Rotary phased array radar guiding task self-adaptive scheduling method with limited time resources

Abstract

The invention provides an adaptive scheduling method for a guide task of a rotary phased array radar with limited time resources, and the method comprises the steps: designing a large guide window, a medium guide window and a small guide window in advance according to the limitation of the time resources which can be used for guiding in a rotation period of a single antenna of the radar and the measurement precision range of a guide source; after a guide request message is received, the interception probabilities corresponding to different guide windows are calculated in real time, the guide window with the maximum interception probability is selected, and a corresponding guide search linked list is generated. When the guiding starting direction is within the antenna beam scanning range in the current scheduling interval, scheduling of a guiding search chain table is started, in the time sequence arrangement process of guiding beams, the priority of guiding search beam positions is adjusted in a self-adaptive mode in combination with the speed information of a target, and then the guiding search chain table is scheduled. And equitime replacement of the guide search task and the normal search task is realized through a double-time-axis scheduling method. The method is clear in process and low in calculation complexity, and has important practical significance for improving the success rate of target navigation establishment.

Description

Technical Field

[0001] The invention relates to the field of resource scheduling of phased array radars. Background Art

[0002] When performing active detection tasks, using other source information to search in a specific airspace is an important multi-sensor collaborative working mode of phased array radar. Phased array radar has beam agility capability, and the ability to search and capture targets can be improved by designing beam control strategies. Guided search is a commonly used search mode. With the support of guided information, the search range of phased array radar can be limited to a smaller area, so it can quickly and effectively capture targets.

[0003] The process of information-guided radar searching for targets must be processed in two steps: the first step is that the radar determines the initial search airspace according to the center position and indication accuracy of the guidance information; the second step is that the radar performs dynamic detection of the target in a certain wave position arrangement style in the pre-set initial airspace. Therefore, when designing a guided search strategy, it is necessary to consider issues such as search airspace determination, wave position arrangement, and search timing. In terms of search airspace determination, the radar usually determines a reasonable search range, such as the 3σ criterion, based on the target predicted position and uncertainty information provided by the guidance information, and guides the radar beam to illuminate within the search range to capture the target in a timely and rapid manner. However, a larger search airspace also makes the target capture time longer, and information guidance loses its meaning. The document "Optimization of Search Airspace for Ground-based Early Warning Radar Supported by Space-based Information" studies the impact of early warning guidance information on the search radius of early warning radar, and points out that with the improvement of guidance information accuracy, the search radius will gradually decrease. In terms of wave position arrangement, there are three typical arrangement methods: column, staggered, and low-loss point. The three methods have their own strengths in coverage overlap rate and resource consumption, and can be selected according to needs. The document "Research on Airspace Search Strategy of Phased Array Seeker" designed three airspace search strategies to improve the beam search efficiency of the phased array seeker. In order to enable the radar to quickly and accurately complete the target search under information guidance, the document "Radar Search Airspace and Strategy under Information Guidance Conditions" established an indication guidance model, divided the initial search airspace according to confidence, timeliness and probability of mishandover; based on the dynamic detection model, the dynamic arrangement of search positions was realized with the maximum global information gain as the criterion. In summary, the existing literature is basically an optimization method for guided search proposed for fixed phased array radars, while for the rotating phased array radar system, how to use other source information under the limitation of limited time resources to design an effective guidance scheduling method to achieve rapid search and capture of targets by radar has become an urgent problem to be solved. Summary of the invention

[0004] In order to avoid erroneous search and verification caused by guidance errors as much as possible under the constraint of limited time resources and improve the radar search efficiency, the present invention proposes an adaptive scheduling method for the guidance task of a rotating phased array radar with limited time resources.

[0005] In order to achieve the above technical objectives, the present invention proposes a method for adaptively scheduling a rotating phased array radar guidance task with limited time resources, and the implementation process includes:

[0006] Based on the rotating phased array radar system, three types of guidance windows, large, medium and small, are pre-designed according to the time resource limit that can be used for guidance within the rotation cycle of a single radar antenna and the measurement accuracy range of the guidance source. After receiving the guidance request message, the guidance window with the largest interception probability is selected by calculating the interception probability corresponding to different guidance windows, and the corresponding guidance search list is generated. When the guidance starting azimuth falls within the antenna beam scanning range within the current scheduling interval, the scheduling of the guidance search list begins. In the process of timing scheduling of the guidance beam, the priority of the guidance search position is adaptively adjusted in combination with the speed information of the target, and the equal-time replacement of the guidance search task and the normal search task is realized through the dual-time axis scheduling method to ensure the time resource balance of the rotating phased array radar and the synchronization between the electric axis pointing and the mechanical axis pointing of the array.

