Beam scheduling and task allocation method for cross array trajectory measurement radar

Abstract

The invention discloses a beam scheduling and task allocation method for a cross array trajectory measurement radar, and aims to improve the target capturing and tracking efficiency of a radar system. According to the invention, based on a cross array antenna, two wave beam scheduling modes, namely a TWS mode and a TAS mode, are designed; the TWS mode allows the radar to track the captured target in real time while searching the target, and is suitable for the occasion of processing multiple targets; and in the TAS mode, comprehensive search is firstly carried out, and then an interested target is tracked, so that multiple times of beam emission in a target-free area is effectively avoided. The radar can identify and capture the target in the shortest time, and the response speed is improved; after the target track is generated, the radar can track the target in real time to ensure the accuracy of data; the invalid beam emission times are reduced, and the resource utilization efficiency is improved. The system can dynamically adjust the beam scheduling strategy according to the target, so that the target can be quickly captured and accurately tracked, and the resource utilization efficiency is optimized.

Description

Technical Field

[0001] The invention belongs to the technical field of radar system design, and in particular relates to a beam scheduling and task allocation method for a cross-array trajectory measurement radar. Background Art

[0002] With the continuous development of modern warfare, the threat of ballistic targets is increasing. Traditional radar systems face many technical challenges in detecting and tracking these high-speed targets. Especially when the target speed exceeds the speed of sound, the radar system needs to have higher angle measurement accuracy and faster response speed to ensure that the precise position of the target can be captured in time.

[0003] As a radar antenna structure, the cross array antenna can control the beam direction in two dimensions at the same time, providing higher directivity and flexibility. The beam of this antenna structure is usually a fan-shaped beam, which can monitor a larger pitch angle airspace range while measuring angles, thus adapting to complex battlefield environments.

[0004] However, although the cross array antenna has a high angle measurement accuracy in theory, there are still some problems in its practical application. First, the fan-shaped beam emitted by the array antenna has a narrow beam width in the horizontal or vertical plane, which limits the detection range of the radar system in the face of high-speed moving targets. Due to the high-speed movement of the target, the radar system is often unable to search the entire detection range in a timely and accurate manner under limited resource conditions, resulting in the inability to capture the precise position of the target. Traditional radar systems cannot, in general, transmit azimuth beams and elevation beams for each wave position for effective search. This limitation not only affects the detection efficiency of the radar system, but also reduces its responsiveness to ballistic targets. Summary of the invention

[0005] The purpose of the present invention is to provide a beam scheduling and task allocation method for a cross-array ballistic measurement radar, which improves the detection, tracking and prediction capabilities of high-speed ballistic targets by optimizing the beam scheduling strategy and signal processing algorithm.

[0006] The technical solution to achieve the purpose of the present invention is: a beam scheduling and task allocation method for a cross-array trajectory measurement radar, comprising the following steps:

[0007] Step 1: When the system is powered on and starts working, the system is in TWS beam scheduling mode. According to the beam scheduling plan, the system transmits signals, receives target echo data, and performs signal processing;

[0008] Step 2: After the echo data signal is processed, the target angle measurement is started to calculate the target azimuth and elevation angles, and finally the target position is obtained; if the data is invalid, return to step 1 and start transmitting the waveform again;

[0009] Step 3: After obtaining the target position data, the system first calls the main core to enter the track search working mode, starts the track according to the target point track data, and repeatedly executes steps 1 to 3 until a reliable track is generated, ending the TWS beam scheduling mode.

[0010] Step 4: After a reliable track is generated, the system is in TAS beam scheduling mode, transmits signals according to the beam scheduling scheme, receives target echo data, and performs signal processing;

[0011] Step 5: For reliable track information, the system calls the slave core to enter the track tracking mode; the echo data after signal processing is angled, and point-to-point navigation is associated according to the point track coordinate data, so that the system maintains the TAS beam scheduling mode until the track disappears;

[0012] Step 6: When the track disappears, start predicting the landing point of the track in the slave core. If there is still a target, return to step 1.

[0013] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the steps of the above method are implemented when the processor executes the program.

[0014] A computer-readable storage medium stores a computer program, which implements the steps of the above method when executed by a processor.

[0015] A computer program product comprises a computer program, which implements the steps of the above method when executed by a processor.

