Multi-radar equipment collaborative control method, device and system

Abstract

The present invention discloses a method, device and system for collaborative control of multiple radar devices, the method comprising: based on the priority of the detection task and the detection capability of the radar, using an optimization algorithm to optimally allocate the detection task; based on the demand of the detection task and the detection capability of the radar allocated to the detection task, generating a collaborative detection strategy for the detection task; obtaining the measurement data fed back by the radar and the working status of the radar. In response to the received demand adjustment instruction for the detection task, a new demand for the detection task is generated. Based on the acquired working status of the radar, the availability of the radar is judged. If the radar is not available, the radar is reallocated for the detection task, or in response to the received reallocation instruction, the designated radar is reallocated for the detection task. The present invention can effectively enhance the elasticity of the detection network, realize the coordinated scheduling of human and equipment resources, and quickly and reasonably respond to complex task situations.

Description

Technical Field

[0001] The present invention relates to the technical field of phased array radars, and more specifically, to a method, device and system for cooperative control of multiple radar devices. Background Art

[0002] Phased array radar has the ability to adapt to complex scenarios significantly due to its capabilities of rapid changes in beam pointing and shape, large airspace search, and multi-target tracking and measurement. In application areas such as target flight tests, satellite launches, and in-orbit monitoring, phased array radar has become the equipment of choice.

[0003] With the development of anti-detection technology, the airspace for detection missions will present a state of intensive flight of multiple targets, and in the later stage of flight, it will be characterized by large airspace distribution. In the target flight test phase, obtaining the flight status and accurate measurement data of all targets at all times is an inevitable requirement for performance judgment. In this scenario, there are many targets and they are widely distributed in time and space. How to effectively obtain the flight status of the target, provide support for the evaluation of the confrontation effect in the confrontation background, and provide effective target guidance for defense weapons in the actual combat background is an urgent problem to be solved. However, a single set of radars is often difficult to complete the measurement of the entire flight cycle of the target, and multiple sets of radars are required to coordinate relay tracking and use multiple radar equipment for coordinated detection. However, the traditional collaborative mode of multiple sets of radars is a task-level collaborative detection mode, which can obtain key target tracking data, but the emergency response capability is weak and the timeliness is poor, and it cannot adapt to the agile and changeable characteristics of the airspace situation in new scenarios. Summary of the invention

[0004] The purpose of the present invention is to provide a method, device and system for collaborative control of multiple radar devices, which can effectively enhance the elasticity of the detection network, realize the coordinated scheduling of human and equipment resources, and quickly and reasonably respond to complex task situations.

[0005] In order to achieve these purposes and other advantages according to the present invention, a multi-radar device cooperative control method is provided, comprising:

[0006] Based on the priority of detection tasks and the detection capability of radar, an optimization algorithm is used to optimally allocate detection tasks.

[0007] Generate a collaborative detection strategy for the detection mission based on the requirements of the detection mission and the detection capabilities of the radars assigned to the detection mission;

[0008] Obtain the measurement data fed back by the radar and the working status of the radar.

[0009] Preferably, it also includes:

[0010] In response to the received detection task requirement adjustment instruction, a new detection task requirement is generated.

[0011] Preferably, it also includes:

[0012] Based on the acquired working status of the radar, the availability of the radar is determined. If the radar is not available, the radar is reallocated for the detection task, or in response to a received reallocation instruction, a designated radar is reallocated for the detection task.

[0013] Preferably, it also includes:

[0014] Based on the new requirements of the detection task and the detection capability of the radar assigned to the detection task, a new collaborative detection strategy for the detection task is generated, or in response to a received adjustment instruction of the collaborative detection strategy, a collaborative detection strategy for the specified detection task is generated.

[0015] Preferably, based on the priority of the detection task and the detection capability of the radar, the method of using an optimization algorithm to optimally allocate the detection task includes:

[0016] Prioritize and assign weights to detection tasks based on the importance of their objectives;

[0017] Traverse and calculate the detection capability of each radar for each target of the detection mission;

[0018] Calculate the total detection capability scores of all radars under various task allocation schemes, and select the task allocation scheme with the highest total detection capability score.

[0019] Preferably, the detection capability of the radar includes the following indicators: target acquisition capability, target effective detection section, target group tracking integrity and detection accuracy;

[0020] The quantitative calculation formula of target interception capability is:

[0021] S Pij =D Pi ×D Mj ×[1-(1-P Dij ) n ]

[0022] In the formula, S Pij is the quantitative value of radar i’s interception capability for the target of detection task j, D Pi is the weight of target acquisition capability to detection capability, D Mj is the weight of detection task j, P Dij is the single interception probability of radar i for the target of detection task j in the predetermined search airspace, and n is the number of scans that radar i can complete during the target penetration period of detection task j;

[0023] The quantitative calculation formula for the effective target detection section includes:

[0024] When the detection mission is a target flight test mission and the assessment target is the mission segment time:

[0025]