[0007] The invention has clear process, low calculation complexity and simple implementation, and has important practical significance for the rotating phased array radar to effectively use other source information to shorten the target capture time and improve the success rate of target navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 This is a schematic diagram of the wave position coverage of the three types of guide windows pre-designed for the present invention: large, medium, and small. Figure 1 (a) is a small guide window, Figure 1 (b) is the middle guide window, Figure 1 (c) is a large guide window.

[0009] Figure 2 This is a flow chart of a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0010] The technical solution of the present invention is further explained below in conjunction with the accompanying drawings and embodiments.

[0011] The present invention proposes a method for adaptively scheduling a rotating phased array radar guidance task with limited time resources. The preferred implementation process is as follows: Figure 1 ,include:

[0012] The invention proposes an adaptive scheduling method for a time resource-constrained rotating phased array radar guidance task. Based on the rotating phased array radar system, three types of guidance windows, large, medium and small, are pre-designed according to the time resource limit that can be used for guidance within the rotation period of a single antenna of the radar and the measurement accuracy range of the guidance source. After receiving a guidance request message, the guidance window with the largest interception probability is selected by calculating the interception probabilities corresponding to different guidance windows, and a corresponding guidance search linked list is generated. When the guidance start azimuth falls within the antenna beam scanning range within the current scheduling interval, the guidance search linked list is started to be scheduled. In the process of timing arrangement of the guidance beam, the priority of the guidance search wave position is adaptively adjusted in combination with the speed information of the target, and the equal-time replacement of the guidance search task and the normal search task is realized by a dual-time axis scheduling method, so as to ensure the time resource balance of the rotating phased array radar and the synchronization between the electric axis pointing and the mechanical axis pointing of the array.

[0013] Preferably, according to the time resource limit available for guidance within a single antenna rotation cycle and the measurement accuracy range of the guidance source, three types of guidance windows, large, medium and small, are pre-designed: Assuming that the phase scanning range of the antenna is ±α degrees, the time resource available for guidance within a single antenna rotation cycle is: Combined with the accuracy range of the guidance source in practice, three sizes of guidance windows are designed in advance, following the following design criteria: the wave position interval is set to 0.7 times the beam width, the radar's maximum simultaneous dual-axis multi-beam coverage airspace is used as the small window, the large window's coverage airspace is designed according to the worst nominal accuracy σ of the external guidance source and the 3σ criterion, and the median of the azimuth and elevation wave number of the large window and the small window is used as the azimuth and elevation wave number of the middle window to set the middle window coverage airspace. The coverage airspace ranges of the three guidance windows are Ω, Ω, and Ω, respectively. 1 ,Ω 2 and Ω 3 , the corresponding frame scanning times of a single antenna cycle is T i Single frame search time for each guide window.

[0014] Furthermore, since different target guidance sources have different azimuth and elevation measurement errors (some guidance sources, such as electronic reconnaissance, have no distance information, so the distance dimension is not considered for the time being), the cumulative interception probability corresponding to different guidance windows within a single antenna cycle is calculated as is the joint probability density function of the target appearing in azimuth and elevation dimensions. According to the current guidance request information, select the guidance window with the maximum intercept probability and generate the corresponding guidance search scan table.

[0015] Furthermore, in the process of timing arrangement of the guidance beam, the priority of the guidance search beam position is adaptively adjusted in combination with the target's speed information, and the equal-time replacement of the guidance search task and the normal search task is realized through the dual-time axis scheduling method. The specific steps are:

[0016] S1: After receiving the scheduling interruption, determine whether the guidance starting position falls within the current scheduling interval. If so, read the current time system, and extrapolate and calculate the current target position in the sinusoidal coordinate system based on the target speed information. Otherwise, go to S6;

[0017] S2: traverse all search wave positions in the guide window and calculate the Euclidean distance between the wave position center and the target predicted position;

[0018] S3: Select the search task node k with the smallest Euclidean distance and insert it into the execution list, and accumulate the node's residence time into T guide ,in (N is the remaining search wave position set in the guidance window)

[0019] S4: Determine whether the guided search list is empty. If so, take out a task node from the normal search list and count the node's residence time into T normal , otherwise go to S3;

[0020] S5: Judge T normal Is it greater than T guide If yes, generate an empty task node with a residence time of T normal -T guide , insert into the execution list, and T guide 、T normal are reset to 0, otherwise go to S4;

[0021] S6: Continue to schedule the normal search list until the scheduling interval ends.

