Multi-radar detection situation integration method

Abstract

The present invention discloses a multi-radar detection situation integration method, which deploys multiple radars in airspace to perform collaborative detection of multiple targets, including: step 1, radar detection performance modeling: modeling the radar detectable area and radar detection capability; step 2, radar working situation integration: radar operation status integration, radar detection status integration, and radar detection information integration. The present invention can model and visualize the radar detection performance, operation status, detection situation and other aspects to meet the needs of collaborative detection of multiple targets in large airspace.

Description

Technical Field

[0001] The present invention relates to the field of detection technology, and more specifically, to a multi-radar detection situation integration method. Background Art

[0002] Radar equipment is an important type of equipment in the detection field. In order to meet complex detection requirements, multiple sets of radar equipment are often deployed to complete the coordinated detection of airspace targets. As the coordinated detection control technology develops, the presentation of detection information is also gradually developing, and the demand for integrated presentation of detection situation is becoming increasingly urgent.

[0003] The traditional command-side situation focuses on the main target data measured by each radar, defaults to the key target, displays it in a chart and uses it to guide the data source of other devices. On the one hand, the radar end has limited information acquisition and there may be errors in target identification; on the other hand, the radar's multi-target measurement capability advantage is not used to describe the airspace situation. The command end does not fully understand the target flight situation in the airspace, and cannot know the working status of each radar, and cannot effectively dispatch radars from a global perspective to maximize the efficiency of equipment use. The radar end cannot understand the flight and tracking status of targets in the airspace, the radar use strategy cannot be flexibly adjusted, and the target identification method is relatively simple. Summary of the invention

[0004] The present invention provides a multi-radar detection situation integration method, which can model and visualize the radar detection performance, operating status, detection situation and other aspects to meet the needs of large airspace multi-target collaborative detection.

[0005] In order to achieve these purposes and other advantages according to the present invention, a multi-radar detection situation integration method is provided, which deploys multiple radars in airspace to perform coordinated detection of multiple targets, including:

[0006] Step 1: Radar detection performance modeling:

[0007] Based on the servo structure characteristics, station location and surrounding geographical environment of each radar, the radar detectable area is modeled;

[0008] Calculate the range parameter matrix of each radar under different waveforms and working modes, obtain the real-time working status of the radar, dynamically analyze its search and tracking energy allocation and remaining capacity, calculate the maximum number of tracked targets, and for radars that can meet the search of the airspace size, calculate the number of interceptions of each radar for a specific flying target in a specific search scenario, construct a radar airspace search characterization parameter matrix, and model the radar detection capability based on the range of each radar, the maximum number of tracked targets, and the airspace search capability;

[0009] Step 2: Radar working situation integration:

[0010] Real-time link monitoring is performed to obtain the link connectivity between the radar end and the command end and other radar ends, obtain radar operating parameters and health status information in real time, and integrate radar operating status;

[0011] Set up at least one search screen to cover the flight directions and trajectories of multiple targets in the airspace, obtain the working status of each radar in real time, and integrate the radar detection status;

[0012] The characteristic measurement information of multiple targets detected by each radar is visualized, showing the airspace distribution and flight status of multiple targets, and integrating radar detection information.

[0013] Preferably, the radar detectable area is modeled and a radar detectable area database is established, including the invisible elevation angle range, clutter area, distance blind area, antenna continuous tracking servo azimuth and pitch limit area, azimuth and pitch angle range, and array inclination angle of each radar at different station locations.

[0014] Preferably, based on the actual power value of the radar in different waveforms and working modes, and the reference RCS fluctuation range of the established tracking target, the maximum effective range, reliable effective range, and conservative effective range of a single radar in the current working mode are calculated; if the conservative effective range is smaller than the radar distance blind spot, the conservative effective range is adjusted to the radar distance blind spot.

[0015] Preferably, the maximum number of targets tracked by the radar is n t The calculation formula is:

[0016]

[0017] Among them, F represents the radar repetition rate and N represents the number of accumulated pulses.

[0018] Preferably, the radar airspace search characterization parameter matrix is ​​constructed as follows:

[0019] Let the search time be T s , the search interval is T si , when there is no target tracking:

[0020]

[0021] Among them, θ X ,θ Y represents the azimuth and elevation of the search space, θ x ,θ y It indicates the beam jump when the radar scans rows and columns, N indicates the number of accumulated pulses, and PRI indicates the pulse repetition period;

[0022] There are n tracking states of targets, and the number of targets in each state is n i , the tracking interval of the i-th state is Ttii , the total number of target tracking should be less than n t And it is less than the specific index value of the maximum trackable target of the radar. At this time, the search interval time T si The calculation formula is:

[0023]

[0024] Combining the size of the airspace to be searched and the target flight speed, the target airspace crossing time T can be obtained. c , and then according to the search interval time T si , the number of interceptions of a specific flying target by the radar in a specific search scenario is obtained, thereby constructing the main characterization parameter matrix of the radar airspace search capability.

