A guided detection task scheduling method based on matching degree and execution degree

Abstract

The present invention proposes a guidance detection task scheduling method based on matching degree and execution degree. The present invention calculates the matching degree between the guidance source information and the target track information based on multiple dimensions such as distance difference, azimuth difference, elevation difference, X-axis velocity component difference, Y-axis velocity component difference and Z-axis velocity component difference, and calculates the guidance task execution degree based on the navigation time difference. The present invention realizes timely and effective scheduling of collaborative guidance detection tasks based on the matching degree between the guidance source and the target and the task execution degree, and uses the guidance source information of the collaborative station to guide the station to complete the establishment of a new track, solving the problem of repeated navigation, and providing important performance guarantees for back-end radar data processing and formation command operations.

Description

Technical Field

[0001] The invention belongs to the technical field of radar task scheduling. Background Art

[0002] As the target environment becomes more complex and changeable, single-platform detection can no longer meet actual needs. Single radars are increasingly showing their limitations in situational awareness, anti-interference, long-range guidance, and stable target tracking. Multi-platform collaborative detection has become a trend, and it is urgent to integrate the radar resources of multiple detection nodes, form a collaborative detection system based on unified resource scheduling, and improve the global situational awareness capabilities of the collaborative detection system. Multi-platform radars can achieve collaborative search, collaborative tracking, collaborative anti-interference, and guided detection, among other tasks. In particular, guided detection can increase the detection probability and detection distance of a single-platform radar, which is of great significance to the improvement of the detection efficiency of a single-platform radar. Under this development trend, how to achieve efficient guided detection between multi-platform radars has become a new technology.

[0003] For collaborative detection between multiple stations, one station often fails to find the target or does not know in which direction the target will appear. At this time, if the collaborative station has detected the target, it can use the existing detection information to mobilize radar resources in time to strengthen the detection of the area where the target is about to appear, so that potential targets can be discovered earlier and farther. The patent "A radar optoelectronic system adaptive resource scheduling method based on guided detection" and the patent "A radar guided optoelectronic target detection system" only give specific guidance cases between radar and optoelectronic systems, lacking the universality of sensor descriptions, and the above patents do not propose the concepts of target position matching and task execution, but only match related targets from a single dimension, lacking system robustness, and prone to guidance delays and repeated guidance. In actual engineering, when the collaborative station guidance source acts as guidance information to guide the station to establish a new track, the key lies in the timeliness and effectiveness of navigation, otherwise it will not be possible to achieve efficient use of guided radar resources, and it will have a serious impact on radar data processing. Summary of the invention

[0004] In order to solve the above technical problems, the present invention proposes a guidance detection task scheduling method based on matching degree and execution degree. The matching degree of the guidance detection task is calculated based on multiple dimensions, and the execution degree of the guidance detection task is calculated based on the guidance navigation time difference. The threshold is set in combination with the actual detection effect. This can achieve high-efficiency execution in the guidance detection task scheduling and avoid the repeated issuance of guidance commands and repeated establishment of tracks.

[0005] The present invention proposes a guidance detection task scheduling method based on matching degree and execution degree, and the technical solution is as follows:

[0006] Step 1: Receive the guidance source information of the cooperative station, and let the position information of the guidance source relative to the cooperative station be g c (bn,t c ,r,a,e,v x ,v y ,v z ), where bn is the information source number, t c is the time of the cooperative station, r is t c The distance of the guidance source relative to the station at time t, a is c The position of the guidance source relative to the station at time t c The elevation angle of the guidance source relative to the station at any moment, v x t c The velocity component of the X-axis of the guide source in the Cartesian coordinate system at the moment, v y t c The velocity component of the guide source on the Y axis in the Cartesian coordinate system at any moment, v z t c The velocity component of the Z axis of the guidance source in the Cartesian coordinate system at all times;

