Method for cooperative detection, transmitting and receiving separate station distribution of manned and unmanned platform radar

Abstract

The invention belongs to the technical field of radar cooperative detection, and discloses a manned and unmanned platform radar cooperative detection receiving and transmitting separated station distribution method. The invention provides a manned and unmanned formation radar and a method for improving the detection efficiency through a station distribution mode. According to the method, in the process of executing a detection task and aiming at a detection direction or a detection area which is focused on, manned platform radar rear emission and unmanned radar front receiving are implemented, influence of a station arrangement mode on the overall detection efficiency of the formation is researched by combining manned and unmanned platform radar parameters, and a judgment standard which is preferential, careful and avoids selection of the station arrangement mode is provided. The method is suitable for cooperative detection between sea surface platforms, between air platforms, between ground platforms, between ground and air platforms and between sea and air platforms.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of radar cooperative detection, and in particular to a method for separating the sending and receiving stations of radar cooperative detection on manned and unmanned platforms. Background Art

[0002] With the development of information technology and automation control technology, more and more unmanned platforms have assumed the functions of surveying, firefighting, and rescue, with advantages such as strong mobility and low working environment requirements. For example, in the field of surveying, unmanned survey ships use intelligent equipment, which can greatly improve the survey accuracy of survey ships and also ensure the safety of ships. UAVs play an important role in disaster reconnaissance and auxiliary rescue with their advantages of small size, flexible deployment, and low cost.

[0003] At the same time, with the further development of unmanned platforms, the tasks undertaken by unmanned platforms are also increasing. When unmanned platforms perform tasks such as surveying and mapping, environmental monitoring, and target detection, they are generally equipped with radar sensors. However, due to factors such as platform size and power supply, the detection capability of a single radar on an unmanned platform is limited, and independent detection by a single platform often cannot maximize its effectiveness. With the help of a manned-unmanned radar collaborative detection system, the signal-level collaborative detection method, which is transmitted by a manned platform and received by an unmanned platform, can greatly improve the detection efficiency of the formation radar.

[0004] Although the formation radar cooperative detection technology has been developed for more than ten years and has produced a series of achievements, the relevant research is mainly based on signal-level cooperative detection between radars of the same scale, point-track-level cooperative detection between radars of different scales, etc., and there is little research on cooperative detection between radars of different scales, especially in terms of station layout and formation optimization. After the unmanned platform radar joins the formation for radar cooperative detection, how to combine the parameters of manned and unmanned platform radars, optimize the station layout method, improve the overall detection capability of the formation, and achieve the improvement of detection capability in key directions is an issue that needs to be studied urgently. Summary of the invention

[0005] The purpose of the present invention is to provide a method for deploying separate transceiver stations for collaborative detection of radars on manned and unmanned platforms. In the process of collaborative detection at the signal level with separate transceivers on manned and unmanned platforms, the influence of the station deployment method on the improvement of collaborative detection efficiency is studied, filling the gap in previous theoretical research and providing support for the efficient performance of collaborative detection between subsequent manned and unmanned platforms.