[0025] Preferably, when setting the search screen,

[0026] When the mission area is known, detect the airspace coverage rate in the multi-radar coordination state, and cover and display the key airspace;

[0027] When the target flight direction is known, detect and display the azimuth and pitch range coverage of the target flight direction in the multi-radar cooperative state;

[0028] The target flight trajectory is known, and the coverage of the target flight trajectory in the multi-radar collaborative state is detected and displayed. Multiple search screens are set up in a step-by-step manner according to the maximum effective range, reliable effective range, and conservative effective range of each radar, and an emergency search screen is also set up.

[0029] Preferably, the radar's operating states include search, interception, tracking and fixed airspace search, tracking and follow-up search, tracking target saturation, and tracking end.

[0030] Preferably, the characteristic measurement information of the multiple targets includes the multiple target distances, azimuths, pitch angles, altitudes, speeds, sub-satellite points, and RCSs.

[0031] The present invention has at least the following beneficial effects:

[0032] The present invention proposes a multi-radar detection situation integration method, which digitally models the inherent detection performance of the radar, the detectable area range related to the deployment environment and other information, parameterizes the modeling of various detection performance indicators, and forms a radar detection energy parameter matrix to meet the requirements of accurate display of the detection situation. At the same time, according to different airspace detection needs and different target tracking requirements, the radar detection capability is accurately calculated and scientifically allocated; the dynamic operation state and detection situation of the radar are modeled and visualized, and the effective integrated display of the detection situation of multiple radars is realized, which is convenient for commanders to grasp the overall situation and provide support for their scientific adjustment of the coordinated detection strategy of various equipment.

[0033] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of an integrated method of a technical solution of the present invention;

[0035] Figure 2 A schematic diagram of the shielding angle of a radar station according to a technical solution of the present invention;

[0036] Figure 3 A schematic diagram of radar operating range of a technical solution of the present invention;

[0037] Figure 4 A specific flight target trajectory target action distance diagram of a technical solution of the present invention;

[0038] Figure 5 A radar energy occupancy diagram of a technical solution of the present invention;

[0039] Figure 6 A schematic diagram of a multi-radar search situation of a technical solution of the present invention;

[0040] Figure 7 The present invention is a schematic diagram of an integrated display of detection situation according to a technical solution of the present invention. DETAILED DESCRIPTION

[0041] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0042] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0043] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials can be obtained from commercial sources unless otherwise specified; in the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "set" should be understood in a broad sense, for example, they can be fixedly connected, set, or detachably connected, set, or connected and set in one piece. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood in specific circumstances. The orientation or position relationship indicated by the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0044] like Figure 1 As shown, the present invention provides a multi-radar detection situation integration method, which deploys multiple radars in airspace to perform collaborative detection of multiple targets, including:

[0045] Step 1: Radar detection performance modeling:

[0046] 1.1: Based on the servo structure characteristics, station location and surrounding geographical environment of each radar, the radar detectable area is modeled.

[0047] Specifically, the servo structure characteristics of each radar include many, such as azimuth rotation, fixed elevation; azimuth, fixed elevation; limited azimuth rotation, fixed elevation, etc. The servo structure of the radar is adjusted according to different application scenarios and functional requirements. The radar station location is set according to the needs and actual conditions, and the precise location, altitude, etc. of the radar station are determined through field measurements, satellite image analysis, geographic information system (GIS) data acquisition, etc. The radar station location is limited by other guarantee conditions, and the detection capability is limited by indicators, which may not meet all detection needs. After the radar is deployed in a certain place, there may be obstructions such as mountains around it. With the assistance of optical equipment and beam illumination, the specific obstruction and clutter conditions in the surrounding area can be obtained. Pay attention to the influence of near-field obstruction and far-field mountain clutter in the surrounding geographical environment. According to its specific technical and tactical indicators and the actual clutter detection in the surrounding area, a database of detectable areas of each radar is established. A schematic diagram of the shielding angle of a radar in one embodiment is shown as follows. Figure 2 As shown, green is used to mark the visible area, yellow is used to mark the shielded area, and the red curve is the flight pitch curve for a certain target distance. While displaying the shielded area, it can also reflect the radar's trajectory and the area that cannot be tracked.

