Sounding and communication integrated cooperative detection distributed radar resource scheduling system and method

Abstract

The invention discloses a detection and communication integrated cooperative detection distributed radar resource scheduling system and method. The system comprises two-stage resource scheduling of macro management and micro execution. Macroscopic management resource scheduling is deployed on a macroscopic management node, tasks which need to be carried out simultaneously by multiple radars and consume high resources and single-radar high-priority tasks are scheduled in a unified manner, and a unified scheduling result is fed back to each microcosmic execution resource scheduling system; microcosmic execution resource scheduling is deployed on each platform, and tasks allocated by the macroscopic management resource scheduling and other single radar detection tasks are automatically scheduled by the microcosmic execution resource scheduling; the method has the advantages of multi-task parallel scheduling, high success rate of high-priority tasks, high comprehensive scheduling response speed and the like, has the characteristics of clear processing logic, high operability and the like in an engineering practice process, and can be widely popularized.

Description

Technical Field

[0001] The present invention belongs to the field of multi-radar collaborative detection, and specifically relates to a distributed radar resource scheduling system and method for integrated collaborative detection. Background Art

[0002] Multi-radar collaborative detection is an important technical method in which multiple spatially distributed radars are connected to the network and share information based on high-precision synchronization under unified scheduling, so as to achieve common vision of key targets or areas and enhance the distributed radar system's anti-interference and anti-stealth capabilities.

[0003] Distributed radar collaborative detection can achieve greater performance improvement than single-platform detection by scheduling collaborative detection resources at the parameter level and implementing signal-level collaborative detection. It is a capability that a collaborative detection system should possess. At the same time, in order to improve the stealth of the platform and further simplify the platform's RF front end, distributed radar collaborative detection can adopt the form of integrated detection and communication, using the radar front-end array and back-end processing to achieve collaborative data transmission and complete collaborative detection information sharing.

[0004] With the development of collaborative detection systems, integrated detection and communication and signal-level collaboration are two main features of collaborative detection systems. These require radar collaborative detection systems to have parameter-level collaborative resource scheduling capabilities, and to be able to strictly follow the scheduling plan at the specified time and execute the specified frequency, waveform, wave position and other parameters.

[0005] In addition, radar cooperative detection tasks are often concurrent with single radar detection tasks, which means that in one scheduling cycle or a certain time range, multiple tasks undertaken by different radars or different radar combinations need to be completed simultaneously. All of these put forward higher requirements for the resource scheduling of the cooperative detection system, and it is urgent to propose a general method that can be applied to engineering practice to improve the resource scheduling capability of the integrated distributed radar.

[0006] With the development of cooperative detection systems, distributed radar resource scheduling methods have gradually attracted the attention of researchers, but there is little analysis of the scheduling of high-precision parameter-level cooperative detection resources such as signal-level cooperative detection and integrated detection, and there is also little research on the scheduling of time-sensitive resources (such as time, waveform, etc.). Reference 1 reviews resource scheduling algorithms based on cognitive tracking, but does not yet include analysis of the scheduling of high-precision parameter-level cooperative detection resources such as signal-level cooperative detection and integrated detection. The document also proposes in the prospect that the signal-level information hybrid processing method needs to be studied in the future, and the resource scheduling theory is extended accordingly. Reference 2 mainly studies the optimization method of dynamic coverage of multiple radar cooperative areas of airborne radars in complex dynamic environments, and does not conduct scheduling research on time-sensitive resources (such as time, waveform, etc.). Reference 3 mainly proposes the problem of cooperative detection radar resource allocation under passive detection tasks, which is not strongly related to active detection content.

[0007] Reference 1: Yi Wei, Yuan Ye, Liu Guanghong, et al., Research and development of multi-radar cooperative detection technology: cognitive tracking and resource scheduling algorithm [J]. Journal of Radars, 12 (3), 471-499, 2023.

[0008] Reference 2: Yan Junkun, Bai Ge, Huang Jiaqin, et al., Track optimization method for multi-radar coordinated regional dynamic coverage[J], Journal of Radars, 12(3), 541-549, 2023.

[0009] Reference 3: Ban Yangyang, Pei Jiang, and Tu Gangyi, A cross-platform collaborative resource scheduling method based on pulse flow density [P], CN106291537B, 2017. Summary of the invention

[0010] In view of the above technical problems, the purpose of the present invention is to propose a distributed radar resource scheduling system and method for integrated collaborative detection, which has the advantages of multi-task parallel scheduling, high success rate of high-priority tasks, and fast comprehensive scheduling response speed. At the same time, it has the characteristics of clear processing logic and strong operability in the engineering practice process.