[0006] To achieve the above object, the present invention provides a method for deploying radar cooperative detection and receiving and transmitting stations on manned and unmanned platforms, comprising the following steps: Step 1: Set the formation radar position parameters: When the formation radar performs detection tasks in the key detection direction or detection area, it adopts the signal-level collaborative detection method of separate transmission and reception stations, with the manned platform radar transmitting at the rear and the unmanned platform radar receiving at the front. In the aforementioned collaborative detection method, the distances of the manned platform radar and the unmanned platform radar from the target are respectively and , the distance between the manned platform and the unmanned platform is , ; Step 2: Set the formation radar detection parameters: The radar detection capability of the manned platform radar alone is , (1); The radar detection capability of the unmanned platform radar when detecting alone is , (2); The different parameters between manned and unmanned platforms are: is the peak power transmitted by the manned platform radar, is the radar transmission gain of the manned platform, is the receiving gain of the manned platform radar, Unmanned platform radar transmit peak power, is the radar transmission gain of the unmanned platform, Provides radar receiving gain for unmanned platforms; The parameters common to manned and unmanned platform radars are: is the transmit pulse width, is the target cross-sectional area, is the emission pulse wavelength, is the platform radar detection factor, is the platform system loss, is the system noise temperature; Step 3: Based on the formation radar detection parameter setting in step 2, the radar equation of the manned platform radar and the unmanned platform radar under the condition of separate transmission and reception for cooperative detection is: (3); Step 4: Combine the formula in step 2 and transform the formula in step 3 into (4); Step 5: Assume that the single component transmission power and component arrangement of the manned platform radar and the unmanned platform radar are the same, then the P of the manned platform radar and the unmanned platform radar are t , G t , G r The ratios are equal, and the formula in step 4 is simplified as (5); Step 6: As an evaluation function for improving the formation radar detection capability, To enhance the value of performance; When the conditions for separate transceiver placement are met When the transmitter and receiver are separated, the radar detection distance of the unmanned platform is greater than that of the unmanned platform. The radar detection efficiency of the manned and unmanned formation is improved, and it can be used preferentially when the transmitter and receiver are separated. When the conditions for separate transceiver placement are met When the receiving detection distance of the unmanned platform radar is less than or equal to the detection distance of the unmanned platform radar in the case of separate transmitter and receiver, but the target can be effectively detected, then use it with caution when the transmitter and receiver are separated. when When there is no real number solution, it means that the separate transmitter and receiver cannot form effective detection of the target, and the manned platform radar and the unmanned platform radar cannot cooperate. In this case, avoid using the separate transmitter and receiver when deploying stations.

[0007] Furthermore, in step 1, when the formation radar performs the detection task in the key detection direction or detection area, the key detection direction or detection area includes a fixed direction or sector coverage range.

[0008] Furthermore, when the formation radar focuses on a fixed direction, if the number of unmanned platform radars is 1, the unmanned platform radar is placed in front of the manned platform radar's focus detection direction, and the distance between the two platforms is , the relationship is (6), where .

[0009] Furthermore, when the formation radar focuses on a fixed direction, if there are multiple unmanned platform radars, the multiple unmanned platform radars are arranged in parallel in front of the direction that the manned platform radar focuses on, and the signal-to-noise ratio of the received signal of the unmanned platform radar is improved through coherent or non-coherent processing, and the signal-to-noise ratio improvement value is set to D g , then formula (5) can be transformed into (7), when the focus detection direction is a fixed direction, formula (6) can be changed to (8).

[0010] Furthermore, when the formation radar focuses on detecting the sector coverage area, the unmanned platform radar is deployed at the center line of the sector range, and the distance between the manned platform radar and the unmanned platform radar is ; If the sector coverage is 2θ, it can be calculated according to the cosine theorem and The relative relationship between is brought into formula (5) for calculation, which is (9).

[0011] Beneficial effects: The present invention provides a method for the separate station layout of manned and unmanned platform radars for collaborative detection and reception. The present invention proposes a method for improving the detection efficiency of manned and unmanned formation radars by station layout. When performing detection tasks, this method implements rear-position transmission of manned platform radars and front-position reception of unmanned radars for the detection directions of key concern, and combines the parameters of manned and unmanned platform radars to study the impact of station layout on the overall detection efficiency of the formation, and proposes judgment criteria for priority, caution, and avoidance of station layout. This method is suitable for collaborative detection between sea platforms, between aerial platforms, between ground platforms, between ground-to-air platforms, and between sea-to-air platforms. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a station layout diagram for improving the detection capability of key focus directions with manned and unmanned transceiver separation involved in an embodiment of the present invention (taking an offshore platform as an example); Figure 2 This is a typical station layout diagram (taking an offshore platform as an example) of the joint use of manned and unmanned team coordination modes involved in an embodiment of the present invention to improve the detection capability of key focus directions; Figure 3 This is a typical station layout diagram of the manned and unmanned formation at sea with separate transmission and reception to improve the detection capability of key sectors involved in the embodiment of the present invention (taking an offshore platform as an example); Figure 4 is a graph showing the relationship between the detection efficiency value and the spacing between two platforms and the transmission gain difference involved in the embodiment of the present invention (according to Figure 1 deploy); Figure 5 This is a design range diagram of the spacing between two platforms involved in the embodiment of the present invention (according to Figure 1 deploy); Figure 6 is a graph showing the relationship between the detection efficiency value and the distance between two platforms and the transmission gain difference involved in the embodiment of the present invention (according to Figure 2 deploy); Figure 7 This is a design range diagram of the spacing between two platforms involved in the embodiment of the present invention (according to Figure 2 deploy); Figure 8 is a graph showing the relationship between the detection efficiency value and the distance between two platforms and the transmission gain difference involved in the embodiment of the present invention (according to Figure 3 deploy); Fig. 9 This is a design range diagram of the spacing between two platforms involved in the embodiment of the present invention (according to Figure 3 deploy). DETAILED DESCRIPTION