[0016] Compared with the prior art, the present invention has the following significant advantages:

[0017] (1) Efficient beam scheduling: By switching between the TWS and TAS modes, the system can flexibly adjust the beam transmission strategy at different stages to ensure high efficiency in high-speed target tracking and measurement.

[0018] (2) Accurate target angle measurement capability: The present invention adopts the staggered CPI form to perform angle measurement in azimuth and elevation dimensions, which can effectively screen and process target data, reduce sidelobe interference, improve angle measurement accuracy, and ensure accurate positioning of ballistic targets.

[0019] (3) Optimized task allocation: In the TWS mode, the system of the present invention uses guidance information and fan-shaped beams to monitor a larger range of elevation airspace while measuring azimuth, reducing the repeated transmission of beams for each wave position, improving resource utilization and response speed. In the TAS mode, the system can perform real-time detection based on track tracking information, ensuring accurate tracking of the target's position during its movement, and improving the response capability to high-speed ballistic targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a model diagram of the cross-array ballistic measurement radar installation and beam scheduling scheme.

[0021] Figure 2 Figure 2 is the beam shape and position matrix diagram in TAS mode.

[0022] Figure 3 This is the timing diagram of the radar beam scheduling scheme in TWS mode.

[0023] Figure 4 This is the timing diagram of the radar beam scheduling scheme in TAS mode.

[0024] Figure 5 This is the flow chart of the target angle measurement algorithm.

[0025] Figure 6 Flowchart of radar search working mode.

[0026] Figure 7 This is the flow chart of radar tracking working mode. DETAILED DESCRIPTION

[0027] The present invention proposes a beam scheduling and task allocation scheme design method for a cross-array ballistic measurement radar, aiming to improve the target capture and tracking efficiency of the radar system. Based on the cross-array antenna, the present invention designs two beam scheduling modes: TWS (Track While Scan) mode and TAS (Track And Scan) mode. The TWS mode allows the radar to track the captured target in real time while searching for the target, which is suitable for processing multiple targets; while the TAS mode first conducts a comprehensive search and then tracks the target of interest, effectively avoiding multiple beam launches in the target-free area. The TWS mode is mainly responsible for the generation of the track, and the core tasks of its data processing are: sliding window condensation, track initiation, and beam prediction, which prepares for the TAS working mode; the TAS mode is mainly responsible for the tracking of the track, and the core tasks of its data processing are: point-to-heading association, track extrapolation, and beam prediction, so that the system can maintain the TAS working mode. The radar can identify and capture the target in the shortest time, improving the response speed; after the target track is generated, the radar can track the target in real time to ensure the accuracy of the data; reduce the number of invalid beam launches, and improve resource utilization efficiency. The system can dynamically adjust the beam scheduling strategy according to the target, thereby realizing rapid capture and accurate tracking of the target and optimizing resource utilization efficiency. The present invention provides an important reference for the design and optimization of the cross array radar system and has broad application prospects.

[0028] The present invention improves the detection, tracking and prediction capabilities of high-speed ballistic targets by optimizing beam scheduling strategies and signal processing algorithms. The implementation steps of the method include:

[0029] Step 1: When the system is powered on and starts working, the system is in TWS beam scheduling mode. According to the beam scheduling plan, the system transmits signals, receives target echo data, and performs signal processing;

[0030] Step 2: After the echo data signal is processed, the target angle measurement is started to calculate the target azimuth and elevation angles, and finally the target position is obtained; if the data is invalid, return to step 1 and start transmitting the waveform again;

[0031] Step 3: After obtaining the target position data, the system first calls the main core to enter the track search working mode, starts the track according to the target point track data, and repeatedly executes steps 1-5 until a reliable track is generated, ending the TWS beam scheduling mode;

[0032] Step 4: After a reliable track is generated, the system is in TAS beam scheduling mode, transmits signals according to the beam scheduling scheme, receives target echo data, and performs signal processing;

[0033] Step 5: For reliable track information, the system calls the slave core to enter the track tracking mode. The echo data after signal processing is angled and point-to-point navigation is associated according to the point track coordinate data, so that the system maintains the TAS beam scheduling mode until the track disappears;

[0034] Step 6: When the track disappears, start predicting the landing point of the track in the slave core. If there is still a target, return to step 1 and repeat the operation.