[0026] In the formula, S Tij D is the quantitative value of the effective detection section of radar i for the target of detection task j, Ti is the weight of the target effective detection paragraph in the detection capability, D Mj is the weight of detection task j, t ij is the detection time period of radar i for the target of detection task j, T j is the total flight time for detecting the target of task j;

[0027] When the detection mission is to provide target guidance for terminal interference, and the target flight trajectory and mission segment are unclear:

[0028]

[0029] In the formula, r ij is the detection range of radar i for target detection task j, R 0ij is the shortest guidance distance of radar i to the target of detection task j, R 1ij is the ideal guidance distance of radar i to the target of detection task j, k1 and k2 represent the weights of the detection sections of the two distances, and 1≥k1>k2;

[0030] The quantitative calculation formula for target group tracking integrity includes:

[0031]

[0032] In the formula, S Sij is the tracking integrity quantified value of radar i for the target group of detection task j, D Si is the weight of target group tracking integrity in detection capability, D Mj is the weight of detection task j, m i is the maximum number of target tracking of radar i, M j is the number of targets to be detected in the target group of detection task j;

[0033] The quantitative calculation formula for detection accuracy is:

[0034]

[0035] In the formula, S Jij D is the quantitative value of the detection accuracy of radar i for the target of detection task j, Ji is the weight of detection accuracy in detection capability, D Mj is the weight of detection task j, Δ Ri is the distance measurement accuracy of radar i, Δ Aiis the azimuth measurement accuracy of radar i, Δ Ei is the elevation measurement accuracy of radar i, δ R is the expected accuracy of distance measurement for the detection task, δ A is the expected accuracy of the detection mission azimuth measurement, δ E Desired accuracy of pitch measurements for detection missions.

[0036] Preferably, the collaborative detection strategy includes: collaborative search, shift search, collaborative tracking, and shift tracking.

[0037] The present invention also provides a multi-radar device collaborative control server applying the multi-radar device collaborative control method, comprising:

[0038] A task allocation module is used to allocate detection tasks optimally using an optimization algorithm based on the priority of the detection tasks and the detection capability of the radar;

[0039] A collaborative detection strategy generation module, which is used to generate a collaborative detection strategy for the detection task based on the requirements of the detection task and the detection capability of the radar assigned to the detection task;

[0040] The data acquisition module is used to obtain the measurement data fed back by the radar and the working status of the radar.

[0041] The present invention also provides a multi-radar equipment collaborative control system, comprising:

[0042] The above-mentioned multi-radar equipment collaborative control server;

[0043] A multi-radar device collaborative control command terminal, which is used to input a detection task demand adjustment instruction, and / or a detection task reallocation instruction, and / or an adjustment instruction of a collaborative detection strategy of a detection task, and receive radar measurement data and radar working status sent by the multi-radar device collaborative control server;

[0044] A plurality of multi-radar device collaborative control execution terminals, each of which corresponds to a radar, and the multi-radar device collaborative control execution terminal is used to receive detection tasks issued by the multi-radar device collaborative control server, and at the same time feed back the radar's measurement data and the radar's working status to the multi-radar device collaborative control server.

[0045] Preferably, the multi-radar device collaborative control command end is provided with a first display device, and the multi-radar device collaborative control command end is also used to display a map, radar deployment points, a detection task list, and measurement data of the radar of the current detection task and the working status of the radar on the first display device;

[0046] The multi-radar device collaborative control execution end is provided with a second display device, and the multi-radar device collaborative control execution end is also used to display the assigned task list of its corresponding radar, the measurement data of the radar of the current detection task and the working status sending status on the second display device.

[0047] The present invention has at least the following beneficial effects:

[0048] Aiming at the energy redundancy, low tracking accuracy, poor management decision-making timeliness and other problems that may occur when multiple radars are detecting complex scenes, the present invention realizes the reasonable allocation of detection resources, dynamically adjusts the tasks of each device, and dispatches detection resources in real time to achieve the optimal use of detection resources;

[0049] The present invention allocates tasks optimally, fully considers the optimal detection resource allocation when the detection resources meet the conditions, the optimal choice of task objectives and the optimal detection resource allocation when the detection resources do not meet the conditions, and constructs a radar network detection capability index system, which can quantitatively evaluate the detection efficiency, solves the problem of low efficiency of task allocation of each radar in complex mission scenarios, and achieves the optimal overall performance of the radar network;

[0050] The present invention formulates a spatiotemporal diversity collaborative detection strategy for different detection scenarios through task collaborative planning, can accurately divide the search airspace, and achieve high probability of target interception in a large airspace state. Through collaborative tracking and shift tracking strategy formulation, effective tracking coverage of flying targets in the airspace and long-term continuous monitoring of key targets are achieved;

[0051] The present invention adjusts the collaborative detection strategy in real time according to the task progress status and the detection situation of each radar through task process management, realizes dynamic task planning, guides different radars to track different individuals in a large target group in real time, realizes the reasonable allocation of detection resources, completes the complete tracking of large target groups, and improves the detection capability and efficiency of the detection network.