[0048] As a preference, the radar detectable area is modeled, and a radar detectable area database is established, including the invisible elevation angle range, clutter area, distance blind area, antenna continuous tracking servo azimuth pitch limit area, azimuth pitch angle range, and array inclination angle of each radar at different station locations. For example, the invisible elevation angle range is modeled based on the theoretical calculation of the servo structure and terrain shielding. Taking the radar with azimuth rotation and fixed elevation angle as an example, the invisible elevation angle range caused by terrain shielding at different azimuth angles is calculated using trigonometric functions according to the radar's installation height, antenna size, and the height and distance of the surrounding terrain. For another example, the antenna continuous tracking servo limit area is modeled. For the radar with azimuth limited rotation and fixed elevation angle, the continuous tracking servo limit area in azimuth is determined according to the rotation range of its mechanical structure and the setting of the limit device. Taking into account the accuracy and error of the servo system, the boundary of the limit area is accurately defined. At the same time, a dynamic tracking test is carried out and the limit area is optimized and adjusted.

[0049] When modeling, create a database containing multiple data tables to store basic radar information, servo structure parameters, station location and surrounding geographical environment data, invisible elevation range, distance blind area, strong ground clutter area, antenna continuous tracking servo limit area, etc. With the upgrade of radar equipment, changes in the surrounding environment and the development of detection technology, the data in the database is regularly updated and maintained to ensure the accuracy and timeliness of the data.

[0050] 1.2: Calculate the range parameter matrix of each radar under different waveforms and working modes, obtain the real-time working status of the radar, dynamically analyze its search and tracking energy allocation and remaining capacity, calculate the maximum number of tracked targets, and for radars that can meet the search of the airspace size, calculate the number of interceptions of each radar for a specific flying target in a specific search scenario, build a radar airspace search characterization parameter matrix, and model the radar detection capability based on the range of each radar, the maximum number of tracked targets, and the airspace search capability. Specific targets are targets that need to be tracked in actual work. Different tasks track different targets. With a specified target, there may be prior information such as its RCS size, which can be further calculated.

[0051] 1.2.1: The radar range is based on the actual power value of the radar in different waveforms and pulse coherent or non-coherent accumulation modes, and is obtained by bringing in the reference RCS fluctuation range of the established tracking target. Within the reliable range, it is believed that the radar can stably track the target; between the reliable range and the maximum range, stable tracking cannot be guaranteed; beyond the maximum range, the target cannot generally be found. The above calculations are performed for each waveform and working mode of the radar to obtain the radar range parameter matrix.

[0052] As a preference, based on the actual power value of the radar in different waveforms and working modes, and the reference RCS fluctuation range of the established tracking target, the maximum range, reliable range, and conservative range of a single radar in the current working mode are calculated. If the conservative range is smaller than the radar range blind area, the conservative range is adjusted to the radar range blind area. Use the minimum RCS to estimate its conservative range R 1 , use the RCS mean to estimate the reliable range R 2 , use the maximum RCS value to estimate its maximum range R 3 , thus the maximum range and reliable range of a single radar in the current working mode are obtained. If the conservative range R 1 Less than radar blind zone R 0 , then the conservative action distance R 1 Adjust to R 0 The schematic diagram of the radar range in this embodiment is as follows: Figure 3 As shown, it can intuitively reflect the distance blind area R 0 , conservative range R for targets of specified size 1 , Reliable operating distance R 2 , Maximum range R 3 Combined with the radar power index, specific numerical calculations are performed for targets of a specific size. The theoretical range of a target with a specific motion trajectory and a specified size is as follows: Figure 4 As shown in the figure, the red broken line reflects the change of radar operating range due to the adjustment of parameters such as working waveform when the radar switches between different working modes. The area below the green line is the radar blind area.

[0053] 1.2.2: Maximum number of targets tracked by the radar n t It is directly related to the radar repetition frequency F and the number of pulse accumulation N. When ignoring other accidental factors such as target size, maneuverability, and target distance distribution at different repetition frequencies, the radar repetition frequency F and the number of pulse accumulation N will determine the maximum number of trackable targets n. t .

[0054] As a preferred option, the maximum number of targets tracked by the radar is n t The calculation formula is:

[0055]

[0056] Where F represents the radar repetition rate and N represents the number of accumulated pulses, also called the dwell number, which includes the number of broadband measurement pulses when the radar has broadband measurement capability.

[0057] The maximum number of targets tracked by the radar is n tIt is also related to the energy usage and allocation of the radar during actual operation. During the operation of the radar, various energy allocation events such as target search and capture, verification, tracking, broadband measurement, memory, and remediation will be generated. Each event occupies the overall energy of the radar according to the established strategy. The real-time working status data of the radar is obtained for dynamic analysis of its energy allocation and remaining search and tracking capabilities. The radar energy share at a certain moment in this embodiment is shown in the figure below. Figure 5 As shown in the figure, by acquiring the real-time working status of the radar, the current remaining capability of the radar can be effectively grasped. When the remaining search and tracking capability is strong, the number of tracked targets can be appropriately increased; when the remaining search and tracking capability is weak, the number of tracked targets should be reduced to ensure the detection performance of the radar, so as to facilitate timely adjustment of the tracking strategy and scientific issuance of coordinated detection instructions.

