after the first frame cycle; at the same time, the driving control center generates new instruction information that can support the distributed collaborative detection system to complete detection work for multiple frame cycles based on the situation information corresponding to the first frame cycle fed back by each radar node.

[0123] The iteration module 540 is used to repeatedly drive the first driving module, the second driving module, and the third driving module in sequence until the distributed collaborative detection system stops working.

[0124] Exemplarily, the control instruction generation device also includes a definition module. The definition module is used to offline define the structure of the instruction information generated by the control center and sent to each radar node before the first driving module drives the control center to send the instruction information generated based on the situation information and capable of supporting the distributed collaborative detection system to complete the detection work of multiple frame cycles to each radar node.

[0125] The specific implementation method of the control and instruction generation device of the distributed collaborative detection system provided in the embodiment of the present disclosure can be referred to the control and instruction generation method of the distributed collaborative detection system provided in the embodiment of the present disclosure, and will not be repeated here.

[0126] Compared with the prior art, the control and management instruction generation device for the distributed collaborative detection system provided in the embodiment of the present disclosure effectively improves the control and management instruction generation efficiency of the distributed collaborative detection system by coordinating the instruction execution of each radar node with the instruction generation of the control center, and meets the needs of efficient resource control and scheduling of the distributed collaborative detection system.

[0127] Another embodiment of the present disclosure relates to a distributed collaborative detection system, which includes a control center and multiple radar nodes that are communicatively connected to the control center. The distributed collaborative detection system uses the control instruction generation method of the distributed collaborative detection system of the above embodiment to generate control instructions.

[0128] Those skilled in the art will appreciate that the above-mentioned embodiments are specific embodiments for implementing the present disclosure, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present disclosure.

Claims

1. A method for generating control instructions for a distributed collaborative detection system, applied to a distributed collaborative detection system, wherein the distributed collaborative detection system comprises a control center and a plurality of radar nodes that are communicatively connected to the control center, and is characterized in that: The control instruction generation method comprises the following steps: The control center sends command information generated based on situation information that can support the distributed collaborative detection system to complete detection work for multiple frame cycles to each radar node; Each of the radar nodes receives command information that can support the distributed collaborative detection system to complete detection work for multiple frame periods, executes the command corresponding to the first frame period, and feeds back the situation information corresponding to the first frame period to the control center; Each of the radar nodes sequentially executes instructions corresponding to other frame periods after the first frame period; at the same time, the control center generates new instruction information capable of supporting the distributed collaborative detection system to complete detection work for multiple frame periods based on the situation information corresponding to the first frame period fed back by each of the radar nodes; Repeat the above steps until the distributed collaborative detection system stops working; Before the control center sends the command information generated based on the situation information and capable of supporting the distributed collaborative detection system to complete the detection work of multiple frame cycles to each radar node, the control command generation method further includes: Offline definition of the structure of the command information generated by the control center and sent to each of the radar nodes; The offline definition of the structure of the command information generated by the control center and sent to each radar node includes: Define the instruction information list array MP as ,in, They represent the first instruction information arrays, each of which includes instruction information capable of supporting the distributed collaborative detection system to complete detection work for K frame periods; Define instruction information array Expressed as ,in, Respectively represent the 1st, 2nd, ..., kth, ..., Kth instruction information sub-arrays in the jth instruction information array, which respectively include instruction information capable of supporting the distributed collaborative detection system to complete the detection work of the 1st, 2nd, ..., kth, ..., Kth frame periods; Define the instruction information subarray Expressed as ,in, They represent the kth instruction information subarray in the jth instruction information array that can support the distributed collaborative detection system. A set of command information for the beam dwell time; Define a set of command information Expressed as ,in, They respectively represent the radar node beam pointing, beam width, operating frequency, operating bandwidth, beam dwell time, signal pulse width, and command execution start time during the execution of the corresponding beam dwell time of the command information set; definition is the time interval of the frame period corresponding to the instruction information contained in the kth instruction information subarray in the jth instruction information array; Define x as the minimum time interval from when a command information set is generated by the control center to when each radar node is in a state to execute the command information set.

2. The method for generating control instructions according to claim 1, characterized in that: The control center sends command information generated based on the situation information that can support the distributed collaborative detection system to complete detection work for multiple frame cycles to each radar node, including: Let j = 1, the control center generates the command information array , preset the instruction information array at this time The frame periods corresponding to each instruction information subarray in the are equal and are , then the command information array generated by the control center is The number K of instruction information subarrays contained in is expressed as ; Control center command information array The earliest execution time of the instruction information in is advanced by at least x time, and the instruction information array containing K instruction information sub-arrays is Sent to each radar node.