[0035] Furthermore, the TWS beam scheduling operation described in step 1; in the present application, the cross array antenna beam is a fan-shaped beam, so the difference between the beam width in the horizontal direction and the vertical direction is relatively large, so that it is possible to simultaneously monitor a larger range of elevation airspace when measuring the azimuth angle. When in TWS mode, the radar will use the guidance position as the center wave position according to the guidance information, and continue to search in the wave position matrix. It only needs to transmit the azimuth beam to the first wave position in each column, and the wave positions in the same column share the azimuth measured by the first wave position in each column. If there is a valid target in the azimuth beam, the elevation beam is transmitted to each wave position in the column in turn; if there is no valid target, the azimuth beam is directly transmitted to the first wave position in the next column.

[0036] Further, the azimuth dimension angle measurement and the pitch dimension angle measurement work described in step 2 are performed separately in the form of staggered CPI. First, the azimuth dimension data is signal processed to obtain the target distance, speed, sum and difference channel amplitude, and protection channel amplitude information. The data is filtered according to the target speed, sum and difference channel, and protection channel. When the sum channel amplitude is lower than the difference channel or protection channel amplitude, it is considered that the target data is caused by the side lobe of the signal and is discarded. According to the antenna radiation pattern, the remaining target data is angle-measured and solved; after obtaining the angle measurement data, according to the distance and speed information corresponding to the target, the targets with close distance and speed are condensed, and finally condensed into the target corresponding to the maximum sum beam amplitude. If the target speed does not meet the ballistic target speed range, it is also discarded. Then the target pitch dimension data is also measured and condensed. Finally, the azimuth dimension data of the target needs to be matched with the pitch dimension data. When the speed direction of the azimuth dimension data and the pitch dimension data is the same and the distance and speed are close, it is considered to be the same target. The final target distance and speed are taken from the data measured in the azimuth dimension, thereby obtaining the target's distance, speed, azimuth, and pitch angle information, and determining the target's three-dimensional coordinate information.

[0037] Furthermore, the task allocation of the track search work in the TWS mode described in step 3 includes point track coordinate conversion, sliding window condensation, track initiation, and beam prediction.

[0038] Further, the TAS beam scheduling operation described in step 4. When in TAS mode, the radar will use the tracking position as the central position according to the track tracking information, detect the position, and transmit the azimuth beam and the pitch beam in sequence to obtain the target information to complete the track tracking. After the track tracking is completed, the position matrix of the position is searched, and the search operation is the same as the TWS mode.

[0039] Furthermore, the task allocation of the track tracking work in the TAS mode described in step 5 includes point-track coordinate conversion, point-to-navigation association, track extrapolation, track disappearance, and beam prediction.

[0040] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the beam scheduling and task allocation scheme design of a cross-array ballistic measurement radar proposed in accordance with the present invention is described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0041] Example

[0042] The cross array trajectory measurement radar installation model designed in this embodiment is as follows Figure 1 As shown, 1 shows the wave position matrix of a single radar search. The beam scheduling of the cross ballistic measurement radar can be divided into TWS (track while searching) mode and TAS (track and search) mode. The radar azimuth and elevation beams are transmitted in a CPI interlaced manner. The search range each time is only a 5*5 wave position matrix. When in TWS mode, the radar will use the guidance position as wave position 13 according to the guidance information and continue to search in the wave position matrix; when in TAS mode, the radar will use the tracked position as wave position 13, first detect wave position 13, and then detect the wave position matrix in turn. The scanning beam shape is a fan-shaped beam, and the beam width of the horizontal and vertical planes is quite different, so there are two kinds of beams, azimuth and elevation; in TAS mode, the center of the wave position matrix (wave position 13) will change in real time with the position of the tracked target; as shown Figure 2 shown.

[0043] The timing diagram of the radar beam scheduling scheme in the TWS mode designed in this embodiment is as follows Figure 3 As shown. Since the beam shape is a fan-shaped beam, in the search mode, only azimuth beams need to be transmitted to wave positions 1, 6, 11, 16, and 21, and the wave positions in the same column share the azimuth angle measured by the first wave position in each column. For example: after transmitting the azimuth beam to wave position 1, the data is received and signal processing and data processing are performed; if the target exists, the elevation beam is transmitted to the wave positions 1, 2, 3, 4, and 5 in the column in turn, and signal processing and data processing are performed; if the target does not exist, the azimuth beam is directly transmitted to wave position 6, and the azimuth beams are transmitted and processed to wave positions 1, 6, 11, 16, and 21 in turn until the target is detected.