[0052] 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

[0053] Figure 1 It is a flow chart of the present invention in terms of task optimization and allocation;

[0054] Figure 2 It is a flowchart of the present invention in task process management and scheduling;

[0055] Figure 3 It is a schematic diagram of the time period of the detection range of the radar to the target in the airspace in an embodiment of the present invention;

[0056] Figure 4Schematic diagram of a use case of partitioned collaborative search for low-altitude penetration targets in a strong ground clutter area in an embodiment of the present invention. DETAILED DESCRIPTION

[0057] 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.

[0058] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials are commercially available unless otherwise specified; in the description of the present invention, the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do 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 on the present invention.

[0059] The present invention provides a multi-radar equipment collaborative control method, comprising:

[0060] Step 1: Based on the priority of the detection task and the detection capability of the radar, an optimization algorithm is used to optimally allocate the detection tasks;

[0061] The main purpose of this step is to achieve the optimal configuration between tasks, radars and detection targets (areas). Therefore, 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. The main process is as follows: Figure 1 shown.

[0062] The optimal allocation of tasks mainly follows three principles: ① The measurement information obtained by the radar that tracks the target needs to ensure that the targets in the monitored area can have excellent tracking accuracy while reducing data redundancy as much as possible to make the best use of resources; ② The detection network has excellent energy effectiveness and the longest possible network life cycle; ③ The radar management decision-making is highly real-time, ensuring that the corresponding detection radar can be allocated to the designated target or detection area within the effective time, reducing the possibility of loss of management and control.

[0063] The task sequence allocation optimization algorithm can be a simple "dispatching" algorithm. By traversing the detection capability of each radar for each task, a quantitative evaluation result of the system detection performance of the radar network system under different task dispatching conditions is formed, and the combination with the highest score is the initial allocation result of the detection resource.

[0064] Specifically, based on the priority of the detection task and the detection capability of the radar, the method of using the optimization algorithm to optimally allocate the detection task includes:

[0065] Determine the priority and assign weights to the detection tasks based on the importance of the detection tasks. The detection tasks are weighted according to the different nature of the targets, including four categories: must-protect targets, key targets, attention targets, and general targets. Let the weight be D Mj .

[0066] The detection capability of each radar for each detection task is calculated. The detection capability factors include target interception capability, target effective detection section, target group tracking integrity and detection accuracy capability, and the weights are set as D Pi , D Ti , D Si and D Ji The weights of target and detection capability elements are set differently in different mission scenarios.

[0067] Calculate the total detection capability scores of all radars under various task allocation schemes, and select the task allocation scheme with the highest total detection capability score.

[0068] More specifically, the target interception capability is based on the airspace search capability model of each radar, and the interception probability of the radar in the corresponding mission scenario is calculated to obtain a quantitative score.

[0069] Therefore, the quantitative calculation formula of target interception capability can be expressed as:

[0070] S Pij =D Pi ×D Mj ×[1-(1-P Dij ) n ]

[0071] In the formula, S Pij is the quantitative value of radar i’s interception capability for the target of detection task j, D Pi is the weight of target acquisition capability to detection capability, D Mj is the weight of detection task j, P Dij is the single interception probability of radar i for the target of detection task j in the predetermined search airspace, and n is the number of scans that radar i can complete during the target penetration period of detection task j;

[0072] The type of assessment indicators and quantitative score calculation method for the effective detection section of the target are determined according to the task type.

[0073] When the detection mission is a target flight test mission and the assessment target is the mission segment time, the quantitative calculation formula for the target effective detection segment can be expressed as:

[0074]

[0075] In the formula, S Tij D is the quantitative value of the effective detection section of radar i for the target of detection task j, Ti is the weight of the target effective detection paragraph in the detection capability, D Mj is the weight of detection task j, t ij is the detection time period of radar i for the target of detection task j, T j is the total flight time period for detecting the target of task j;

[0076] When the detection task is to provide target guidance for the terminal interference, and the target flight trajectory and mission segment are unclear, the quantitative calculation formula for the effective detection segment of the target can be expressed as:

[0077]

[0078] In the formula, r ij is the detection range of radar i to the target of detection task j, R 0ij is the shortest guidance distance of radar i to the target of detection task j. If the detection distance of radar to the target is r ij If the distance is lower than this, the confrontation task cannot be supported. 1ij is the ideal guidance distance of radar i to the target of detection task j. If the detection distance of radar to the target is r ij If the distance is higher than this, the marginal benefit of supporting the task will decrease. k1 and k2 represent the weights of the detection segments at two distances, and 1≥k1>k2;

[0079] The target group tracking integrity is mainly a quantitative evaluation of the number of radar detected targets. The quantitative calculation formula of the target group tracking integrity can be expressed as:

[0080]