3. The method for generating control instructions according to claim 2, characterized in that: Each of the radar nodes receives command information that can support the distributed collaborative detection system to complete detection work for multiple frame periods, executes the command corresponding to the first frame period, and feeds back the generated situation information corresponding to the first frame period to the control center, including: Each radar node receives the command information array , prepare to execute instruction information array Instruction information in, let k = 1, from the instruction information array Get the instruction information subarray from ; make ; Execute the first frame cycle command step: each radar node obtains the command information subarray Get the command information set , based on the instruction information set Execute the corresponding instructions; make , determine the current instruction information subarray Whether all the instruction information sets in the command information set have been executed: if not, return to the step of executing the first frame cycle instruction; if so, execute the instruction information subarray of each radar node The situation information generated after the execution information is collected is fed back to the control center.

4. The method for generating control instructions according to claim 3, characterized in that: Each of the radar nodes sequentially executes instructions corresponding to other frame periods after the first frame period, including: Let k = 2; Steps to retrieve the instruction information subarray: Get the instruction information subarray from ,make ; Execute the remaining frame cycle command steps: Each radar node obtains the command information subarray Get the command information set , based on the instruction information set Execute the corresponding instructions; make , determine the current instruction information subarray Whether all instruction information sets in the are executed: if not, return to the step of executing the remaining frame period instructions; if so, then: Let k=k+1, determine the current instruction information array Whether all instruction information sub-arrays in the instruction information are executed: if not, return to the step of retrieving the instruction information sub-array.

5. The method for generating control instructions according to claim 4, characterized in that: The control center generates new instruction information capable of supporting the distributed collaborative detection system to complete detection work of multiple frame cycles based on the situation information corresponding to the first frame cycle fed back by each radar node, including: The control center generates a new instruction information array capable of supporting the distributed detection system to complete detection work for multiple frame cycles based on the situation information corresponding to the first frame cycle fed back by each radar node. ,in, .

6. A control instruction generating device for a distributed collaborative detection system, applied to a distributed collaborative detection system, wherein the distributed collaborative detection system comprises a control center and a plurality of radar nodes connected to the control center for communication, characterized in that: The control instruction generating device comprises: The first driving module is used to drive the control center to send command information generated based on the situation information and capable of supporting the distributed collaborative detection system to complete detection work of multiple frame cycles to each radar node; The second driving module is used to drive each of the radar nodes to receive instruction information that can support the distributed collaborative detection system to complete the detection work of multiple frame periods, and execute the instruction corresponding to the first frame period, and feed back the situation information corresponding to the first frame period generated to the control center; The third driving module is used to drive each of the radar nodes to sequentially execute instructions corresponding to other frame periods after the first frame period; at the same time, drive the control center to generate new instruction information that can support the distributed collaborative detection system to complete detection work for multiple frame periods based on the situation information corresponding to the first frame period fed back by each of the radar nodes; An iteration module, used for repeatedly driving the first driving module, the second driving module, and the third driving module in sequence until the distributed collaborative detection system stops working; A definition module, used for offline defining the structure of the command information generated by the control center and sent to each radar node before the first driving module drives the control center to send the command information generated based on the situation information and capable of supporting the distributed collaborative detection system to complete the detection work of multiple frame cycles to each radar node; The offline definition of the structure of the command information generated by the control center and sent to each radar node includes: Define the instruction information list array MP as ,in, They represent the first instruction information arrays, each of which includes instruction information capable of supporting the distributed collaborative detection system to complete detection work for K frame periods; Define instruction information array Expressed as ,in, Respectively represent the 1st, 2nd, ..., kth, ..., Kth instruction information sub-arrays in the jth instruction information array, which respectively include instruction information capable of supporting the distributed collaborative detection system to complete the detection work of the 1st, 2nd, ..., kth, ..., Kth frame periods; Define the instruction information subarray Expressed as ,in, They represent the kth instruction information subarray in the jth instruction information array that can support the distributed collaborative detection system. A set of command information for the beam dwell time; Define a set of command information Expressed as ,in, They respectively represent the radar node beam pointing, beam width, operating frequency, operating bandwidth, beam dwell time, signal pulse width, and command execution start time during the execution of the corresponding beam dwell time of the command information set; definition is the time interval of the frame period corresponding to the instruction information contained in the kth instruction information subarray in the jth instruction information array; Define x as the minimum time interval from when a command information set is generated by the control center to when each radar node is in a state to execute the command information set.

7. A distributed collaborative detection system, comprising a control center and a plurality of radar nodes connected to the control center for communication, characterized in that: The distributed collaborative detection system generates control instructions by using the control instruction generation method of the distributed collaborative detection system according to any one of claims 1 to 5.

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