[0007] Step 2: According to the latitude and longitude information of the cooperative station and the local station, the guidance source location information is converted to the local station. Assuming that the station position changes slowly, let t l is the time of this station, and the longitude and latitude of the cooperative station is p c (lon, lat, h) and the latitude and longitude of this station is p l (lon,lat,h), from the longitude and latitude of the collaborative station p c (lon, lat, h) and the position relationship g of the information source relative to the cooperative station c (bn,t c ,r,a,e,v x ,v y ,v z ) Calculate the longitude and latitude g of the information source c (t c ,lon,lat,h), and then the longitude and latitude of the information source g c (t c ,lon,lat,h) and the latitude and longitude of this station p l (lon, lat, h) calculates the location information g of the information source relative to this station l (bn,t c ,r,a,e,v x ,v y ,v z ), where lon is the longitude of the station, lat is the latitude of the station, and h is the height of the station;

[0008] Step 3: Match the guidance source information converted to this station with the existing target track of this station, and calculate the matching degree m. If the matching degree m is greater than the threshold M Thr , it indicates that the station has successfully established a track for the guidance source, otherwise it goes to S4;

[0009] Step 4: Set the boot task execution status to g c (bn,t d ,s), bn is the information source number, t d is the time when the navigation instruction is issued, s is the execution degree of the guidance task, if the execution degree s is greater than the threshold S Thr , it indicates that the boot operation based on the boot source number bn is being executed, otherwise it goes to S5;

[0010] Step 5: The latest time of the known guidance source location information is t c , the current time of this station is t l , calculate the time difference Δt = t l -t c , according to Δt and the latest position information of the guidance source g c (bn,t c ,r,a,e,v x ,v y ,v z ) Extrapolate the guidance source position to the current time of this station to obtain g l (bn,t l ,r,a,e,v x ,v y ,v z ), the boot source location g l (bn,t l ,r,a,e,v x ,v y ,v z ) is converted into a navigation instruction to establish a new track, and the time of generating the new track is recorded as t T , calculate the initial boot task execution degree s.

[0011] The beneficial effects of the present invention are:

[0012] The present invention calculates the matching degree between the guidance source information and the target track information based on multiple dimensions such as the distance difference, azimuth difference, elevation difference, X-axis velocity component difference, Y-axis velocity component difference and Z-axis velocity component difference between the two, and calculates the execution degree of the guidance task according to the navigation time difference. The present invention can timely and effectively use the guidance source information of the collaborative station to guide the station to complete the establishment of a new track for the collaborative guidance detection task, solves the problem of repeated navigation, and has important performance guarantees for the back-end radar data processing and formation command operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a preferred flow chart of the present invention; DETAILED DESCRIPTION

[0014] The present invention is described by way of examples with reference to the accompanying drawings.

[0015] The present invention proposes a method for scheduling guided detection tasks based on matching degree and execution degree, and the preferred implementation process is as shown in the attached figure. Figure 1 , specifically described as the following process:

[0016] Step 1: Receive the guidance source information of the cooperative station, and let the position information of the guidance source relative to the cooperative station be g c (bn,t c ,r,a,e,v x ,v y ,v z ), where bn is the information source number, t c is the time of the cooperative station, r is t c The distance of the guidance source relative to the station at time t, a is c The position of the guidance source relative to the station at time t c The elevation angle of the guidance source relative to the station at any moment, v x t c The velocity component of the X-axis of the guide source in the Cartesian coordinate system at the moment, v y t c The velocity component of the guide source on the Y axis in the Cartesian coordinate system at any moment, v z t c The velocity component of the Z axis of the guidance source in the Cartesian coordinate system at all times;

[0017] Step 2: According to the latitude and longitude information of the cooperative station and the local station, the guidance source location information is converted to the local station. Assuming that the station position changes slowly, let t l is the time of this station, and the longitude and latitude of the cooperative station is p c (lon, lat, h) and the latitude and longitude of this station is p l (lon,lat,h), from the longitude and latitude of the collaborative station p c (lon, lat, h) and the position relationship g of the information source relative to the cooperative station c (bn,t c ,r,a,e,v x ,v y ,v z ) Calculate the longitude and latitude g of the information source c (t c ,lon,lat,h), and then the longitude and latitude of the information source g c (t c ,lon,lat,h) and the latitude and longitude of this station p l(lon, lat, h) calculates the location information g of the information source relative to this station l (bn,t c ,r,a,e,v x ,v y ,v z ), where lon is the longitude of the station, lat is the latitude of the station, and h is the height of the station. The above conversion can be completed using the existing function library;