[0081] In the formula, S Sij D is the quantified value of the tracking integrity of radar i for the target of detection task j, Si is the weight of target group tracking integrity in detection capability, D Mj is the weight of detection task j, m i is the maximum number of target tracking of radar i, M j is the number of targets to be detected in the target group of detection task j;

[0082] The measurement accuracy of three-coordinate radar includes distance, azimuth and elevation, which corresponds to the target detection accuracy requirements. Therefore, the quantitative calculation formula of detection accuracy can be expressed as:

[0083]

[0084] In the formula, S Jij is the detection accuracy of radar i for the target of detection task j, D Ji is the weight of detection accuracy in detection capability, D Mj is the weight of detection task j, Δ Ri is the distance measurement accuracy of radar i, Δ Ai is the azimuth measurement accuracy of radar i, Δ Ei is the elevation measurement accuracy of radar i, δ R is the expected accuracy of distance measurement for the detection task, δ A is the expected accuracy of the detection mission azimuth measurement, δ E Desired accuracy of pitch measurements for detection missions.

[0085] Based on the above calculation method, the quantitative score of a radar's detection performance evaluation for a target or target group is obtained, and then the total quantitative score under a distribution scheme can be obtained. Then repeat the above steps for all combinations of distribution schemes and take the maximum value to obtain the optimal distribution result.

[0086] When the number of tasks is greater than the number of radars, first complete the detection task selection according to the target priority, then perform the above optimal allocation and obtain the maximum quantitative score value of the current task sequence; when a target is impossible to detect or seriously reduces the quantitative evaluation result of the system detection performance, or when there are targets with the same priority that have not entered the task sequence, eliminate the corresponding target. Then, repeat the above steps to obtain the maximum quantitative score value of all sequence combinations.

[0087] Step 2: Based on the requirements of the detection task and the detection capability of the radar assigned to the detection task, a collaborative detection strategy for the detection task is generated;

[0088] The tracking power range, angle search coverage capability, and multi-target tracking capability of each radar device are all different. It is necessary to combine the deployment location of fixed equipment and mobile measurement and control points according to different mission scenarios and target detection requirements, reasonably deploy mobile equipment according to the spatiotemporal distribution characteristics of the target flight trajectory, and formulate a coordinated detection strategy to achieve optimal detection of airspace targets.

[0089] Specifically, the collaborative detection strategies include: collaborative search, shift search, collaborative tracking, and shift tracking.

[0090] Collaborative search: Phased array radars usually use line-by-line scanning to search a given airspace. Therefore, there are two principles for a reliable search airspace (search screen) strategy: First, ensure that the time for a line scan should be less than the time for the target to cross the beam angle in elevation; second, ensure that the target's elevation and azimuth crossing times in the search airspace are basically matched, so that the search screen can be used efficiently to complete multiple interceptions to improve interception efficiency. Generally, when the target is in motion, the farther the distance, the lower the elevation angle, and the slower the target angular velocity, the more conducive it is to radar interception. Therefore, when the radar power is sufficient and there is certain prior information, it is most reasonable to set the search airspace at a low elevation angle.

[0091] In conventional detection tasks, there is sufficient prior information about the target. At this time, when the power of multiple radar devices meets the detection requirements, airspace coverage search can be carried out to increase the probability of target detection. Under interference-free conditions, the probability of a single radar detecting a target is expressed as P d , then in the collaborative detection scenario, the target detection probability is the union of the detection probabilities of each radar, which can be calculated as:

[0092]

[0093] When there is no coordinated detection, the airspace detection probability can be taken as the maximum value of the detection probability of each radar, that is,

[0094] P D-before =max(P d1 ,P d2 ,…,P dn )

[0095] Then the increase in the probability of discovery after collaborative detection is:

[0096] ΔP D =P D -P D-before

[0097] In a multi-target space-time diversity scenario, there is a situation of insufficient power and insufficient prior information. At this time, the detection airspace is large, and the difficulty of interception by a single radar increases dramatically, so collaborative search is required to achieve airspace detection.

[0098] According to the radar deployment and detection requirements, collaborative search can be divided into two types: split-screen collaborative search and partition collaborative search.

[0099] Split-screen collaborative search is aimed at the situation where the geographical space corresponding to the maximum range of more than two radars is relatively close, or the maximum detectable range of radars close to each other due to low-altitude penetration of the target is relatively close in geographical space, or the target launch area is roughly determined and basically within the radar detection range. At this time, the established search airspace of each radar is set centrally to prevent the target from "slipping through the net", which will help improve the interception probability of the radar network. Split-screen collaborative search is achieved by splitting a larger search airspace into several sub-airspaces and assigning them to the corresponding radars. At this time, there are two basic forms of collaboration: vertical collaboration and horizontal collaboration. The scenarios of vertical collaboration include: when the target distance is very far, the longer-range high-power radar is responsible for the upper layer of the airspace, and the angular velocity of the target at a long distance is low; the short-range low-power radar is responsible for the low altitude, which not only achieves blind spot filling for the low altitude, but also obtains a lower target angular velocity. When the target distance is close, due to the strong ground clutter in the near area, on the contrary, the ground clutter is avoided. Horizontal collaboration is generally used in situations where the radar stations are close.