[0044] The timing diagram of the radar beam scheduling scheme in the TAS mode designed in this embodiment is as follows: Figure 4 As shown. If the target is tracked, TAS will be enabled and the beam scheduling will enter the tracking mode. When in the search working mode, the beam scheduling is the same as the TWS mode. When TAS is enabled, the radar will directly transmit the azimuth beam and elevation beam to the target position (beam position 13) to track and detect the target. After the tracking and detection is completed, it returns to the search mode and searches again until TAS is enabled again.

[0045] The target angle measurement module flow chart designed in this embodiment is as follows Figure 5 As shown. Since the target azimuth and pitch dimension data are received in an interlaced CPI manner, the azimuth dimension data is processed first. The target data and channel amplitude are compared with the difference channel amplitude. If the sum channel amplitude is lower than the difference channel, it is considered that the target data is caused by the side lobe of the signal and is discarded; the target data and channel amplitude are compared with the protection channel amplitude, and the target whose sum channel amplitude is greater than the protection channel amplitude is screened out to achieve sidelobe blanking; the sum and difference amplitude ratio is calculated, and the angle measurement work is completed according to the antenna's directional pattern fitting curve. After obtaining the angle measurement data, according to the distance and speed information corresponding to the target, the targets with close distance and speed are condensed, and finally condensed into the target corresponding to the maximum sum beam amplitude. If the target speed does not meet the ballistic target speed range, the data is judged to be invalid and discarded. If the data is valid, the pitch dimension data is received and solved again. Finally, the target's azimuth dimension data and pitch dimension data need to be matched. When the azimuth dimension data and the pitch dimension data have the same speed direction and the distance and speed are close, they are considered to be the same target. The final target distance and speed are obtained by taking the data measured in the azimuth dimension, thereby obtaining the target's distance, speed, azimuth, and pitch angle information. If the data is invalid, wait for the azimuth dimension data of the next beam to be received.

[0046] The task allocation strategy designed in this embodiment can be divided into a search working mode and a tracking working mode according to the presence or absence of a track:

[0047] The search working mode flow chart designed in this embodiment is as follows Figure 6As shown. Since the data angle and distance of the target measurement are relative to the center coordinate system of the array, considering the pitch angle and true north angle of the antenna array, the target coordinates need to be three-dimensionally rotated to the ENU coordinate system with the radar as the origin, so as to facilitate the sliding window condensation and subsequent calculations of the target. After the sliding window condenses to obtain accurate target parameters, the track initiation operation is started to establish a temporary track. If the track is successfully started, a reliable track is established; if the track initiation fails, the temporary track will continue to be used for track initiation. The track extinction judgment is made for the reliable track after the start, the landing point prediction is made for the extinct track, and the track extinction and landing point prediction results are reported. If the track has not disappeared, the position of the next point of the track is predicted and assigned to a slave core, and the position of the latest point of the track and the predicted point beam position are reported, so that the system can switch from the TWS beam scheduling mode to the TAS beam scheduling mode.

[0048] The tracking working mode flow chart designed in this embodiment is as follows Figure 7 As shown. Since reliable tracks exist, the point tracks after coordinate conversion are directly associated with the reliable tracks for point navigation. If the point navigation association is successful, the latest position of the track is updated; if the point navigation association fails, the point track will be inversely transformed in coordinates and sent to the main core in the search mode to start the track. After the point navigation association, it is necessary to extrapolate the tracks that are not associated to the current moment. The updated track is judged to be extinct, the landing point of the extinct track is predicted, and the track extinction and landing point prediction results are reported. If the track has not disappeared, the position of the next point of the track is predicted, and the latest point position of the track and the predicted point beam position are reported, so that the radar can maintain the TAS beam scheduling mode and continue to track the target.

[0049] In summary, the beam scheduling and task allocation scheme design method of the cross-array ballistic measurement radar proposed in the present invention aims to improve the detection and tracking capabilities of high-speed targets. The scheme adopts two modes, TWS and TAS, and realizes efficient target search and tracking through wave position matrix and fan beam design. In terms of point track generation, it can effectively eliminate sidelobe interference and accurately measure the distance, speed, azimuth and pitch angle of the target. According to the task allocation strategy under different modes, continuous tracking of the target can be ensured. In addition, the scheme has dynamic adjustment capability and track management function, and can update the target position in real time, thereby significantly improving the combat effectiveness and practicality of the radar.