[0011] In order to achieve the above-mentioned object, the technical solution adopted by the present invention is: a distributed radar resource scheduling system with integrated detection and coordinated detection, including macro management and micro execution two-level resource scheduling;

[0012] The macro-management resource scheduling is deployed on the macro-management node, which will uniformly schedule tasks that require multiple radars to be carried out simultaneously, consume high resources, and high-priority tasks of a single radar, and feed back the unified scheduling results to each micro-execution resource scheduling system;

[0013] The micro-execution resource scheduling is deployed on each platform, and the tasks assigned by the macro-management resource scheduling and the remaining single radar detection tasks are scheduled by the micro-execution resource scheduling.

[0014] As a preferred embodiment of the present invention, the system performs detection tasks through N radars, N≥2; the radars are divided into macro managers and micro executors according to their roles, wherein the macro manager is numbered A1, and the micro executor nodes are numbered A2, A3, ..., AN.

[0015] As a preferred embodiment of the present invention, the macro manager A1 includes macro management resource scheduling and micro execution resource scheduling, and the micro executors A2, A3, ..., AN only include micro execution resource scheduling.

[0016] As a preferred embodiment of the present invention, the collaborative detection tasks are divided into two categories: target collaborative detection and integrated detection and data transmission. The target collaborative detection can be divided into two dimensions: scheduling level and collaborative tasks:

[0017] From the scheduling level, it is divided into parameter-level scheduling and task-level scheduling. Parameter-level scheduling requires multi-node radars to strictly follow the scheduling plan to execute the specified frequency, waveform and wave position at the specified time; task-level scheduling means that a single radar can autonomously use the frequency and waveform parameters to execute within a time range specified by the collaborative resource scheduling; parameter-level scheduling has a higher priority than task-level scheduling;

[0018] From the task level, the coordinated detection of targets includes high data rate tracking, conventional tracking and search tasks, and the task priority is: high data rate tracking > conventional tracking > search;

[0019] The integrated data transmission includes two categories: network maintenance and dedicated data transmission. Both require multi-node radars to strictly execute the specified frequency, waveform and wave position at the specified time according to the scheduling plan, and network maintenance has a higher priority than dedicated data transmission.

[0020] The present invention also provides a resource scheduling method using the above-mentioned distributed radar resource scheduling system with integrated detection and collaborative detection, comprising the following steps:

[0021] Step 1: The macro-management resource scheduling of macro-manager A1 collects the collaborative detection tasks of A1, ..., AN;

[0022] Step 2: The macro manager A1 allocates the coordination mode for macro management resource scheduling, and calculates the data transmission demand and network allocation information table according to the coordination mode;

[0023] Step 3: Each micro-executor A2, ..., AN calculates the single radar detection wave position information, and reports the local single radar high priority task information and wave position information to the macro management resource scheduling in the macro manager A1;

[0024] Step 4: The macro-management resource scheduling in the macro-manager A1 sorts the tasks received in the macro-management resource scheduling according to the manually specified priority order or the adaptive priority order;

[0025] Step 5: Macro management resource scheduling in macro manager A1 completes resource allocation;

[0026] Step 6: The macro-management resource scheduling in the macro manager A1 sends the allocation result to the micro-execution resource scheduling in each node A1, ..., AN.

[0027] Step 7: After the micro-execution resource scheduling of all micro-executors receives the tasks issued by the macro-management resource scheduling, the single radar non-high priority detection tasks are allocated to each idle time slot from the beginning of the scheduling cycle;

[0028] Step 8: After the collaborative detection task and the single radar detection task are executed, the macro-management resource scheduling and micro-execution resource scheduling process and calculate the next scheduling cycle according to the task execution status.

[0029] As a preferred embodiment of the present invention, in step three, the single radar high priority task can be manually specified or executed in an adaptive manner, wherein the single radar high priority task in the adaptive manner refers to single radar high data rate tracking.

[0030] As a preferred embodiment of the present invention, in step four, the adaptive priority order is: single radar high data rate tracking > network maintenance > parameter level scheduling target collaborative detection high data rate tracking > task level scheduling target collaborative detection high data rate tracking > parameter level scheduling dedicated data transmission target collaborative detection conventional tracking > task level scheduling target collaborative detection conventional tracking > parameter level scheduling target collaborative detection search > task level scheduling target collaborative detection search > single radar conventional tracking > single radar search.

[0031] As a preferred method of the present invention, in step five, resource allocation is specifically as follows: reading from high priority in the task queue and performing time allocation; collaborative detection tasks are allocated from front to back during idle time, and high priority tasks of single radar detection are allocated from back to front from the end of the idle time period.