[0058] 1.2.3: The airspace search capability of the radar is related to the maximum scanning range, scanning beam jump, beam scanning interval, etc. The maximum scanning range determines whether the requirements of the search airspace size can be met, and the scanning beam jump and beam scanning interval jointly determine the airspace search speed. Under the condition of meeting the requirements of the range of action, the interception probability is determined. In fact, the scanning beam jump is related to the beam width, and the scanning interval is related to the number of pulse accumulation and the repetition frequency.

[0059] As a preferred method, the radar airspace search characterization parameter matrix is ​​constructed as follows:

[0060] Let the search time be T s , the search interval is T si , when there is no target tracking:

[0061]

[0062] Among them, θ X ,θ Y represents the azimuth and elevation of the search space, θ x ,θ y It indicates the beam jump when the radar scans rows and columns. N indicates the number of accumulated pulses, also called the dwell number. When the radar has broadband measurement capability, it includes the number of broadband measurement pulses. PRI indicates the pulse repetition period.

[0063] There are n tracking states of targets, and the number of targets in each state is n i , the tracking interval of the i-th state is T tii , the total number of target tracking should be less than n t And it is less than the specific index value of the maximum trackable target of the radar. At this time, the search interval time T si The calculation formula is:

[0064]

[0065] Combining the size of the airspace to be searched and the target flight speed, the target airspace crossing time T can be obtained. c , and then according to the search interval time T si , the number of interceptions of the radar for a specific flying target in a specific search scenario is obtained, thereby constructing the main characterization parameter matrix of the radar's airspace search capability, including but not limited to the search airspace coverage, interception probability, average interception time interval, search efficiency, search reliability, target recognition accuracy, etc. In practical applications, other parameters can be added according to specific circumstances, such as the radar's detection range, azimuth and elevation angle range, resolution, etc., to more comprehensively characterize the radar's airspace search capability.

[0066] Step 1: By digitally expressing the parameters that characterize the radar detection performance, such as the radar detectable area, target range, airspace search status, number of tracked targets, and airspace search time, the radar end transmits the modeling results to the command end, so that the command end can intuitively grasp the detection network detection capabilities and detection resource usage, and carry out detection task allocation and detection performance modeling. The three-dimensional display status of multiple radar detection ranges and scanning airspaces is shown in Figure 1. Figure 6 As shown, it directly reflects the airspace search coverage, search airspace blind spots and redundant coverage of key airspace. When tracking cooperative targets, commanders can quickly grasp the target relay search status by combining the target flight trajectory drawing. The power coverage range of each radar, scanning airspace and scanning speed and other related factors that directly affect the detection performance are intuitively displayed to achieve direct, accurate and fast search situation description.

[0067] Step 2: Radar working situation integration:

[0068] 2.1: Real-time link monitoring is performed to obtain the link connectivity between the radar end and the command end and other radar ends, obtain radar operating parameters and health status information in real time, and integrate the radar operation status.

[0069] Link monitoring information and operation status information reflect the current working status of the equipment and are the basis for commanders to make real-time control decisions.

[0070] Link monitoring information is used for path status check and time base comparison between radar end and command end, and between radar end and radar end. The radar end sends link monitoring information to each transmission direction at the agreed frequency, or receives link monitoring information sent by the command end. Link monitoring information reflects the link status between the command end and the radar end in real time, and warns by changing color when an interruption or large link delay occurs.

[0071] The operating status information reflects the current operating status of the radar, which includes two aspects of information. One is the radar operating parameters, such as repetition frequency, signal form, signal pulse width, signal bandwidth, operating waveform, etc., combined with the detection capability modeling results in step 2 to obtain the current radar search and tracking capability. The second is the radar health status information. Modern radars are all equipped with a relatively complete internal equipment self-detection function (BIT for short), which monitors the working status and performance of each part of the equipment in real time to understand the health status of the equipment. The main operating parameters and BIT information of the radar equipment are sent to the command end so that the commander can grasp the operating status of the equipment in real time. The radar operating status information transmission feedback adopts an integrated design to uniformly transmit the radar operating parameters and BIT information. The specific transmission content is shown in Table 1.