[0013] The preferred mechanism and implementation method of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Figures 1 to 9 As shown, an embodiment of the present invention discloses a technical solution for a method for separately arranging stations for radar cooperative detection and transmission and reception on manned and unmanned platforms. Example 1

[0014] A method for deploying separate stations for radar cooperative detection and transmission and reception on manned and unmanned platforms. The radars of manned and unmanned formations are performing detection tasks in key directions. A typical scenario using an offshore platform as an example is as follows: Figure 1 shown.

[0015] 1. When the formation radar performs the detection task in the key detection direction or detection area, the manned platform radar is used to transmit and the unmanned radar is used to receive. The transmission and reception are separated to perform signal-level collaborative detection. Assume that in this collaborative detection mode, the distances of the manned and unmanned platform radars from the target are and , and the distance between manned and unmanned platform radars is .

[0016] 2. When manned platform radar and unmanned platform radar detect separately, their radar detection capabilities , They are (1); (2); The parameters in formula (1) and formula (2) can be divided into two categories: (1) The first category is the characteristic parameters related to manned and unmanned platform radars, mainly the peak transmit power, transmit gain, and receive gain. Specifically, they include the following: (Peak power transmitted by manned platform radar), (Radar transmit gain for manned platforms), (Receiving gain of manned platform radar), in formula (2) (Unmanned platform radar transmission peak power), (Unmanned platform radar transmit gain), (Unmanned platform radar receiving gain).

[0017] (2) The second category is the same parameters between manned and unmanned platform radars. Considering that the transmission and reception are signal-level collaborative detection, the transmission and reception use the same wavelength, waveform, detection factor and other parameters. Therefore, the parameters that remain consistent in formulas (1) and (2) are (transmit pulse width), (target cross-sectional area), (wavelength of emission pulse), (Manned platform detection factor). In addition (platform system losses) and The system noise temperature remains basically the same under the same receiving system and operating frequency conditions, and is set to be the same in subsequent analysis.

[0018] 3. Based on the parameter settings in step 2, the radar equation under the conditions of cooperative detection of manned and unmanned platform radars with separate transmitters and receivers is: (3); in , The detection capabilities of manned and unmanned platform radars are respectively when the manned platform radar is rear-end transmitting and the unmanned platform radar is front-end receiving, and ,in It is the distance between the manned platform and the unmanned platform. Its meaning is the same as step 1.

[0019] Formula (3) can be changed into (4).

[0020] 4. Assuming that the single component transmission power and component arrangement of manned and unmanned platform radars are the same, the P of manned platform radar and unmanned platform radar are t , G t , G r The ratios of are equal, formula (4) can be simplified as (5).

[0021] 5. When the focus is on a fixed direction, the unmanned platform is placed in front of the focus direction. The relationship is: ,but (6), where , It is the station spacing between manned platform radar and unmanned platform radar.

[0022] 6. Further, based on step 5, when multiple unmanned platform radars of the same type can be placed in front, the unmanned platform radars are deployed in parallel in the key focus direction. Taking the offshore platform as an example, Figure 2 As shown, the received signal is processed through coherent or non-coherent processing to improve the signal-to-noise ratio, and the signal-to-noise ratio improvement value is set to D g , then formula (5) changes to (7); When the focus detection direction is a fixed direction, formula (6) changes to (8), where .

[0023] 7. Further, based on step 5, when the key detection area is a sector range, the unmanned platform radar is deployed in the middle of the sector range. Taking the offshore platform as an example, Figure 3 As shown in the figure, when the sector coverage is 2θ, the cosine theorem can be used to calculate and The relative relationship between the two is substituted into formula (5) for calculation: (9).