[0100] Zone-based collaborative search is mainly aimed at two situations. First, the geographical spaces corresponding to the maximum operating ranges of various radars vary greatly. Setting up multiple "defense zones" for incoming targets in large airspace increases the radar network's interception probability. Second, low-altitude penetration targets use strong ground clutter environments such as mountains to penetrate. In order to avoid ground clutter, it is more reasonable to choose zone-based collaborative search.

[0101] Shift search: For targets flying successively at intervals of minutes, after the radar intercepts the target in its search airspace, if there are no idle resources to complete the subsequent tracking, it will be responsible for both target tracking and original airspace search. At this time, it is necessary to maintain off-axis tracking while maintaining off-axis search, which requires the radar to have a more reasonable servo control strategy - neither a follow-up tracking target nor a fixed state, but to find an adaptive dynamic balance point between the search normal and the tracking target pointing - based on the real-time angle measurement data of the tracking target and the search normal, a servo guidance curve can be obtained in real time by making a difference and then smoothing the difference. Similarly, radars that take over search or tracking also need to implement off-axis search and tracking of the servo and electric axis in order to complete the handover as soon as possible.

[0102] Collaborative tracking: In addition to redundant tracking and multi-station tracking to improve reliability and track quality, this method is more importantly to achieve full target tracking in a large-scale cluster. The method is to first have one radar track some targets in the group, and then provide guidance information of the edge targets of the target queue to the radars participating in the collaborative tracking; the newly added radar tracks the target under guidance and searches with it, expanding the target queue until all targets are tracked. Therefore, the key to achieving collaborative tracking is the ability to form a multi-target queue and specify arbitrary target guidance.

[0103] Shift tracking: It is divided into search radar shift tracking radar and tracking radar shift tracking radar, forming a measurement chain of the flight pipeline to achieve long-term continuous tracking and surveillance of the established target.

[0104] Step 3: Obtain the measurement data fed back by the radar and the working status of the radar.

[0105] It is not difficult to see from the above embodiments that the present invention, through task optimization allocation, fully considers the optimal detection resource allocation under the condition that the detection resources meet the conditions, the optimal choice of task objectives and the optimal detection resource allocation under the condition that the detection resources do not meet the conditions, and constructs a radar network detection capability index system, which can quantitatively evaluate the detection efficiency, solve the problem of low efficiency of task allocation of each radar in complex task scenarios, and achieve the optimal overall performance of the radar network;

[0106] The present invention formulates space-time diversity collaborative detection strategies for different detection scenarios through task collaborative planning, can accurately divide the search airspace, and achieve high-probability target interception in a large airspace state. Through collaborative tracking and shift tracking strategy formulation, effective tracking coverage of flying targets in the airspace and long-term continuous monitoring of key targets can be achieved.

[0107] Furthermore, if Figure 2 The multi-radar equipment collaborative control method further includes:

[0108] In response to the received detection task requirement adjustment instruction, a new detection task requirement is generated.

[0109] Since target detection is a dynamic process during the mission, the target state is always changing due to events such as searching and capturing new targets, fluctuations and loss of existing tracked targets, etc., so the mission requirements also change dynamically. Based on the measurement information of various devices in the detection system, the mission requirements update mainly includes information such as repeated detection of key airspace, search and tracking of new targets, and priority tracking of key targets.

[0110] Furthermore, the multi-radar device collaborative control method further includes:

[0111] Based on the acquired working status of the radar, the availability of the radar is determined. If the radar is not available, the radar is reallocated for the detection task, or in response to a received reallocation instruction, a designated radar is reallocated for the detection task.

[0112] The radar working status may change during the mission. For example, tracking multiple targets may lead to energy saturation and no search energy, or equipment failure may lead to loss of search and tracking capabilities. In this case, the detection resources need to be scheduled and controlled according to the specific status of the detection network.

[0113] Furthermore, the multi-radar device collaborative control method further includes:

[0114] Based on the new requirements of the detection task and the detection capability of the radar assigned to the detection task, a new collaborative detection strategy for the detection task is generated, or in response to a received adjustment instruction of the collaborative detection strategy, a collaborative detection strategy for the specified detection task is generated.

[0115] Based on the collaborative detection strategy planned in step 2, due to changes in the target situation and equipment working situation, or adjustments in mission requirements, the equipment collaborative detection strategy needs to be adjusted in a targeted manner, such as changing the collaborative search airspace, changing the handover tracking radar to the handover search radar, etc.

[0116] The following is a specific example to illustrate the above multi-radar equipment collaborative control method, which specifically includes the following steps:

[0117] Step a: Task optimization allocation. By setting the weights of different priority targets and different detection capability elements, the target interception capability, effective detection section, target tracking integrity, and detection accuracy are analyzed and calculated. Based on the power of a certain detection mission, the effective detection range of 4 radars for 7 effective targets in the airspace is as follows: Figure 3 The specific time periods are shown in Table 1.

