Moving target position sensing method based on radar seeker position marker / rudder deflection angle information

Abstract

The invention provides a moving target position sensing method based on radar seeker position marker / rudder deflection angle information. Radar seeker position marker information or rudder deflection angle information reflects azimuth angle and pitch angle information of a target relative to the radar, and under the condition that target detection information of the radar cannot be obtained through an information protocol, the target detection information of the radar can be obtained through measuring the target seeker position marker information or rudder deflection angle information of the target relative to the radar. The speed and the distance of the target can be calculated by combining the slant distance, the azimuth angle and the pitch angle of the radar relative to the reference point, and a new method is provided for target distributed cooperative position sensing through distributed joint measurement and calculation of the azimuth angle and the pitch angle of the target relative to the multiple radars.

Description

Technical Field

[0001] The invention relates to radar detection technology, in particular to a moving target position sensing method based on radar seeker position marker / rudder deflection angle information. Background Art

[0002] In response to the needs of radar collaborative detection, multiple monitoring radars are needed to monitor mobile targets and fuse the target information detected by the radar. When fusing multi-radar target information, each radar needs to output target information, such as target speed, distance and other information. However, target information is often transmitted within the radar system. Even if it is transmitted to the remote end through communication, its information is transmitted through the information protocol, and the information protocol is the core technology of the radar manufacturer that is not disclosed. Therefore, it is necessary to obtain the target information detected by the radar, and the radar manufacturer needs to provide the corresponding information protocol parsing program to achieve this. In the case where the radar target information cannot be obtained through information protocol parsing, a new method is needed to achieve target monitoring. Summary of the invention

[0003] In response to the problems pointed out in the background technology, the purpose of the present invention is to provide a method for sensing the position of a moving target based on the deflection angle information of a radar seeker beacon / rudder. When it is impossible to obtain accurate target information resolved by radar, multiple radars distributed at different positions are used to measure the deflection angle of the seeker beacon or the rudder to the target, and the azimuth and pitch angle information of the target relative to the radar are obtained. The target position is determined in a distributed collaborative manner, and then the speed and distance of the target are calculated.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] The method for sensing the position of a moving target based on the radar seeker position marker / rudder angle information comprises the following steps:

[0006] Step S1: In the collaborative detection of N radars, the reference coordinate system of the reference point O is set as O-xyz, where O-xy is the reference horizontal plane and x is the north direction; the coordinate system ix of each radar i (i∈(1, 2, ..., N) is set as ri y ri z ri In the radar axis x ri ,y ri Parallel to the O-xy reference horizontal plane;

[0007] At any monitoring time t, the position of each radar i relative to the reference point O is known, and the position information of each radar i is expressed in polar coordinates as (R i , α i , β i ), R iis the slant distance of radar i relative to point O, α i is the azimuth of radar i, β i is the elevation angle of radar i;

[0008] Step S2: By measuring the deflection angle of each radar i's seeker position marker or steering gear, the relative azimuth angle α of the target Q relative to each radar i is obtained. ri and the relative pitch angle β ri ;

[0009] Step S3: Project the radars and the target Q in pairs onto the O-xy horizontal plane. Each radar and target Q group obtains two radar projection points and one target Q projection point Q1 on the O-xy horizontal plane. Connect the reference point O, the projection point Q1 and the two radar projection points to obtain a quadrilateral. Use the quadrilateral to calculate the length l of OQ1. n and the azimuth a of target Q k ; Use multiple groups of radars to solve multiple groups of lengths l n and azimuth a k , for all a k After taking the average, the actual azimuth angle α of the target Q is obtained;

[0010] Step S4: Project the axial direction of each radar i onto the O-xy horizontal plane, x i Direction is the x of radar i ri Axial projection on the horizontal plane; Project target Q onto radar i's ix ri z ri On the plane, the target Q is in ix ri z ri The projection on the plane is Q i (i∈(A,B,…)),Q i On the straight line x i The projection of i1 , connect O, Q i , Q i1 points, forming a triangle, using the β in step S1 and step S2 i , β ri and R i As the known condition for calculating the angles of the triangle, the size of QQ1 is obtained, that is, the height value h of the target Q m (m∈(1,2,…);