[0024] 8. As the evaluation function for improving the formation's detection capability, it is defined as "performance improvement value". In formulas (6), (8), and (9) in steps 5, 6, and 7: (1) When the station layout conditions are met When the “unmanned platform detection distance under the condition of separate transmitter and receiver” is greater than the “unmanned platform single radar detection distance”, the detection efficiency of manned and unmanned formations at sea is improved, and it can be used as a priority when deploying stations; (2) When the station layout conditions are met When the “receiving and detecting distance of the unmanned platform in the case of separate transmitting and receiving” is not greater than the “detecting distance of the unmanned platform single radar”, it can achieve effective target detection and should be used with caution when deploying stations; (3) When formulas (6), (8), and (9) have no real solutions, that is, There is no real solution, then There is no real number solution, which means that the separate transmitter and receiver cannot form effective detection of the target, and the manned and unmanned platform radars cannot cooperate, so it should be avoided when deploying stations. Example 2

[0025] The method for deploying separate stations for cooperative detection and receiving and transmitting of manned and unmanned platform radars in this embodiment is basically the same as that in Embodiment 1, except that: there are one manned and one unmanned platform radar, and they focus on cooperative detection in a fixed direction.

[0026] 1. Basic method of station layout: The basic method of station layout is as follows Figure 1 As shown, the unmanned platform is facing forward and is located directly in front of the key detection direction.

[0027] 2. Parameter setting: (1) P of manned and unmanned platforms t , G t , G r The ratios are equal; (2) The difference in transmission gain between manned and unmanned platforms is αdB; (3) The target detection range of a single radar on an unmanned platform is 200 km.

[0028] 3. Station layout design: Under different α values, the reasonable optimization layout parameters of the distance between the two platforms are calculated.

[0029] 4. Station layout results: The analysis range is 0-400km between the two platforms, and the difference in transmission gain between the two platforms is 0-6dB. The results are as follows: Figure 4As shown, it can be seen that as α increases, γ increases, and as ΔL increases, γ decreases. Within the analysis range, there is no situation where the cooperative detection of the transmit-receive split is impossible.

[0030] Typical, such as Figure 5 As shown in the figure, under different α, within a range of 400km, the recommended station spacing is as follows: When α=1dB, the preferred spacing between stations should be no greater than 50km, and stations should be deployed cautiously within the range of 50-400km; When α=2dB, the preferred spacing between stations should be no greater than 115km, and stations should be deployed cautiously within the range of 115-400km; When α=3dB, the preferred spacing between stations should be no greater than 195km, and stations should be deployed cautiously within the range of 195-400km; When α=4dB, the preferred spacing between stations should be no greater than 305km, and stations should be deployed cautiously within the range of 305-400km; When α=5dB, stations can be deployed preferentially in the range of 0-400km; When α=6dB, stations can be deployed preferentially within the range of 0-400km. Example 3

[0031] The method for deploying separate stations for cooperative detection and reception and transmission of radars for manned and unmanned platforms in this embodiment is basically the same as that in Embodiment 1, except that: there is one radar for the manned platform and two radars for the unmanned platform, and cooperative detection is focused on fixed directions.

[0032] 1. Basic method of station layout: The basic method of station layout is as follows Figure 2 As shown, the unmanned platform is deployed in parallel in front, in front of the key focus direction.

[0033] 2. Parameter setting: (1) P of manned and unmanned platforms t , G t , G r The ratios are equal; (2) The difference in transmission gain between manned and unmanned platforms is αdB; (3) The target detection range of a single radar on an unmanned platform is 200 km; (4) The benefit of joint processing of the received signals of the two unmanned platforms is 2 dB.

[0034] 3. Station layout design: Under different α values, the reasonable optimization layout parameters of the distance between the two platforms are calculated.

[0035] 4. Station layout results: The analysis range is 0-400km between the two platforms, and the difference in transmission gain between the two platforms is 0-6dB. The results are as follows: Figure 6As shown, it can be seen that as α increases, γ increases, and as ΔL increases, γ decreases. Within the analysis range, there is no situation where the cooperative detection of the transmit-receive split is impossible.