[0118] Table 1 Detection period of each radar for each target

[0119] radar Goal 1 Goal 2 Goal 3 Goal 4 Goal 5 Goal 6 Goal 7 Radar 1 [100,220] [35,270] [160,250] [170,260] [120,280] [70,320] [160,280] Radar 2 [135,245] [40,272] [170,220] [160,235] [150,235] [90,320] [190,260] Radar 3 [160,270] [120,295] [210,270] [220,270] [200,280] [130,320] [210,340]

[0120] Through optimal allocation, the task allocation combination is shown in Table 2

[0121] Table 2 Optimal allocation of detection tasks

[0122]

[0123] Three sets of radars complete the tracking and measurement of 7 targets in the airspace during the entire flight period. During the tracking process, each radar tracks no more than 3 targets at the same time to leave sufficient search energy. Key target 5 is redundantly tracked by at least two sets of radars, and the remaining targets are tracked by each radar in shifts. There is redundancy in the radar shift period for targets 2, 3, 4, and 7 to ensure the success rate of the shift. Target 2 has been tracked by three sets of radars in relay and has completed the coverage of the entire flight period. Due to energy limitations, target 4 has a 10s untracked period. In order to further improve the performance of the detection network, under the principle of meeting the simultaneous tracking number of no more than 3 and the principle that the radar continuously tracks the same target, radar 2 can track target 2 from 40 to 160, and radar 3 can track target 6 from 130 to 210.

[0124] Step b: Plan collaborative detection strategies. Mainly based on the specific mission scenario and the distribution of measurement and control points, rationally deploy equipment and analyze and formulate collaborative detection strategies to achieve optimal detection of airspace and targets.

[0125] Take a detection scenario as an example. Figure 4 The target shown is flying from east to west, and its possible flight channel width is about 50km, and the altitude is from hundreds of meters to 40km above the ground; both radars are deployed to the west of the mountain range; on the target flight channel, there is a mountain range from northeast to southwest, and the low altitude east of the mountain range is an undetectable area for the two radars. At this time, if a conventional detection method is adopted, if the target takes an ultra-low altitude flight at an altitude of less than one kilometer, the target will achieve penetration in the strong clutter area. In this embodiment, a partitioned collaborative search is adopted, and the working parameters of radar 1 are: 60km~120km range gate, 90° azimuth center, 12° elevation center, and 10*20° scene width, mainly for penetration of targets below 40km in altitude and above the clutter area; the radar avoids the obstruction of the mountains and the influence of the clutter area in front of it, and also takes into account the possibility of high-trajectory flight of the target. Radar 2 operating parameters: 30km~225km range gate, 2° elevation center, 30*4° field of view, mainly for low-altitude penetration within 7km; the radar irradiates northeastward parallel to the mountain range, also avoiding the influence of strong clutter areas, and achieving coverage of ultra-low altitude. The two radars, one in front and one behind, one high and one low, cooperate to search and complete airspace coverage.

[0126] Step c: Dynamic control of equipment. In response to the needs of dynamic collaborative detection control, on the basis of task optimization and collaborative detection strategy formulation, the tracking tasks of each device are issued and adjusted in real time according to radar detection situation information and target flight situation, increasing the elasticity and flexibility of the detection system to cope with the flexible and changeable battlefield situation.

[0127] Based on the same inventive concept, the present invention also provides a multi-radar device collaborative control device, which can be a personal computer, a server, or other devices that implement the aforementioned multi-radar device collaborative control method.

[0128] The multi-radar equipment collaborative control device comprises:

[0129] A task allocation module is used to allocate detection tasks optimally using an optimization algorithm based on the priority of the detection tasks and the detection capability of the radar;

[0130] A collaborative detection strategy generation module, which is used to generate a collaborative detection strategy for the detection task based on the requirements of the detection task and the detection capability of the radar assigned to the detection task;

[0131] The data acquisition module is used to obtain the measurement data fed back by the radar and the working status of the radar.

[0132] All relevant contents of each step involved in the embodiment of the aforementioned multi-radar device collaborative control method can be referred to the functional description of the functional module corresponding to the multi-radar device collaborative control device in the embodiment of the present application, and will not be repeated here.

[0133] The division of modules in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional module in each embodiment of the present invention may be integrated into a processor, or may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated modules may be implemented in the form of hardware or in the form of software functional modules.

[0134] The present invention also provides a multi-radar equipment collaborative control system, comprising:

[0135] The above-mentioned multi-radar equipment cooperative control device;

[0136] A multi-radar equipment collaborative control command terminal, which is used to input a detection task demand adjustment instruction, and / or a detection task reallocation instruction, and / or an adjustment instruction of a collaborative detection strategy of a detection task, and receive radar measurement data and radar working status sent by the multi-radar equipment collaborative control device;

[0137] A plurality of multi-radar device collaborative control execution terminals, each of which corresponds to a radar, are used to receive detection tasks issued by the multi-radar device collaborative control device, and at the same time feed back the radar's measurement data and the radar's working status to the multi-radar device collaborative control device.