[0072] Table 1 Radar working status information

[0073] Serial number parameter Serial number parameter Serial number parameter 1 The frame data corresponds to the date 13 Pulse Width 25 Number of transmit channels 2 This frame data corresponds to the second in the day 14 Pulse repetition frequency 26 Transmitting channel normal ratio 3 Radar number 15 Pulse accumulation number 27 Number of receiving channels 4 Information Type 16 Signal modulation method 28 Normal ratio of receiving channel 5 System working status 17 Array subsystem status 29 Search resource usage ratio 6 Radiation status 18 Receive subsystem status 30 Track resource usage 7 Current operating frequency 19 Signal processing subsystem status 31 Other resource usage ratio 8 Servo working mode 20 Data processing subsystem status 32 Site longitude 9 Antenna normal azimuth value 21 Cooling subsystem status 33 Site Dimensions 10 Antenna normal elevation value 22 Servo subsystem status 34 Site elevation 11 Antenna polarization 23 Whether it has an incentive status 35 Reserved Bytes 12 Working Mode 24 Power supply status 36 Reserved Bytes

[0074] In the radar equipment information system, the radar end also needs to complete the hierarchical judgment of the board fault information. The information collection of the key boards in each subsystem has been completed. At the command end, only the status information of the equipment subsystem level can be obtained to support the judgment of the equipment working status. Therefore, it is necessary to complete the hierarchical judgment of the board fault information at the radar end, which is divided into general faults, serious faults and fatal faults. General faults refer to the alarm information that a certain extension of the radar has a fault, which may cause the performance of the equipment to decline, but the equipment is still capable of completing the detection task. For example, the failure of the radar target simulator does not affect the detection performance of the equipment; the failure of the array power supply, components, etc., causes the radar detection performance to decline, but still has the ability to complete the task. The device is still available in this type of fault. Serious faults refer to faults that may cause the radar performance to deteriorate or even fail to complete the task, or continued use may cause greater damage to the system, such as cooling system failures. Fatal faults refer to faults that will cause the equipment to have no detection capability after the occurrence, or the system will be damaged if it continues to be used. At this time, the shutdown procedure should be started immediately and a buzzer alarm message should be sent. Different colors are used to distinguish the display status when presenting specific information. Green means the system is working normally, red means the system is faulty or a certain board in the system is faulty, and gray means the system is not turned on or the information is not detected. When a serious fault occurs in the system, the display color can be changed and a sound alarm can be issued to alert the commander.

[0075] 2.2: Set up at least one search screen to cover the flight directions and trajectories of multiple targets in the airspace, obtain the working status of each radar in real time, and integrate the radar detection status. Specifically, complete the integrated display of the radar equipment's real-time search airspace setting information and detection situation information.

[0076] Multiple radars set their working states based on the initial task allocation results. During the task, the command end changes the working state based on their own target tracking situation and the overall target tracking situation of the detection network. The purpose is to enhance the search and tracking coordination of each radar, such as capturing more targets, strengthening the redundant coverage of key targets, and enhancing the airspace scanning coverage rate, thereby improving the detection efficiency of the detection network. By switching between different working states, the number of effective target tracking, the overall tracking data rate of a single target, and the tracking waveform will change, which is beneficial to obtaining more feature measurement information.

[0077] 2.2.1: The search airspace information reflects the setting status of the equipment search screen, and graphically displays the information of each equipment search screen, so that the commander can intuitively grasp the equipment search coverage of the target's expected flight airspace, analyze the scientific effectiveness of the setting of each equipment search screen, and provide a basis for planning the coordinated search and handover search strategies of each device. The search airspace is displayed in three dimensions in combination with data earth technology. For a single radar, it reflects whether the radar application strategy is reasonable; for multiple radars, it reflects whether each radar search screen has completed the coverage of the established airspace, whether the key airspace is redundantly covered, whether there is a gap in the handover connection of each radar search, and whether it has emergency search capabilities. The content of the radar search airspace information transmission in this embodiment is shown in Table 2, which includes information such as the distance, azimuth, and pitch coverage range of multiple radar search screens.

[0078] Table 2 Radar search airspace information

[0079]

[0080]

[0081] As a preference, based on the degree of acquisition of the target prior information, when setting the search screen,

[0082] When the mission area is known, detect the airspace coverage rate under the multi-radar coordination state, cover and display the key airspace. At this time, do your best to complete the detection coverage of the relevant area. If a high coverage rate cannot be achieved under the multi-device coordination state, it is necessary to cover the key airspace. If the search resources are sufficient after the coordination of multiple devices, the key airspace can be covered redundantly.

[0083] When the target flight direction is known, the azimuth and pitch range of the target flight direction are detected and displayed in the multi-radar collaborative state. The search screen needs to complete the coverage of the flight direction azimuth and pitch range, and complete multi-level connection in terms of distance;

[0084] The target flight trajectory is known, and the coverage of the target flight trajectory in the multi-radar collaborative state is detected and displayed. Multiple search screens are set up in a step-by-step manner according to the maximum effective range, reliable effective range, and conservative effective range of each radar, and an emergency search screen is also set up.