[0036] Typical, such as Figure 7 As shown in the figure, under different α, within a range of 400km, the recommended station spacing is as follows: When α=1dB, the preferred spacing between stations is no more than 115km, and stations should be deployed cautiously within the range of 115-400km; When α=2dB, the preferred spacing between stations is no more than 195km, and stations should be deployed cautiously within the range of 195-400km; When α=3dB, the preferred spacing between stations should be no greater than 305km, and stations should be deployed cautiously within the range of 305-400km; When α=4dB, stations can be deployed preferentially in the range of 0-400km; When α=5dB, stations can be deployed preferentially in the range of 0-400km; When α=6dB, stations can be deployed preferentially within the range of 0-400km. Example 4

[0037] The method for deploying separate stations for cooperative detection and transmission and reception of manned and unmanned platform radars in this embodiment is basically the same as that in Embodiment 1, except that: there are one manned and one unmanned platform radar, which perform cooperative detection in the direction of key sectors.

[0038] 1. Basic method of station layout: The basic method of station layout is as follows Figure 3 As shown, the unmanned platform is in front, and the unmanned platform radar is deployed at the center point of the sector range.

[0039] 2. Parameter setting: (1) P of manned and unmanned platforms t , G t , G r The ratios are equal; (2) The difference in transmission gain between manned and unmanned platforms is αdB; (3) The target detection range of a single radar on an unmanned platform is 200 km; (4) The sector range is ±20 degrees.

[0040] 3. Station layout design: Under different α values, the reasonable optimization layout parameters of the distance between the two platforms are calculated.

[0041] 4. Station layout results: The analysis range is 0-400km between the two platforms, and the difference in transmission gain between the two platforms is 0-6dB. The results are as follows: Figure 8As shown, it can be seen that as α increases, γ increases, and as ΔL increases, γ decreases, and a situation where the transmit-receive split cooperative detection cannot be performed occurs.

[0042] Typical, such as Fig. 9 As shown in the figure, under different α, within a range of 400km, the recommended station spacing is as follows: When α=1dB, the preferred spacing between stations is no more than 55km. Stations should be deployed cautiously within the range of 55-385km, and stations should be avoided within the range of 385-400km. When α=2dB, the preferred spacing between stations is no more than 135km, and stations should be deployed cautiously within the range of 135-400km; When α=3dB, the preferred spacing between stations should be no greater than 230km, and stations should be deployed cautiously within the range of 230-400km; When α=4dB, the preferred spacing between stations should be no greater than 375km, and stations should be deployed cautiously within the range of 375-400km; When α=5dB, stations can be deployed preferentially in the range of 0-400km; When α=6dB, stations can be deployed preferentially within the range of 0-400km.

[0043] The present invention provides a method for the deployment of manned and unmanned platform radars for cooperative detection and transmission and reception. The method designs the manned platform radar to be rear-mounted for transmission and the unmanned platform radar to be front-mounted for reception. Combining the parameters of manned and unmanned platform radars, under typical detection tasks, the method analyzes the way in which the deployment improves the detection efficiency by studying the impact of the deployment method on the overall detection efficiency of the formation. And proposes As an evaluation function for improving the detection capability of the formation, when the radar parameters are fixed, the sign of the improvement of manned and unmanned detection efficiency is that the "unmanned platform receiving detection distance under the condition of separate transmission and reception" is greater than the "unmanned platform single radar detection distance"; At the same time, it is proposed that as the distance between manned and unmanned platforms increases, three situations will occur: (1) “Unmanned platform receiving detection distance under separate transmitter and receiver conditions” is greater than “unmanned platform single radar detection distance”: Under this station layout condition, the detection efficiency of manned and unmanned formations at sea is improved, and it can be used as a priority when deploying stations; (2) The “receiving detection distance of the unmanned platform under the condition of separate transmitter and receiver” is not greater than the “single radar detection distance of the unmanned platform”, but effective target detection can be achieved: under this station layout condition, the cooperative detection method of separate transmitter and receiver can be adopted, but it should be selected with caution when deploying stations; (3) Separate transmitters and receivers cannot detect targets: Under this station layout condition, manned and unmanned platform radars cannot work together, so this option should be avoided during station layout.

[0044] In addition, the analysis and research methods proposed in the present invention are universal and applicable to coordinated detection of sea surface platforms, aerial platforms, ground platforms, ground-to-air platforms, and sea-to-air platforms.