[0011] Step S5: Through steps S3 and S4, for each radar i, calculate the pitch angle β of the target Q in the corresponding triangle OQQ1 k and slope distance R k ; For all obtained pitch angles β k and slope distance R k Take the average value, which is the actual pitch angle β and slant range R of target Q;

[0012] Step S6: Through steps S1 to S5, obtain the i , α i , β i , α ri , β ri R, α, β; due to the position information of radar i (R i , α i , β i ) and the relative azimuth angle α of target Q relative to radar i ri and the relative pitch angle β ri are time-varying, denoted by R i (t), α i (t), β i (t), α ri (t), β ri (t); The polar coordinates of the target Q position are finally obtained as:

[0013] (R(t),α(t),β(t))=f(R i (t), α i (t), β i (t), α ri (t), β ri (t)),

[0014] In the above formula, f() is the i (t), α i (t), β i (t), α ri (t), β ri (t), and the target speed information can be obtained by taking the derivative.

[0015] The step S3 specifically comprises the following steps:

[0016] S3.1: Assume that each group of radars is radar A and radar B. At any monitoring time t, the position information of radar A and radar B relative to point O is known and expressed in polar coordinates as (R A , α A , β A ) and (R B , α B , β B ); measuring radar A and radar B, the target Q is monitored relative to the target information of radar A at a relative azimuth angle α rA and the relative pitch angle β rA The target information of target Q relative to radar B is the relative azimuth angle α rB and the relative pitch angle β rB ;

[0017] S3.2: α rA , α rB Projected on the O-xy horizontal plane, α rA , α rB The projection on the O-xy horizontal plane is α rA1 , α rB1 , and tan(α rA1 )=tan(α rA1 ) / cos(β A ), tan(α rB1 )=tan(α rB1 ) / cos(β B ); Project radar A, radar B and target Q onto the O-xy horizontal plane, and the projection points A1, B1, Q1 and point O form a quadrilateral OA1B1Q1;

[0018] S3.3: In the O-xy plane, the lengths of the sides OA1, OB1 and the sizes of the four corners of the quadrilateral OA1B1Q1 are obtained based on the radar's position information and target information, that is, the following conditions are known:

[0019]

[0020] ∠A1OB1=α A -α B

[0021] ∠Q1A1O=π-α rA1

[0022] ∠Q1B1O=π-α rB1

[0023] ∠A1Q1B1=2π-∠A1OB1-∠Q1A1O-∠Q1B1O

[0024] =2π-(α A -α B )-(π-α rA1 )-(π-α rB1 )

[0025] =-α A +α B +α rA1 +α rB1

[0026] From the triangular relationship we can get:

[0027]

[0028] We can get:

[0029] ∠Q1A1B1=π-α rA1 -∠OA1B1

[0030] ∠Q1B1A1=π-α rB1 -∠OB1A1 in triangle Q1A1B1, we have:

[0031]

[0032] We can obtain:

[0033]

[0034] S3.4: In triangle OQ1A1, we have:

[0035]

[0036] The final azimuth angle α of the target Q is:

[0037]

[0038] S3.5: For all a k The actual azimuth angle α of target Q is obtained by taking the average.

[0039] In step S4, the height value h of the target Q m The calculation method is as follows:

[0040] Between the radar A axis and x A In the suspended plane composed of directions, a vertical line is drawn through the coordinate origin A of the radar A A Q A1 The foot of the perpendicular is F, because AF is perpendicular to Q A Q A1 ,have:

[0041]

[0042] ∠Q A AF=β A +β rA

[0043]

[0044] In the O-xy reference horizontal plane, we can get:

[0045]

[0046] Height of target Q

[0047]

[0048] In step S5, for each radar i, the pitch angle β of the target Q in the corresponding triangle OQQ1 is k and slope distance Rk Calculated by the following formula:

[0049]

[0050] Beneficial effects of the present invention: The present invention uses radar seeker position marker information or rudder angle information to detect the target position and speed. The radar seeker position marker information or rudder angle information reflects the azimuth and pitch angle information of the target relative to the radar. When the target detection information of the radar cannot be obtained through the information protocol, the speed and distance of the target can be calculated by measuring the target relative to the radar seeker position marker information or rudder angle, combined with the slant distance, azimuth, and pitch angle of the radar itself relative to the reference point. The distributed joint measurement and calculation of the azimuth and pitch angle of the target relative to multiple radars provides a new method for distributed collaborative position perception of the target. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a schematic diagram of a group of radars performing distributed collaborative detection in the present invention.