[0085] Multiple radars cooperate to cover key airspaces, select detection tasks and allocate detection resources to achieve optimal configuration between tasks, radars and detection targets (areas). When the detection resources meet the task requirements, the task sequence allocation optimization is directly performed to complete the detection resource allocation; when it does not meet the requirements, the entire task sequence allocation is optimized, and then the task sequence combination optimization is performed to complete the target selection and detection resource allocation. Specifically, the task sequence allocation optimization algorithm traverses the detection capability of each radar for each task to form a quantitative evaluation result of the system detection performance of the radar networking system under different task assignment conditions. The combination with a high score is the initial allocation result of the detection resource. When the number of tasks is greater than the number of radars, the detection task selection is first completed according to the target priority, and then the above optimization dispatch is performed to obtain the maximum quantitative score value of the current task sequence; when a certain target is impossible to detect or seriously reduces the quantitative evaluation result of the system detection performance, or when there is a target with the same priority that has not entered the task sequence, the corresponding target is eliminated. Then, repeat the above steps to obtain the maximum quantitative score value of all sequence combinations. Finally, the task sequence combination and detection resource allocation result corresponding to the maximum score of the entire three-dimensional matrix are selected. Each radar can conduct coordinated search, shift search, coordinated tracking, and shift tracking to achieve effective tracking coverage of flying targets in the airspace and long-term continuous monitoring of key targets.

[0086] 2.2.2: Radar detection situation information is used to reflect the current radar detection status. It is both the radar end's feedback to the command end's dispatch instructions and a supplement to its output measurement information. It is convenient for the commander to grasp the overall detection status of the equipment at the current equipment level and dynamically adjust the equipment search, tracking and measurement according to the specific situation. The working status of the radar includes search, interception, tracking + fixed airspace search, tracking + follow-up search, tracking target saturation, and tracking end. The meaning and impact domain analysis of different detection states are shown in Table 3.

[0087] Table 3 Radar main detection status table

[0088]

[0089]

[0090] 2.3: Visualize the characteristic measurement information of multiple targets detected by each radar, show the multi-target airspace distribution situation and flight situation, and integrate the radar detection information. The characteristic measurement information can be divided into multi-target track measurement information, RCS measurement information, one-dimensional image and other characteristic measurement information. Multi-target track measurement information is a concentrated reflection of the information obtained by the radar from the current airspace. Through various types of charts and lists, it can form intuitive tracking situation information, display the multi-target tracking status of the radar equipment, and provide commanders with a global grasp of the target airspace distribution situation and flight situation. It can be further used for track fusion processing, target fusion identification, differentiated guidance and real-time task evaluation. RCS measurement information is an important basis for target attribute discrimination, and target discrimination and resource scheduling are carried out. The main information contained in multi-target information transmission is shown in Table 4. In the spatiotemporal diversity target environment, each radar device will capture a large number of targets, and the amount of information is huge, so it is necessary to adopt a split-screen display method to achieve integration, in which the main situation display interface gives priority to the main target characteristic measurement information of each radar. The display methods include list display, two-dimensional plane situation display and three-dimensional situation display. As a preference, the characteristic measurement information of multiple targets includes multiple target distances, azimuths, pitch angles, altitudes, speeds, sub-satellite points, and RCS. The integrated content includes the multi-target information output by multiple radars and radar working status information. To facilitate the centralized presentation of information, this embodiment displays the detection situation in an integrated manner, including a list of multiple devices. You can choose to view the link monitoring information, working status, energy usage of the station location, working parameters, subsystem working status, current search airspace, measurement information, etc. of each device. The interface is as follows: Figure 7 shown.

[0091] Table 4 Radar detection information

[0092]

[0093]

[0094] When displaying visually, it is necessary to distinguish the main target and display the multi-target situation at the same time. When displaying multiple targets, the main targets of different devices can be distinguished by different colors, and the main target single interface can be displayed separately for focused viewing; when displaying multiple targets, it is easy to cause complex information due to too many targets. One is to distinguish them by color; the second is to combine the overall display with the local magnified display; the third is to leave an interactive interface to control whether the tracking data of a certain device or a certain target is displayed; the fourth is to use threshold setting to control that only targets that meet the conditions are displayed; the measurement data is transformed from the radar measurement system to the geodetic coordinate system through coordinate transformation, and drawn based on the geographic information system platform, which is the application of existing technology in the radar field.