[0138] To meet the real-time control requirements, this embodiment builds a collaborative detection control link between the command end and the execution end, and the instructions include excitation control instructions, search control instructions and guidance information instructions.

[0139] The excitation control instruction completes the excitation switch operation of the radar device to enhance the real-time detection of the device. The radar device transmits the emission control return command information to provide feedback on whether the device is normally controlled. The transmission content of the emission control information data and radar feedback return command information in this embodiment is shown in Table 3.

[0140] Table 3 Transmission control and response information

[0141] Serial number Emission Control Information Transmit control command information 1 The frame data corresponds to the date The frame data corresponds to the date 2 This frame data corresponds to the second in the day This frame data corresponds to the second in the day 3 Radar number Radar number 4 Information Type Information Type 5 Instruction serial number Instruction serial number 6 Radar transmission status Launch control execution results 7 Reserved Bytes Reason for non-execution

[0142] Each radar completes the airspace search under the collaborative search and shift search strategies. The command end dynamically adjusts the search airspace of each device according to the target flight status and detection results, that is, it sends out search control information, and the device responds to the command to search the corresponding airspace. The transmission content of the search airspace control command in this embodiment is shown in Table 4.

[0143] Table 4 Radar search airspace control information

[0144]

[0145]

[0146] This embodiment builds transmission links between radars and radars, and between radars and centers, forming a mesh detection link to support collaborative tracking and shift tracking requirements. At the same time, a unified tracking data transmission format is designed for radar-to-radar and center-to-radar guidance data transmission. The transmission data content is shown in Table 5. In terms of specific transmission, the radar directly converts the measurement information into corresponding coordinate system data and sends it. The command end selects effective targets based on the target discrimination situation, completes the judgment of data validity, integrity and availability, and then sends the data to the designated device after smoothing. In the case of theoretical orbit, superior center guidance, and multi-radar tracking data forming multiple guidance sources, the guidance priority selection and sorting are performed.

[0147] Table 5 Target guidance information format

[0148] Serial number parameter Serial number parameter 1 The frame data date 9 Position Y 2 The frame data is within seconds of the day 10 Position Z 3 Radar number 11 <![CDATA[Velocity V x > 4 Information Type 12 <![CDATA[Velocity V y > 5 Number of guided targets 13 <![CDATA[Velocity V z > 6 Guide information source mark 14 Reserved Bytes 7 Target category label 15 Target n-1..., status is the same as target 1 8 Position X 16 Target n..., status is the same as target 1

[0149] Furthermore, the multi-radar device collaborative control command end is provided with a first display device, and the multi-radar device collaborative control command end is also used to display a map, radar deployment points, a detection task list, and measurement data of the radar of the current detection task and the working status of the radar on the first display device;

[0150] The multi-radar device collaborative control execution end is provided with a second display device, and the multi-radar device collaborative control execution end is also used to display the assigned task list of its corresponding radar, the measurement data of the radar of the current detection task and the working status sending status on the second display device.

[0151] Specifically, the main functions of the command end include: ① Equipment deployment display. It can load and display maps, detection points and radar deployment; ② Task loading. Task loading is achieved by loading theoretical flight trajectories, fixed airspaces, etc.; ③ Task allocation. The commander selects the airspace through the map or file, and specifies the radar for search and tracking through the planning function; ④ Search calculation function. The tracking direction and search range of the radar are calculated by specifying the airspace or flight trajectory file and radar coordinates; ⑤ Task forwarding function. After the commander determines the task plan, the task plan is forwarded to the corresponding radar; ⑥ Planning status display function. After receiving the task plan, the execution end will send the execution status of the plan back to the command end. The main functions of the execution end include: ① Planning task display function. The planned tasks received by the radar are displayed in a list form; ② Radar status sending function. The task execution status is transmitted to the command end, mainly including the execution status of the task plan and the target capture status.

[0152] 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 method for cooperative control of multiple radar devices, characterized in that: include: Based on the priority of detection tasks and the detection capability of radar, an optimization algorithm is used to optimally allocate detection tasks. Generate a collaborative detection strategy for the detection mission based on the requirements of the detection mission and the detection capabilities of the radars assigned to the detection mission; Obtain the measurement data fed back by the radar and the working status of the radar.

2. The multi-radar equipment collaborative control method according to claim 1, characterized in that: Also includes: In response to the received detection task requirement adjustment instruction, a new detection task requirement is generated.

3. The multi-radar equipment collaborative control method according to claim 1, characterized in that: Also includes: Based on the acquired working status of the radar, the availability of the radar is determined. If the radar is not available, the radar is reallocated for the detection task, or in response to a received reallocation instruction, a designated radar is reallocated for the detection task.