[0052] Figure 2 This is a schematic diagram of azimuth angle measurement during distributed collaborative detection by a group of radars.

[0053] Figure 3 Schematic diagram of pitch angle measurement during distributed collaborative detection by a group of radars. DETAILED DESCRIPTION

[0054] The technical solution of the present invention will be described clearly and completely below in conjunction with the drawings of this specification. It should be noted that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] The present invention relates to a method for sensing the position of a moving target based on radar seeker position marker / rudder angle information, and the specific implementation thereof comprises the following steps:

[0056] Step S1: In the collaborative detection of N radars, the reference coordinate system of the reference point O is set as O-xyz, where O-xy is the reference horizontal plane and x is the north direction; the coordinate system ix of each radar i (i∈(1, 2, ..., N) is set as ri y ri z ri In the radar axis x ri ,y ri Parallel to the O-xy reference horizontal plane;

[0057] At any monitoring time t, the position of each radar i relative to the reference point O is known, and the position information of each radar i is expressed in polar coordinates as (R i , α i , β i ), R i is the slant distance of radar i relative to point O, α i is the azimuth of radar i, β i is the elevation angle of radar i;

[0058] Step S2: By measuring the deflection angle of each radar i's seeker position marker or steering gear, the relative azimuth angle α of the target Q relative to each radar i is obtained. ri and the relative pitch angle β ri ;

[0059] Step S3: Project the radars and the target Q in pairs onto the O-xy horizontal plane. Each radar and target Q group obtains two radar projection points and one target Q projection point Q1 on the O-xy horizontal plane. Connect the reference point O, the projection point Q1 and the two radar projection points to obtain a quadrilateral. Use the quadrilateral to calculate the length l of OQ1. n and the azimuth a of target Q k ; Use multiple groups of radars to solve multiple groups of lengths l n and azimuth a k , for all a k After taking the average, the actual azimuth angle α of the target Q is obtained;

[0060] Step S3 specifically includes the following steps:

[0061] S3.1: If Figure 1 As shown in the figure, it is assumed that each group of radars is radar A and radar B. At any monitoring time t, the position information of radar A and radar B relative to point O is known, which is expressed in polar coordinates as (R A , α A , β A ) and (R B , α B , β B ); measuring radar A and radar B, the target Q is monitored relative to the target information of radar A at a relative azimuth angle α rA and the relative pitch angle β rA The target information of target Q relative to radar B is the relative azimuth angle α rB and the relative pitch angle β rB ;

[0062] S3.2: α rA , α rB Projected on the O-xy horizontal plane, α rA , α rB The projection on the O-xy horizontal plane is αrA1 , α rB1 , and tan(α rA1 )=tan(α rA1 ) / cos(β A ), tan(α rB1 )=tan(α rB1 ) / cos(β B ); Project radar A, radar B and target Q onto the O-xy horizontal plane, and the projection points A1, B1, Q1 and point O form a quadrilateral OA1B1Q1;

[0063] S3.3: In the O-xy plane, such as Figure 2 As shown, the lengths of the sides OA1, OB1 and the sizes of the four corners of the quadrilateral OA1B1Q1 can be obtained based on the radar's position information and target information, that is, the following conditions are known:

[0064]

[0065] ∠A1OB1=α A -α B

[0066] ∠Q1A1O=π-α rA1

[0067] ∠Q1B1O=π-α rB1

[0068] ∠A1Q1B1=2π-∠A1OB1-∠Q1A1O-∠Q1B1O

[0069] =2π-(α A -α B )-(π-α rA1 )-(π-α rB1 )