[0032] Compared with the prior art, the technical solution adopted by the present invention has the following beneficial effects: the present invention has the advantages of multi-task parallel scheduling, high success rate of high-priority tasks, fast comprehensive scheduling response speed, etc. At the same time, it has the characteristics of clear processing logic and strong operability in the engineering practice process, and can be widely promoted. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Schematic diagram of the architecture of the integrated collaborative detection resource scheduling system in this embodiment.

[0034] Figure 2 Schematic diagram of the resource scheduling process of the integrated collaborative detection in this embodiment.

[0035] Figure 3 This is a schematic diagram of the macro-management resource scheduling and allocation results in this embodiment 1.

[0036] Figure 4 This is a schematic diagram of the micro-execution resource scheduling and allocation results in this embodiment 1.

[0037] Figure 5 This is a schematic diagram of the macro-management resource scheduling and allocation results in this embodiment 2.

[0038] Figure 6 This is a schematic diagram of the micro-execution resource scheduling and allocation results in this embodiment 2. DETAILED DESCRIPTION

[0039] The specific implementation of the present invention is described in detail below with reference to the accompanying drawings and examples.

[0040] like Figure 1 As shown, in this embodiment, a distributed radar resource scheduling system for integrated collaborative detection includes N radars that undertake multiple detection tasks such as collaborative detection and single radar.

[0041] Radars are divided into macro managers and micro executors according to their roles, where the macro manager is numbered A1 and the micro executor nodes are numbered A2, A3, …, AN.

[0042] The macro manager A1 contains macro management resource scheduling and micro execution resource scheduling, while the other micro executors A2, A3, ..., AN only contain micro execution resource scheduling.

[0043] Collaborative detection tasks can be divided into two categories: target collaborative detection and integrated detection data transmission. Target collaborative detection can be divided into two dimensions: scheduling level and collaborative tasks.

[0044] From the scheduling level, it can be divided into parameter-level scheduling and task-level scheduling. Parameter-level scheduling requires multi-node radars to strictly follow the scheduling plan at the specified time and execute the specified frequency, waveform, wave position, etc.; task-level scheduling means that a single radar can autonomously use frequency, waveform and other parameters within a time range specified by the collaborative resource scheduling. These two scheduling methods consume different resources and are distinguished in priority.

[0045] From the task level, collaborative detection of targets can also be divided into high data rate tracking, conventional tracking, search and other tasks, which are differentiated by priority.

[0046] Integrated data transmission mainly includes two categories: network maintenance and dedicated data transmission. Both require multi-node radars to strictly follow the scheduling plan at the specified time, using the specified frequency, waveform, and wave position. However, the tasks of network maintenance and dedicated data transmission are different, and they are distinguished in priority.

[0047] Furthermore, the task classification includes but is not limited to the following, and the specific classification is as follows:

[0048] Table: Collaborative detection task classification table

[0049]

[0050] The present embodiment discloses a distributed radar resource scheduling method for integrated detection and coordinated detection, comprising the following steps:

[0051] Step 1: The macro-management resource scheduling of macro-manager A1 collects the collaborative detection tasks of A1, ..., AN;

[0052] Step 2: The macro manager A1 allocates the coordination mode for macro management resource scheduling, and calculates the data transmission demand and network allocation information table according to the coordination mode;

[0053] Step 3: Each micro-executor A2, ..., AN calculates the single radar detection wave position information, and reports the local single radar high priority task information and wave position information to the macro management resource scheduling in the macro manager A1;

[0054] Furthermore, the single radar high priority task can be manually specified or executed in an adaptive manner, wherein the single radar high priority task in the adaptive manner refers to single radar high data rate tracking.

[0055] Step 4: The macro-management resource scheduling in the macro-manager A1 sorts the tasks received in the macro-management resource scheduling according to the manually specified priority order or the adaptive priority order;

[0056] Furthermore, according to factors such as comprehensive task execution rate and comprehensive time utilization, the tasks are sorted by adaptive priority as shown in Table 2:

[0057] Table: Task priority ranking

[0058]

[0059] Step 5: Macro management resource scheduling in macro manager A1 completes resource allocation;

[0060] Furthermore, resource allocation is specifically as follows: reading from high priority in the task queue and performing time allocation; collaborative detection tasks are allocated from front to back during idle time, and high priority tasks of single radar detection are allocated from back to front from the end of the idle time period.

[0061] Step 6: The macro-management resource scheduling in the macro manager A1 sends the allocation result to the micro-execution resource scheduling in each node A1, ..., AN.