[0095] Step 2: The multi-target measurement information and radar working status information output by the radar are used to realize the multi-target tracking situation assessment and control at the command end. The first step is to integrate the detection information of each radar, including multi-target distance, azimuth, pitch angle, altitude, RCS and other measurement information; the second step is to integrate the radar working status, and call different states according to the radar search and tracking energy, and distinguish them into basic states such as search, tracking, interception, tracking + search, tracking energy saturation, and tracking end. The multi-target measurement information is used for track fusion processing, target fusion identification, differentiated guidance and real-time task evaluation. By processing and statistics of each radar measurement data, graphical display and other methods, under the central target discrimination framework, the tracking situation of each group of targets can be grasped and evaluated in real time, and differentiated and targeted secondary target guidance can be provided to realize efficient scheduling and control of each radar. The radar working status information is used for real-time control decision-making, and the display methods include list display and graphical situation display: the list display content includes the search and tracking status of each radar, the number of multi-target tracking; the graphical display includes the horizontal projection of the station layout, search area, and tracking target group location of each radar, so as to realize the integration of the working situation of each radar.

[0096] In the above technical solution, the radar detection situation is integrated and displayed in complex scene detection and distributedly deployed on the command end and radar end, so that the commander and radar operators can grasp the situation more comprehensively and intuitively. The commander can control the airspace situation as a whole and allocate search and tracking resources as needed. Radar operators can deepen their understanding of the role of their radar in the detection system, understand the airspace search and target tracking of the preceding and subsequent radars, and assist in target identification.

[0097] The present invention builds a database of the detection capabilities of different radar devices at different points by modeling the radar detectable area. On the one hand, it can be used to analyze the visible range and clutter conditions of the radar when detecting specific targets. On the other hand, it can provide a basis for the command end to adjust the equipment deployment plan and analyze the target detection effect. At the same time, it can assist in planning the flight trajectory in the target flight test mission to prevent the target from flying in the undetectable arc for a long time.

[0098] The present invention models the radar detection capability, constructs a parameter matrix of radar target range, maximum number of tracked targets, and airspace search capability, and displays it graphically. Commanders can accurately grasp the detection capability of each radar device, complete the detection task allocation scientifically and meticulously, and quickly select available equipment to complete emergency capture and tracking when the target flies abnormally.

[0099] The present invention completes the integrated display of the working status through the integrated design of radar working status transmission, so that the command end can grasp the working and health status of each device in detail, obtain the current working parameters of each device, and judge whether there is interference in the same frequency band. In the interference penetration mission, the interference triggering status can be judged and anti-interference measures can be formulated. Through BIT information, sudden equipment failures can be discovered in the first time, so as to timely adjust the overall equipment application strategy of the detection system.

[0100] The present invention completes radar detection status integration by constructing search airspace information transmission content and performing three-dimensional visualization display. It uses rich graphics to represent multiple radars and multiple search airspaces, and completes multi-device collaborative search, shift search, key airspace redundant search and other situations. It provides a basis for commanders to judge whether the airspace search strategy is reasonable. Through the display of detection situation information, commanders can grasp the search and tracking status of each device for subsequent decision-making.

[0101] The present invention integrates and displays radar detection information to achieve intuitive presentation of radar tracking multi-target information, allowing commanders to judge the target tracking status of each device, observe the execution of target separation actions and the release of devices such as bait, grasp the flight status of targets and accompanying objects, and judge the correctness of effective targets and the main tracking targets of each device.

[0102] The situation integration method constructed by the present invention is used to display the equipment tracking status. The number of displayed targets has developed from the main target of radar tracking to multiple targets. The measurement information has been expanded from the distance, azimuth, and pitch dimensions to include elevation, speed, sub-satellite points, etc. The display dimension has gradually developed from a two-dimensional curve to a three-dimensional situation. The equipment information has been expanded from the indicator text description to the deployment position presentation in the three-dimensional situation. The overall information display is mainly based on the real-time radar tracking data, which depicts a certain target flight situation and equipment tracking situation. The radar end completes the target tracking status display through the traditional radar field information display methods such as P-type, E-type, B-type, and A-type. At the same time, the time-dimensional curves of the distance, azimuth, pitch, elevation and other dimensions are drawn according to the target measurement data. The combination of the two allows the radar end operator to judge the target tracking situation and adjust the search and tracking strategy.

[0103] The radar working status contains a lot of content and complex information. The present invention realizes accurate and comprehensive reasonable representation of the detection status through scientific status type classification, forms a concise expression of the complex state of the radar, and facilitates rapid command decision-making under different detection states of multiple radars.

[0104] The present invention reasonably analyzes the radar working status information, search airspace information, detection status information, detection data and the like, selects information that can be used for situation control and equipment calling at the command end, constructs a scientific information transmission agreement, and realizes the convergence and display of the radar end status at the command end, making it convenient for commanders to grasp the working status of the equipment and the execution of the assigned detection tasks.