[0070] =-α A +α B +α rA1 +α rB1

[0071] From the triangular relationship we can get:

[0072]

[0073] We can get:

[0074] ∠Q1A1B1=π-α rA1 -∠OA1B1

[0075] ∠Q1B1A1=π-α rB1 -∠OB1A1 in triangle Q1A1B1, we have:

[0076]

[0077] We can obtain:

[0078]

[0079] S3.4: In triangle OQ1A1, we have:

[0080]

[0081] Finally, the azimuth angle a of the target Q is obtained k

[0082]

[0083] S3.5: For all a k The actual azimuth angle α of target Q is obtained by taking the average.

[0084] Step S4: Figure 1 As shown, x A The direction is the projection of the radar A axis on the horizontal plane. A In the overhanging plane composed of directions, Q A is the projection of the target Q on the overhanging surface, Q A1 Q A In the horizontal plane (i.e. straight line x A ) projection, such as Figure 3 As shown, AF is perpendicular to Q A Q A1 ,have:

[0085]

[0086] ∠Q A AF=β A +β rA

[0087]

[0088] Depend on Figure 2 We can get:

[0089]

[0090] Depend on Figure 3 The height of the target Q can be obtained

[0091]

[0092] Step S5: Through steps S3 and S4, for each radar i, calculate the pitch angle β of the target Q in the corresponding triangle OQQ1 kand slope distance R k ; For all obtained pitch angles β k and slope distance R k Take the average value, which is the actual pitch angle β and slant range R of target Q; Figure 1 As shown, OQ1 is the projection of OQ on the horizontal plane, and there are:

[0093]

[0094] The target pitch angle β k and slope distance R k They are:

[0095]

[0096] Step S6: Through steps S1 to S5, obtain the i , α i , β i , α ri , β ri R, α, β; due to the position information of radar i (R i , α i , β i ) and the relative azimuth angle α of target Q relative to radar i ri and the relative pitch angle β ri are time-varying, denoted by R i (t), α i (t), β i (t), α ri (t), β ri (t); The polar coordinates of the target Q position are finally obtained as:

[0097] (R(t),α(t),β(t))=f(R i (t), α i (t), β i (t), α ri (t), β ri (t)),

[0098] In the above formula, f() is the i (t), α i (t), β i (t), α ri (t), β ri (t), and the target speed information can be obtained by taking the derivative.

[0099] The parts not described in detail in this invention are prior art.

Claims

1. A moving target position sensing method based on radar seeker position marker / rudder angle information, characterized by: The following steps are involved: Step S1: In the collaborative detection of N radars, the reference coordinate system of the reference point O is set as O-xyz, where O-xy is the reference horizontal plane and x is the north direction; the coordinate system ix of each radar i (i∈(1, 2, ..., N) is set as ri y ri z ri In the radar axis x ri ,y ri Parallel to the O-xy reference horizontal plane; At any monitoring time t, the position of each radar i relative to the reference point O is known, and the position information of each radar i is expressed in polar coordinates as (R i , α i , β i ), R i is the slant distance of radar i relative to point O, α i is the azimuth of radar i, β i is the radar i elevation angle; Step S2: By measuring the deflection angle of each radar i's seeker position marker or steering gear, the relative azimuth angle α of the target Q relative to each radar i is obtained. ri and the relative pitch angle β ri ; Step S3: Project the radars and the target Q in pairs onto the O-xy horizontal plane. Each radar and target Q group obtains two radar projection points and one target Q projection point Q1 on the O-xy horizontal plane. Connect the reference point O, the projection point Q1 and the two radar projection points to obtain a quadrilateral. Use the quadrilateral to calculate the length l of OQ1. n and the azimuth a of target Q k ; Use multiple groups of radars to solve multiple groups of lengths l n and azimuth a k , for all a k After taking the average, the actual azimuth angle α of the target Q is obtained; Step S4: Project the axial direction of each radar i onto the O-xy horizontal plane, x i Direction is the x of radar i ri Axial projection on the horizontal plane; Project target Q onto radar i's ix ri z ri On the plane, the target Q is in ix ri z ri The projection on the plane is Q i (i∈(A,B,…)),Q i On the straight line x i The projection of i1 , connect O, Q i , Q i1 points, forming a triangle, using the β in step S1 and step S2 i , β ri and R i As the known condition for calculating the angles of the triangle, the size of QQ1 is obtained, that is, the height value h of the target Q m (m∈(1,2,…); Step S5: Through steps S3 and S4, for each radar i, calculate the pitch angle β of the target Q in the corresponding triangle OQQ1 k and slope distance R k ; For all obtained pitch angles β k and slope distance R k Take the average value, which is the actual pitch angle β and slant range R of target Q; Step S6: Through steps S1 to S5, obtain the i , α i , β i , α ri , β ri R, α, β; due to the position information of radar i (R i , α i , β i ) and the relative azimuth angle α of target Q relative to radar i ri and the relative pitch angle β ri are time-varying, denoted by R i (t), α i (t), β i (t), α ri (t), β ri (t); The polar coordinates of the target Q position are finally obtained as: (R(t),α(t),β(t))=f(R i (t)、a i (t)、β i (t)、a ri (t)、β ri (t)), In the above formula, f() is the i (t), α i (t), β i (t), α ri (t), β ri (t), and the target speed information can be obtained by taking the derivative.