[0050] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field of the present invention, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the scope of protection of the present invention.

Claims

1. A beam scheduling and task allocation method for a cross array trajectory measurement radar, characterized in that: The following steps are included: Step 1: When the system is powered on and starts working, the system is in TWS beam scheduling mode. According to the beam scheduling plan, the system transmits signals, receives target echo data, and performs signal processing; Step 2: After the echo data signal is processed, the target angle measurement is started to calculate the target azimuth and elevation angles, and finally the target position is obtained; if the data is invalid, return to step 1 and start transmitting the waveform again; Step 3: After obtaining the target position data, the system first calls the main core to enter the track search working mode, starts the track according to the target point track data, and repeatedly executes steps 1 to 3 until a reliable track is generated, ending the TWS beam scheduling mode. Step 4: After a reliable track is generated, the system is in TAS beam scheduling mode, transmits signals according to the beam scheduling scheme, receives target echo data, and performs signal processing; Step 5: For reliable track information, the system calls the slave core to enter the track tracking mode; the echo data after signal processing is angled, and point-to-point navigation is associated according to the point track coordinate data, so that the system maintains the TAS beam scheduling mode until the track disappears; Step 6: When the track disappears, start predicting the landing point of the track in the slave core. If there is still a target, return to step 1.

2. The beam scheduling and task allocation method of the cross array trajectory measurement radar according to claim 1 is characterized in that: The TWS beam scheduling described in step 1 is specifically as follows: the cross array antenna beam is a fan-shaped beam. When in the TWS beam scheduling mode, the radar uses the guidance position as the center wave position according to the guidance information, and continuously searches in the wave position matrix. It only needs to transmit the azimuth beam to the first wave position in each column, and the wave positions in the same column share the azimuth angle measured by the first wave position in each column; if there is a valid target in the azimuth beam, the elevation beam is transmitted to each wave position in the column in turn; if there is no valid target, the azimuth beam is directly transmitted to the first wave position in the next column.

3. The beam scheduling and task allocation method of the cross array ballistic measurement radar according to claim 1 is characterized in that: In step 2, the azimuth angle measurement and the pitch angle measurement are performed separately in the form of staggered CPI; first, the azimuth data is processed to obtain the target distance, speed, sum and difference channel amplitude, and protection channel amplitude information, and the data is filtered according to the target speed, sum and difference channel, and protection channel. When the sum channel amplitude is lower than the difference channel or protection channel amplitude, the target data is considered to be caused by the side lobe of the signal and is discarded; the remaining target data is angle-measured according to the antenna radiation pattern; after obtaining the angle measurement data, according to the distance and speed information corresponding to the target, the target with close distance and speed is sorted. The target is finally condensed into the target corresponding to the maximum beam amplitude. If the target speed does not meet the ballistic target speed range, it will be discarded. Then the pitch dimension data of the target is also measured and condensed. Finally, the azimuth dimension data of the target needs to be matched with the pitch dimension data. When the speed directions of the azimuth dimension data and the pitch dimension data are the same and the distance and speed meet the gate requirements, they are considered to be the same target. The final target distance and speed are obtained by taking the data measured by the azimuth dimension, thereby obtaining the target distance, speed, azimuth, and pitch angle information, and determining the target's three-dimensional coordinate information.

4. The beam scheduling and task allocation method of the cross array ballistic measurement radar according to claim 1 is characterized in that: The task allocation of track search work in the TWS beam scheduling mode described in step 3 includes point track coordinate conversion, sliding window condensation, track initiation and beam prediction.

5. The beam scheduling and task allocation method of the cross array ballistic measurement radar according to claim 1 is characterized in that: The TAS beam scheduling operation described in step 4, when in the TAS beam scheduling mode, the radar will use the tracking position as the central wave position according to the track tracking information, detect the wave position, and transmit the azimuth beam and the pitch beam in sequence to obtain the target information to complete the track tracking; after the track tracking is completed, the wave position matrix of the position is searched, and the search operation is the same as the TWS mode.

6. The beam scheduling and task allocation method of the cross array trajectory measurement radar according to claim 1 is characterized in that: The task allocation of track tracking work in the TAS beam scheduling mode described in step 5 includes point-track coordinate conversion, point-to-navigation association, track extrapolation, track extinction and beam prediction.

7. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method according to any one of claims 1 to 6 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method described in any one of claims 1 to 6 are implemented.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images