Claims

1. An adaptive scheduling method for a rotating phased array radar guidance task with limited time resources, characterized in that: Based on the rotating phased array radar system, three types of guidance windows, large, medium and small, are pre-designed according to the time resource limit available for guidance within the rotation period of a single radar antenna and the measurement accuracy range of the guidance source. After receiving the guidance request message, the guidance window with the largest interception probability is selected by calculating the interception probabilities corresponding to different guidance windows, and the corresponding guidance search chain list is generated; When the guidance start azimuth falls within the antenna beam scanning range within the current scheduling interval, the guidance search list is scheduled. In the process of timing arrangement of the guidance beam, the priority of the guidance search beam is adaptively adjusted in combination with the target's speed information. The equal-time replacement of the guidance search task and the normal search task is achieved through the dual-time axis scheduling method, ensuring the time resource balance of the rotating phased array radar and the synchronization between the electric axis pointing and the mechanical axis pointing of the array.

2. The adaptive scheduling method for rotating phased array radar guidance tasks with limited time resources according to claim 1 is characterized in that: The process of pre-designing three types of guidance windows, large, medium and small, according to the time resource limit available for guidance within a single radar antenna rotation cycle and the measurement accuracy range of the guidance source includes: Assuming that the electronic scanning range of the antenna is ±α degrees, the time resources available for guidance in a single antenna rotation cycle are: Combined with the accuracy range of the guidance source and the detection capability of this radar, three sizes of guidance windows are pre-designed, following the following design criteria: the beam position interval is set to 0.7 times the beam width, the radar's maximum simultaneous dual-axis multi-beam coverage airspace is used as the small window, the large window's coverage airspace is designed according to the worst nominal accuracy σ of the external guidance source and the 3σ criterion, and the medium window coverage airspace is set by taking the median of the azimuth and elevation wave number of the large window and the small window as the azimuth and elevation wave number of the medium window, respectively. The coverage airspace ranges of the three guidance windows are Ω1, Ω2, and Ω3, respectively, and the corresponding frame scanning times of a single antenna cycle are T i Single frame search time for each guide window.

3. The adaptive scheduling method for time resource-constrained rotating phased array radar guidance tasks according to claim 1 or claim 2, characterized in that: The selection of the guide window includes: calculating the cumulative interception probability within a single antenna period corresponding to different guide windows as follows: In the above formula, θ is the elevation angle, For direction, is the joint probability density function of the target appearing in azimuth and elevation dimensions; according to the current guidance request information, the guidance window with the maximum interception probability is selected to generate the corresponding guidance search scanning table.

4. The adaptive scheduling method for a rotating phased array radar guidance task with limited time resources according to claim 1 is characterized in that: In the process of timing arrangement of the guidance beam, the priority of the guidance search beam position is adaptively adjusted in combination with the speed information of the target, and the equal-time replacement of the guidance search task and the normal search task is realized by a dual-time axis scheduling method, including: S1: After receiving the dispatch instruction, determine whether the guidance starting position falls within the current dispatch interval. If so, read the current time system, and extrapolate and calculate the position of the current target in the sinusoidal coordinate system based on the target speed information; otherwise, go to S6; S2: traverse all search wave positions in the guide window and calculate the Euclidean distance between the wave position center and the target predicted position; S3: Select the search task node k with the smallest Euclidean distance and insert it into the execution list, and accumulate the node's residence time into T guide ,in N is the remaining search wave position set in the guidance window; S4: Determine whether the guided search list is empty. If so, take out a task node from the normal search list and count the node's residence time into T normal , otherwise go to S3; S5: Judge T normal Is it greater than T guide If yes, generate an empty task node with a residence time of T normal -T guide , insert into the execution list, and T guide , T normal All are reset to 0, otherwise go to S4; S6: Continue to schedule the normal search list until the scheduling interval ends.

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