[0105] The present invention integrates the working status of each radar, the use of detection resources, the flight status of the target airspace, and the radar tracking status through reasonable design of information presentation content and presentation method, forming a situation map, realizing precise coupling of the command end, radar end, and target end, so as to facilitate the commander to dynamically grasp the status of the detection system, evaluate the overall completion rate and completion quality of the detection task, and then carry out on-the-spot dispatch and control of the detection resources.

[0106] The number of devices and processing scales described here are used to simplify the description of the present invention. Applications, modifications and variations of the present invention will be obvious to those skilled in the art.

[0107] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A multi-radar detection situation integration method, characterized in that: Deploy multiple radars in the airspace to coordinate the detection of multiple targets, including: Step 1: Radar detection performance modeling: Based on the servo structure characteristics, station location and surrounding geographical environment of each radar, the radar detectable area is modeled; Calculate the range parameter matrix of each radar under different waveforms and working modes, obtain the real-time working status of the radar, dynamically analyze its search and tracking energy allocation and remaining capacity, calculate the maximum number of tracked targets, and for radars that can meet the search of the airspace size, calculate the number of interceptions of each radar for a specific flying target in a specific search scenario, construct a radar airspace search characterization parameter matrix, and model the radar detection capability based on the range of each radar, the maximum number of tracked targets, and the airspace search capability; Step 2: Radar working situation integration: Real-time link monitoring is performed to obtain the link connectivity between the radar end and the command end and other radar ends, obtain radar operating parameters and health status information in real time, and integrate radar operating status; Set up at least one search screen to cover the flight directions and trajectories of multiple targets in the airspace, obtain the working status of each radar in real time, and integrate the radar detection status; The characteristic measurement information of multiple targets detected by each radar is visualized, showing the airspace distribution and flight status of multiple targets, and integrating radar detection information.

2. The multi-radar detection situation integration method according to claim 1, characterized in that: The radar detectable area is modeled and a radar detectable area database is established, including the invisible elevation angle range, clutter area, distance blind area, antenna continuous tracking servo azimuth and elevation limit area, azimuth and elevation angle range, and array inclination angle of each radar at different station locations.

3. The multi-radar detection situation integration method as claimed in claim 1, characterized in that: Based on the actual power value of the radar in different waveforms and working modes, as well as the reference RCS fluctuation range of the established tracking target, the maximum effective range, reliable effective range, and conservative effective range of a single radar in the current working mode are calculated. If the conservative effective range is smaller than the radar distance blind spot, the conservative effective range is adjusted to the radar distance blind spot.

4. The multi-radar detection situation integration method as claimed in claim 1, characterized in that: The maximum number of targets tracked by the radar is n t The calculation formula is: Among them, F represents the radar repetition rate and N represents the number of accumulated pulses.

5. The multi-radar detection situation integration method as claimed in claim 1, characterized in that: The radar airspace search characterization parameter matrix is ​​constructed as follows: Let the search time be T s , the search interval is T si , when there is no target tracking: Among them, θ X ,θ Y represents the azimuth and elevation of the search space, θ x ,θ y It indicates the beam jump when the radar scans rows and columns, N indicates the number of accumulated pulses, and PRI indicates the pulse repetition period; There are n tracking states of targets, and the number of targets in each state is n i , the tracking interval of the i-th state is T tii , the total number of target tracking should be less than n t And it is less than the specific index value of the maximum trackable target of the radar. At this time, the search interval time T si The calculation formula is: Combining the size of the airspace to be searched and the target flight speed, the target airspace crossing time T can be obtained. c , and then according to the search interval time T si , the number of interceptions of a specific flying target by the radar in a specific search scenario is obtained, thereby constructing the main characterization parameter matrix of the radar airspace search capability.

6. The multi-radar detection situation integration method as claimed in claim 1, characterized in that: When setting up the search screen, When the mission area is known, detect the airspace coverage rate in the multi-radar coordination state, and cover and display the key airspace; When the target flight direction is known, detect and display the azimuth and pitch range coverage of the target flight direction in the multi-radar cooperative state; The target flight trajectory is known, and the coverage of the target flight trajectory in the multi-radar collaborative state is detected and displayed. Multiple search screens are set up in a step-by-step manner according to the maximum effective range, reliable effective range, and conservative effective range of each radar, and an emergency search screen is also set up.

7. The multi-radar detection situation integration method as claimed in claim 1, characterized in that: The radar's working states include search, interception, tracking and fixed airspace search, tracking and follow-up search, tracking target saturation, and tracking completion.

8. The multi-radar detection situation integration method as claimed in claim 1, characterized in that: The characteristic measurement information of multiple targets includes multi-target distance, azimuth, pitch angle, altitude, speed, sub-satellite point, and RCS.

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