[0062] Step 7: After the micro-execution resource scheduling of all micro-executors receives the tasks issued by the macro-management resource scheduling, the single radar non-high priority detection tasks are allocated to each idle time slot from the beginning of the scheduling cycle;

[0063] Step 8: After the collaborative detection task and the single radar detection task are executed, the macro-management resource scheduling and micro-execution resource scheduling process and calculate the next scheduling cycle according to the task execution status.

[0064] Embodiment 1:

[0065] 1. The collaborative detection system includes 2 radars that undertake multiple detection tasks such as collaborative detection and single radar. The macro manager is the A1 node, and the other micro executor is the A2 node. Node A1 contains macro management resource scheduling and micro execution resource scheduling, while node A2 only contains micro execution resource scheduling.

[0066] 2. The missions in the formation are as follows:

[0067] In terms of collaborative detection tasks: there are three target collaborative detection tasks, one is to use collaborative mode 1 to perform high data rate tracking, which requires parameter-level scheduling and is defined as TX1; the second is to use collaborative mode 2 to perform high data rate tracking, which requires task-level scheduling and is defined as TX2; the third is to use collaborative mode 3 to perform conventional tracking, which requires parameter-level scheduling and is defined as TX3. At the same time, according to the collaborative mode, the data transmission requirements and network allocation information table are calculated, and the collaborative data transmission tasks include the network maintenance service TW0 between A1 and A2, and the dedicated data transmission service TW1 between A1 and A2.

[0068] In terms of single radar tasks: the A1 node has one single radar high data rate tracking task TA11, and three search tasks TA12, TA13, and TA14; the A2 node has two conventional tracking tasks, TA21 and TA22, and two search tasks, TA23 and TA24.

[0069] 3. The macro-management resource scheduling in the A1 node needs to allocate the collaborative detection tasks TX1, TX2, TX3, TW0, TW1 and the high-priority task TA11 in the single radar detection. In a scheduling cycle, the macro-management resource scheduling schedules the time resources of the A1 and A2 nodes as follows: Figure 3 shown.

[0070] 4. The macro-management resource scheduling in the macro manager A1 sends the allocation results to the micro-execution resource scheduling of each node A1 and A2.

[0071] 5. When the micro-execution resource scheduling of A1 and A2 receives the tasks issued by the macro-management resource scheduling in A1, they will allocate other local single radar detection tasks on the basis of giving priority to the allocation of macro-management resource scheduling. The specific tasks of micro-execution resource scheduling of each node are as follows: Figure 4 shown.

[0072] Embodiment 2:

[0073] 1. The collaborative detection system includes 3 radars that undertake multiple detection tasks such as collaborative detection and single radar. The macro manager is the A1 node, and the other two micro execution nodes are A2 and A3. Node A1 contains macro management resource scheduling and micro execution resource scheduling, while the other nodes A2 and A3 only contain micro execution resource scheduling.

[0074] 2. The missions in the formation are as follows:

[0075] In terms of collaborative detection tasks: there are two target collaborative detection tasks. One is that A1 and A2 nodes use collaborative mode 1 to perform high data rate tracking. This mode requires parameter-level scheduling and is defined as TX1. The other is that A1 and A3 nodes use collaborative mode 2 to perform conventional tracking. This mode requires task-level scheduling and is defined as TX2. At the same time, according to the collaborative mode, the data transmission requirements and network allocation information table are calculated. The collaborative data transmission tasks include the network maintenance service TW0 between A1, A2, and A3, the dedicated data transmission service TW1 between A1 and A2, and the dedicated data transmission service TW2 between A1 and A3.

[0076] In terms of single radar tasks: the A1 node has 1 single radar high data rate tracking task TA11, and 3 search tasks TA12, TA13, and TA14; the A2 node has 1 single radar high data rate tracking task TA21, 1 conventional tracking task TA22, and 1 search task TA23; the A3 node has 4 search tasks, namely TA31, TA32, TA33, and TA34.

[0077] 3. The macro-management resource scheduling in the A1 node needs to allocate the collaborative detection tasks TX1, TX2, TW0, TW1, TW2 and the high priority tasks TA11 and TA21 in the single radar detection. In a scheduling cycle, the macro-management resource scheduling schedules the time resources of the A1, A2, and A3 nodes as follows: Figure 5 shown.

[0078] 4. The macro-management resource scheduling in the macro manager A1 sends the allocation results to the micro-execution resource scheduling of each node A1, A2, and A3.

[0079] 5. When the micro-execution resource scheduling of A1, A2, and A3 receives the tasks issued by the macro-management resource scheduling in the macro manager A1, they will allocate other local single radar detection tasks on the basis of giving priority to their wave position allocation. The specific task execution of the micro-execution resource scheduling of each node is as follows: Figure 6 shown.