[0045] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. However, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for deploying radar cooperative detection and receiving stations for manned and unmanned platforms, characterized in that: The following steps are involved: Step 1: Set the formation radar position parameters: When the formation radar performs detection tasks in the key detection direction or detection area, it adopts the signal-level collaborative detection method of separate transmission and reception stations, with the manned platform radar transmitting at the rear and the unmanned platform radar receiving at the front. In the aforementioned collaborative detection method, the distances of the manned platform radar and the unmanned platform radar from the target are respectively and , the distance between the manned platform and the unmanned platform is , ; Step 2: Set the formation radar detection parameters: The radar detection capability of the manned platform radar alone is , (1); The radar detection capability of the unmanned platform radar when detecting alone is , (2); The different parameters between manned and unmanned platforms are: is the peak power transmitted by the manned platform radar, is the radar transmit gain of the manned platform, is the receiving gain of the manned platform radar, Unmanned platform radar transmit peak power, is the radar transmission gain of the unmanned platform, Provides radar receiving gain for unmanned platforms; The parameters common to manned and unmanned platform radars are: is the transmit pulse width, is the target cross-sectional area, is the emission pulse wavelength, is the platform radar detection factor, is the platform system loss, is the system noise temperature; Step 3: Based on the formation radar detection parameter setting in step 2, the radar equation of the manned platform radar and the unmanned platform radar under the condition of separate transmission and reception for cooperative detection is: (3); Step 4: Combine the formula in step 2 and transform the formula in step 3 into (4); Step 5: Assume that the single component transmission power and component arrangement of the manned platform radar and the unmanned platform radar are the same, then the P of the manned platform radar and the unmanned platform radar are t , G t , G r The ratios are equal, and the formula in step 4 is simplified as (5); Step 6: As an evaluation function for improving the formation radar detection capability, To enhance the value of performance; When the conditions for separate transceiver placement are met When the transmitter and receiver are separated, the radar detection distance of the unmanned platform is greater than that of the unmanned platform. The radar detection efficiency of the manned and unmanned formation is improved, and it can be used preferentially when the transmitter and receiver are separated. When the conditions for separate transceiver placement are met When the receiving detection distance of the unmanned platform radar is less than or equal to the detection distance of the unmanned platform radar in the case of separate transmitter and receiver, but the target can be effectively detected, then use it with caution when the transmitter and receiver are separated. when When there is no real number solution, it means that the separate transmitter and receiver cannot form effective detection of the target, and the manned platform radar and the unmanned platform radar cannot cooperate. In this case, avoid using the separate transmitter and receiver when deploying stations.

2. The method for deploying radar cooperative detection and receiving stations for manned and unmanned platforms according to claim 1 is characterized in that: In step 1, when the formation radar performs the detection task in the key detection direction or detection area, the key detection direction or detection area includes a fixed direction or sector coverage range.

3. The method for deploying radar cooperative detection and transmission and reception stations for manned and unmanned platforms according to claim 2 is characterized in that: When the formation radar focuses on a fixed direction, if the number of unmanned platform radars is 1, the unmanned platform radar is placed in front of the manned platform radar's focus detection direction, and the distance between the two platforms is , the relationship is (6), where .

4. The method for deploying radar cooperative detection and receiving stations for manned and unmanned platforms according to claim 2 is characterized in that: When the formation radar focuses on a fixed direction, if there are multiple unmanned platform radars, the multiple unmanned platform radars are deployed in parallel in front of the direction in which the manned platform radar focuses, and the signal-to-noise ratio of the unmanned platform radar receiving signal is improved through coherent or non-coherent processing. The signal-to-noise ratio improvement value is set to D g , then formula (5) can be transformed into (7), when the focus detection direction is a fixed direction, formula (6) can be changed to (8).

5. The method for deploying radar cooperative detection and transmission and reception stations for manned and unmanned platforms according to claim 2 is characterized in that: When the formation radar focuses on detecting the sector coverage area, the unmanned platform radar is deployed at the center line of the sector range, and the distance between the manned platform radar and the unmanned platform radar is ; If the sector coverage is 2θ, it can be calculated according to the cosine theorem and The relative relationship between is brought into formula (5) for calculation, which is (9).

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