2. The moving target position sensing method based on radar seeker position marker / rudder angle information according to claim 1 is characterized in that: The step S3 specifically comprises the following steps: S3.1: Assume that each group of radars is radar A and radar B, then the position information of radar A and radar B relative to point O is known, expressed in polar coordinates as (R A , α A , β A ) and (R B , α B , β B ); measuring radar A and radar B, the target Q is monitored relative to the target information of radar A at a relative azimuth angle α rA and the relative pitch angle β rA The target information of target Q relative to radar B is the relative azimuth angle α rB and the relative pitch angle β rB ; S3.2: α rA , α rB Projected on the O-xy horizontal plane, α rA , α rB The projection on the O-xy horizontal plane is α rA1 , α rB1 , and tan(α rA1 )=tan(α rA1 ) / cos(β A ), tan(α rB1 )=tan(α rB1 ) / cos(β B ); Project radar A, radar B and target Q onto the O-xy horizontal plane, and the projection points A1, B1, Q1 and point O form a quadrilateral OA1B1Q1; S3.3: In the O-xy plane, the lengths of the sides OA1, OB1 and the sizes of the four corners of the quadrilateral OA1B1Q1 are obtained based on the radar's position information and target information, that is, the following conditions are known: ∠A1OB1=a A -a B ∠Q1A1O=π-α rA1 ∠Q1B1O=π-α rB1 ∠A1Q1B1=2π-∠A1OB1-∠Q1A1O-∠Q1B1O ＝2π-(α A -α B )-(π-α rA1 )-(π-α rB1 )＝-α A +α B +α rA1 +α rB1 From the triangular relationship we can get: We can get: ∠Q1A1B1=π-α rA1 -∠OA1B1 ∠Q1B1A1=π-α rB1 -∠OB1A1 In triangle Q1A1B1, we have: We can obtain: S3.4: In triangle OQ1A1, we have: Finally, the azimuth angle a of the target Q can be obtained k for: S3.5: For all a k The actual azimuth angle α of target Q is obtained by taking the average.

3. The method for sensing the moving target position based on the radar seeker position marker / rudder angle information according to claim 1 is characterized in that: In step S4, the height value h of the target Q m The calculation method is as follows: Between the radar A axis and x A In the suspended plane composed of directions, a vertical line is drawn through the coordinate origin A of the radar A A Q A1 The foot of the perpendicular is F, because AF is perpendicular to Q A Q A1 ,have: In the O-xy reference horizontal plane, we can get: Height of target Q 4. The moving target position sensing method based on radar seeker position marker / rudder angle information according to claim 1 is characterized in that: In step S5, for each radar i, the pitch angle β of the target Q in the corresponding triangle OQQ1 is k and slope distance R k Calculated by the following formula:

Images