[0080] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A distributed radar resource scheduling system with integrated detection and coordinated detection, characterized in that: Includes two levels of resource scheduling: macro management and micro execution; The macro-management resource scheduling is deployed on the macro-management node, which will uniformly schedule tasks that require multiple radars to be carried out simultaneously, consume high resources, and high-priority tasks of a single radar, and feed back the unified scheduling results to each micro-execution resource scheduling system; The micro-execution resource scheduling is deployed on each platform, and the tasks assigned by the macro-management resource scheduling and the remaining single radar detection tasks are scheduled by the micro-execution resource scheduling.

2. The distributed radar resource scheduling system for integrated detection and coordinated detection according to claim 1 is characterized in that: The system performs detection tasks through N radars, N≥2; the radars are divided into macro managers and micro executors according to their roles, where the macro manager is numbered A1 and the micro executor nodes are numbered A2, A3, ..., AN.

3. The distributed radar resource scheduling system for integrated detection and coordinated detection according to claim 2 is characterized in that: The macro manager A1 includes macro management resource scheduling and micro execution resource scheduling, while the micro executors A2, A3, ..., AN only include micro execution resource scheduling.

4. The distributed radar resource scheduling system for integrated detection and coordinated detection according to claim 1 is characterized in that: Collaborative detection tasks are divided into two categories: target collaborative detection and integrated detection data transmission. Target collaborative detection can be divided into two dimensions: scheduling level and collaborative tasks: From the scheduling level, it is divided into parameter-level scheduling and task-level scheduling. Parameter-level scheduling requires multi-node radars to strictly follow the scheduling plan to execute the specified frequency, waveform and wave position at the specified time; task-level scheduling means that a single radar can autonomously use the frequency and waveform parameters to execute within a time range specified by the collaborative resource scheduling; parameter-level scheduling has a higher priority than task-level scheduling; From the task level, the coordinated detection of targets includes high data rate tracking, conventional tracking and search tasks, and the task priority is: high data rate tracking > conventional tracking > search; The integrated data transmission includes two categories: network maintenance and dedicated data transmission. Both require multi-node radars to strictly execute the specified frequency, waveform and wave position at the specified time according to the scheduling plan, and network maintenance has a higher priority than dedicated data transmission.

5. A resource scheduling method using the distributed radar resource scheduling system for integrated detection and collaborative detection as described in any one of claims 1 to 4, characterized in that: The following steps are involved: Step 1: The macro-management resource scheduling of macro-manager A1 collects the collaborative detection tasks of A1, ..., AN; Step 2: The macro manager A1 allocates the coordination mode for macro management resource scheduling, and calculates the data transmission demand and network allocation information table according to the coordination mode; Step 3: Each micro-executor A2, ..., AN calculates the single radar detection information and reports the local single radar high priority task information to the macro-management resource scheduling in the macro-manager A1; Step 4: The macro-management resource scheduling in the macro-manager A1 sorts the tasks received in the macro-management resource scheduling according to the manually specified priority order or the adaptive priority order; Step 5: Macro management resource scheduling in macro manager A1 completes resource allocation; Step 6: The macro-management resource scheduling in the macro manager A1 sends the allocation result to the micro-execution resource scheduling in each node A1, ..., AN. Step 7: After the micro-execution resource scheduling of all micro-executors receives the tasks issued by the macro-management resource scheduling, the single radar non-high priority detection tasks are allocated to each idle time slot from the beginning of the scheduling cycle; Step 8: After the collaborative detection task and the single radar detection task are executed, the macro-management resource scheduling and micro-execution resource scheduling process and calculate the next scheduling cycle according to the task execution status.

6. The method according to claim 5, characterized in that: In step three, the single radar high priority task can be manually specified or executed in an adaptive manner, wherein the single radar high priority task in the adaptive manner refers to single radar high data rate tracking.

7. The method according to claim 5, characterized in that: In step 4, the adaptive priority order is: single radar high data rate tracking > network maintenance > parameter level scheduling target collaborative detection high data rate tracking > task level scheduling target collaborative detection high data rate tracking > parameter level scheduling dedicated data transmission target collaborative detection conventional tracking > task level scheduling target collaborative detection conventional tracking > parameter level scheduling target collaborative detection search > task level scheduling target collaborative detection search > single radar conventional tracking > single radar search.

8. The method according to claim 5, characterized in that: In step 5, resource allocation is as follows: read from the high priority in the task queue and allocate time; collaborative detection tasks are allocated from front to back during idle time, and high priority tasks of single radar detection are allocated from back to front from the end of the idle time period.

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