[0018] Step 3: Match the guidance source information converted to this station with the existing target track of this station, and calculate the matching degree m. If the matching degree m is greater than the threshold M Thr , it indicates that the station has successfully established a track for the guidance source, otherwise it enters S4; the preferred calculation method of the matching degree is as follows: Let the information source position be g l (bn,t l ,r c ,a c ,e c ,v cx ,v cy ,v cz ), the target track position is Tar(bn,t l ,r l ,a l ,e l ,v lx ,v ly ,v lz ), calculate t l Time parameter difference, including distance difference:

[0019]

[0020] Azimuth difference:

[0021]

[0022] Elevation difference:

[0023]

[0024] X-axis velocity component difference:

[0025]

[0026] Y-axis velocity component difference:

[0027]

[0028] Z-axis velocity component difference:

[0029]

[0030] Combining the above parameters, we can get tl The matching degree between the guidance source and the target track at any moment is:

[0031]

[0032] Where λ m (m=1,2....,6) is the weight coefficient, and ε r , ε a , ε e , ε vx , ε vy , ε vz are the tracking distance accuracy, azimuth accuracy, elevation accuracy, X-axis velocity component accuracy, Y-axis velocity component accuracy, and Z-axis velocity component accuracy of the target track of this station, respectively. In the formula, | | is the modulus operation; the threshold M in the above formula is Thr It is an empirical value, and the parameters can be adjusted according to actual needs;

[0033] Step 4: Set the boot task execution status to g c (bn,t d ,s), bn is the information source number, t d is the time when the navigation instruction is issued, s is the execution degree of the guidance task, if the execution degree s is greater than the threshold S Thr , it indicates that the boot operation based on the boot source number bn is being executed, otherwise it goes to S5; the above threshold S Thr It is an empirical value, and the parameters can be adjusted according to actual needs;

[0034] Step 5: The latest time of the known guidance source location information is t c , the current time of this station is t l , calculate the time difference Δt = t l -t c , according to Δt and the latest position information of the guidance source g c (bn,t c ,r,a,e,v x ,v y ,v z ) Extrapolate the guidance source position to the current time of this station to obtain g l (bn,t l ,r,a,e,v x ,v y ,v z ), the X-axis component of the distance between the guidance source and the station at the time of extrapolation:

[0035] r x =g c (bn,t c ,r,a,e,v x ,v y ,vz ).rcosecosa+v x Δt;

[0036] Y-axis component:

[0037] r y =g c (bn,t c ,r,a,e,v x ,v y ,v z ).rcosesina+v y Δt;

[0038] Z-axis component:

[0039] r z =g c (bn,t c ,r,a,e,v x ,v y ,v z ).rsine+v z Δt;

[0040] The extrapolated point distance is:

[0041]

[0042] The extrapolated point position is:

[0043]

[0044] The elevation angle of the extrapolated point is:

[0045]

[0046] Set the boot source location to g l (bn,t l ,r,a,e,v x ,v y ,v z ) is converted into a navigation instruction to establish a new track, and the time of generating the new track is recorded as t T , calculate the execution degree s of the guidance task, the preferred method is as follows: for the guidance detection task with information source number bn, let the current time of this station be t l , t d is the time when the navigation instruction is issued, and the time when the new track is generated is t T , the navigation data rate is T, then t l Always guide task execution where η 1 (0≤η 1 ≤1) is the weight coefficient, κ 1 (0≤κ 1≤1) is the weight coefficient.