4. The multi-radar equipment collaborative control method according to claim 2, characterized in that: Also includes: Based on the new requirements of the detection task and the detection capability of the radar assigned to the detection task, a new collaborative detection strategy for the detection task is generated, or in response to a received adjustment instruction of the collaborative detection strategy, a collaborative detection strategy for the specified detection task is generated.

5. The multi-radar equipment cooperative control method according to claim 1, characterized in that: Based on the priority of the detection task and the detection capability of the radar, the method of using the optimization algorithm to optimize the allocation of the detection task includes: Prioritize and assign weights to detection tasks based on the importance of their objectives; Traverse and calculate the detection capability of each radar for each target of the detection mission; Calculate the total detection capability scores of all radars under various task allocation schemes, and select the task allocation scheme with the highest total detection capability score.

6. The multi-radar equipment cooperative control method according to claim 5, characterized in that: The detection capability of the radar includes the following indicators: target acquisition capability, target effective detection section, target group tracking integrity and detection accuracy; The quantitative calculation formula of target interception capability is: S Pij =D Pi ×D Mj ×[1-(1-P Dij ) n ] In the formula, S Pij is the quantitative value of radar i’s interception capability for the target of detection task j, D Pi is the weight of target acquisition capability to detection capability, D Mj is the weight of detection task j, P Dij is the single interception probability of radar i for the target of detection task j in the predetermined search airspace, and n is the number of scans that radar i can complete during the target penetration period of detection task j; The quantitative calculation formula for the effective target detection section includes: When the detection mission is a target flight test mission and the assessment target is the mission segment time: In the formula, S Tij D is the quantitative value of the effective detection section of radar i for the target of detection task j, Ti is the weight of the target effective detection paragraph in the detection capability, D Mj is the weight of detection task j, t ij is the detection time period of radar i for the target of detection task j, T j is the total flight time period for detecting the target of task j; When the detection mission is to provide target guidance for terminal interference, and the target flight trajectory and mission segment are unclear: In the formula, r ij is the detection range of radar i to the target of detection task j, R 0ij is the shortest guidance distance of radar i to the target of detection task j, R 1ij is the ideal guidance distance of radar i to the target of detection task j, k1 and k2 represent the weights of the detection sections of the two distances, and 1≥k1>k2; The quantitative calculation formula for target group tracking integrity includes: In the formula, S Sij is the tracking integrity quantified value of radar i for the target group of detection task j, D Si is the weight of target group tracking integrity in detection capability, D Mj is the weight of detection task j, m i is the maximum number of target tracking of radar i, M j is the number of targets to be detected in the target group of detection task j; The quantitative calculation formula for detection accuracy is: In the formula, S Jij D is the quantitative value of the detection accuracy of radar i for the target of detection task j, Ji is the weight of detection accuracy in detection capability, D Mj is the weight of detection task j, Δ Ri is the distance measurement accuracy of radar i, Δ Ai is the azimuth measurement accuracy of radar i, Δ Ei is the elevation measurement accuracy of radar i, δ R is the expected accuracy of distance measurement for the detection task, δ A is the expected accuracy of the detection mission azimuth measurement, δ E Desired accuracy of pitch measurements for detection missions.

7. The multi-radar equipment cooperative control method according to claim 1, characterized in that: Collaborative detection strategies include: collaborative search, shift search, collaborative tracking, and shift tracking.

8. A multi-radar device cooperative control server using the multi-radar device cooperative control method according to any one of claims 1 to 7, characterized in that: include: A task allocation module is used to allocate detection tasks optimally using an optimization algorithm based on the priority of the detection tasks and the detection capability of the radar; A collaborative detection strategy generation module, which is used to generate a collaborative detection strategy for the detection task based on the requirements of the detection task and the detection capability of the radar assigned to the detection task; The data acquisition module is used to obtain the measurement data fed back by the radar and the working status of the radar.

9. A multi-radar equipment collaborative control system, characterized in that: include: The multi-radar device collaborative control server as claimed in claim 8; A multi-radar device collaborative control command terminal, which is used to input a detection task demand adjustment instruction, and / or a detection task reallocation instruction, and / or an adjustment instruction of a collaborative detection strategy of a detection task, and receive radar measurement data and radar working status sent by the multi-radar device collaborative control server; A plurality of multi-radar device collaborative control execution terminals, each of which corresponds to a radar, and the multi-radar device collaborative control execution terminal is used to receive detection tasks issued by the multi-radar device collaborative control server, and at the same time feed back the radar's measurement data and the radar's working status to the multi-radar device collaborative control server.

10. The multi-radar equipment cooperative control system according to claim 9, characterized in that: The multi-radar device collaborative control command end is provided with a first display device, and the multi-radar device collaborative control command end is also used to display a map, radar deployment points, a detection task list, and measurement data of the radar of the current detection task and the working status of the radar on the first display device; The multi-radar device collaborative control execution end is provided with a second display device, and the multi-radar device collaborative control execution end is also used to display the assigned task list of its corresponding radar, the measurement data of the radar of the current detection task and the working status sending status on the second display device.

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