Claims

1. A method for scheduling guided detection tasks based on matching degree and execution degree, characterized in that: Step 1: Receive the guidance source information of the cooperative station, and let the position information of the guidance source relative to the cooperative station be g c (bn,t c ,r,a,e,v x ,v y ,v z ), where bn is the information source number, t c is the time of the cooperative station, r is t c The distance of the guidance source relative to the station at time t, a is c The direction of the guidance source relative to the station at time t c The elevation angle of the guidance source relative to the station at any moment, v x t c The velocity component of the X-axis of the guide source in the Cartesian coordinate system at the moment, v y t c The velocity component of the guide source on the Y axis in the Cartesian coordinate system at any moment, v z t c The velocity component of the Z axis of the guidance source in the Cartesian coordinate system at all times; Step 2: According to the latitude and longitude information of the cooperative station and the local station, the guidance source location information is converted to the local station. Assuming that the station position changes slowly, let t l is the time of this station, and the longitude and latitude of the cooperative station is p c (lon, lat, h) and the latitude and longitude of this station is p l (lon,lat,h), from the longitude and latitude of the collaborative station p c (lon, lat, h) and the position relationship g of the information source relative to the cooperative station c (bn,t c ,r,a,e,v x ,v y ,v z ) Calculate the longitude and latitude g of the information source c (t c ,lon,lat,h), and then the longitude and latitude of the information source g c (t c ,lon,lat,h) and the latitude and longitude of this station p l (lon, lat, h) calculates the location information g of the information source relative to this station l (bn,t c ,r,a,e,v x ,v y ,v z ), where lon is the longitude of the station, lat is the latitude of the station, and h is the height of the station; Step 3: Match the guidance source information converted to this station with the existing target track of this station, and calculate the matching degree m. If the matching degree m is greater than the threshold M Thr , it indicates that the station has successfully established a track for the guidance source, otherwise it goes to S4; Step 4: Set the boot task execution status to g c (bn,t d ,s), bn is the information source number, t d is the time when the navigation instruction is issued, s is the execution degree of the guidance task, if the execution degree s is greater than the threshold S Thr , it indicates that the boot operation based on the boot source number bn is being executed, otherwise it goes to S5; Step 5: The latest time of the known guidance source location information is t c , the current time of this station is t l , calculate the time difference Δt = t l -t c , according to Δt and the latest position information of the guidance source g c (bn,t c ,r,a,e,v x ,v y ,v z ) Extrapolate the guidance source position to the current time of this station to obtain g l (bn,t l ,r,a,e,v x ,v y ,v z ), the boot source location g l (bn,t l ,r,a,e,v x ,v y ,v z ) is converted into a navigation instruction to establish a new track, and the time of generating the new track is recorded as t T , calculate the execution degree s of the guided task.

2. The method for scheduling guided detection tasks based on matching degree and execution degree according to claim 1, characterized in that: In step 3, calculating the matching degree between the guidance source and the target track includes: assuming that the position of the information source is g l (bn,t l ,r c ,a c ,e c ,v cx ,v cy ,v cz ), the target track position is Tar(bn,t l ,r l ,a l ,e l ,v lx ,v ly ,v lz ), calculate t l Time parameter difference, including distance difference: Azimuth difference: Elevation difference: X-axis velocity component difference: Y-axis velocity component difference: Z-axis velocity component difference: Combining the above parameters, we can get t l The matching degree between the guidance source and the target track at any moment is: Where λ m (m=1,2....,6) is the weight coefficient, and ε r , ε a , ε e , ε vx , ε vy , ε vz are respectively the tracking distance accuracy, azimuth accuracy, elevation accuracy, X-axis velocity component accuracy, Y-axis velocity component accuracy, and Z-axis velocity component accuracy of the target track of this station, where | | is the modulus operation.

3. The method for scheduling guided detection tasks based on matching degree and execution degree according to claim 1, characterized in that: In step 5, calculating the execution degree s of the guidance task includes: for the guidance detection task with the information source number bn, let the current time of the station be t l , t d is the time when the navigation instruction is issued, and the time when the new track is generated is t T , the navigation data rate is T, then t l Always guide the execution of tasks: Among them, η1 (0≤η1≤1) is the weight coefficient, and κ1 (0≤κ1≤1) is the weight coefficient.

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