A beam scheduling and task allocation method for a cross array ballistic measurement radar

Abstract

The application discloses a kind of cross array ballistic measurement radar beam scheduling and task allocation method, to improve the target acquisition and tracking efficiency of radar system.The present application is based on cross array antenna, and two kinds of beam scheduling modes are designed:TWS mode and TAS mode;TWS mode allows radar to track the target captured in real time while searching for targets, suitable for occasions handling multiple targets;While TAS mode first searches comprehensively, then tracks the target of interest, effectively avoids multiple beam emission to no target area.Radar can identify and capture targets in the shortest time, improve response speed;After target track is generated, radar can track targets in real time, ensure the accuracy of data;Reduce the number of invalid beam emission, improve resource utilization efficiency.System can dynamically adjust beam scheduling strategy according to target, so as to realize fast acquisition and accurate tracking target, optimize resource utilization efficiency.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of radar system design, and particularly relates to a beam scheduling and task allocation method for a cross-array trajectory measurement radar. BACKGROUND

[0002] With the continuous development of modern warfare, the threat of ballistic targets is increasing. The traditional radar system faces many technical challenges when 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 accurate position of the target can be captured in time.

[0003] The cross-array antenna, as a kind of radar antenna structure, 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 elevation angle range while measuring the angle, thus adapting to complex battlefield environments.

[0004] However, although the cross-array antenna has higher 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 plane or vertical plane, which limits the detection range of the radar system in front of the high-speed moving target. Due to the high-speed movement of the target, the radar system often cannot search the complete detection range in time and accurately under limited resource conditions, resulting in the inability to capture the accurate position of the target. The traditional radar system cannot effectively search the azimuth beam and elevation beam for each wave position according to the general situation. This limitation not only affects the detection efficiency of the radar system, but also reduces the response ability to ballistic targets. SUMMARY

[0005] The purpose of the present application is to provide a beam scheduling and task allocation method for a cross-array trajectory measurement radar, which optimizes the beam scheduling strategy and signal processing algorithm to improve the detection, tracking and prediction ability of high-speed ballistic targets.

[0006] The technical solution to achieve the purpose of the present application 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 scheme, the signal is transmitted, and the target echo data is received for signal processing;

[0008] Step 2, after the echo data signal processing, the target angle measurement work is started, the target azimuth angle and elevation angle are calculated, 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, when the target position data is obtained, the system first calls the main core to enter the track search working mode, and performs track initiation according to the target track data, and repeatedly executes steps 1-3 until a reliable track is generated, and the TWS beam scheduling mode is ended;

[0010] Step 4, when the reliable track is generated, the system is in the 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 working mode; the echo data after signal processing is angle measurement, and the point track coordinate data is point track correlation, so that the system remains in the TAS beam scheduling mode until the track disappears;

[0012] Step 6, when the track disappears, start to predict the falling 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 on the memory and executable on the processor, wherein the processor executes the program to realize the steps of the above method.

[0014] A computer readable storage medium, which stores a computer program, wherein the program is executed by a processor to realize the steps of the above method.

[0015] A computer program product comprising a computer program, wherein the computer program is executed by a processor to realize the steps of the above method.

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

[0017] (1) Efficient beam scheduling: the present application can flexibly adjust the beam transmission strategy in different stages through the switching of TWS and TAS modes, ensuring high efficiency in high-speed target tracking and measurement.

[0018] (2) Accurate target angle measurement: the present application uses staggered CPI form for azimuth and elevation angle measurement, which can effectively filter and process target data, reduce sidelobe interference, improve angle measurement accuracy, and ensure accurate positioning of ballistic targets.

[0019] (3) Optimal task allocation: In the TWS mode, the system utilizes the guidance information and the fan-shaped beam to monitor a larger range of elevation space while measuring the azimuth angle, reducing the repeated transmission of the beam for each wave position and improving the resource utilization rate and response speed. In the TAS mode, the system can conduct real-time detection according to the track tracking information, ensuring accurate tracking of the position of the target during the movement of the target and improving the response ability to high-speed ballistic targets. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

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

[0024] Figure 5 It is a target angle measurement algorithm flowchart.

[0025] Figure 6 It is a radar search working mode flowchart.

[0026] Figure 7 It is a radar tracking working mode flowchart. DETAILED DESCRIPTION

[0027] The application provides a beam scheduling and task allocation scheme design method of a cross array ballistic measurement radar, aiming at improving target capturing and tracking efficiency of the radar system. The application is based on a cross array antenna, and two beam scheduling modes, a TWS (Track While Scan) mode and a TAS (Track And Scan) mode, are designed. The TWS mode allows the radar to track the captured target in real time while searching for the target, and is suitable for occasions of processing multiple targets. The TAS mode firstly performs comprehensive search, and then tracks the target of interest, effectively avoiding multiple beam emission to the target-free area. The TWS mode is mainly responsible for track generation, and the core of data processing task is: sliding window condensation, track initiation, and beam prediction, which prepares for the TAS mode. The TAS mode is mainly responsible for track tracking, and the core of data processing task is: point track association, track extrapolation, and beam prediction, which enables the system to maintain the TAS mode. The radar can identify and capture the target in the shortest time, improve the response speed, track the target in real time after the target track is generated, ensure the accuracy of data, reduce the number of invalid beam emissions, and improve the resource utilization efficiency. The system can dynamically adjust the beam scheduling strategy according to the target, so as to realize fast capturing and accurate tracking of the target, and optimize the resource utilization efficiency. The application provides an important reference for the design and optimization of the cross array radar system, and has a wide application prospect.

[0028] The application optimizes the beam scheduling strategy and signal processing algorithm, improves the detection, tracking and prediction ability of the high-speed ballistic target, and the implementation steps of the method include:

[0029] Step 1: when the system is powered on and starts to work, the system is in the TWS beam scheduling mode, transmits signals according to the beam scheduling scheme, receives target echo data, and processes signals;

[0030] Step 2: after the echo data signal processing, the target angle measurement work is started, the target azimuth and elevation angle is calculated, and finally the target position is obtained; if the data is invalid, return to step 1 and start to transmit the waveform again;

[0031] Step 3: when the target position data is obtained, the system firstly calls the main core to enter the track search working mode, initiates the track according to the target point track data, repeatedly executes steps 1-5 until a reliable track is generated, and ends the TWS beam scheduling mode;

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

[0033] Step 5, for reliable track information, the system calls from the kernel to enter the track tracking mode. The signal-processed echo data is angle-measured, and the point track coordinate data is used for point track association, so that the system remains in the TAS beam scheduling mode until the track disappears.

[0034] Step 6, when the track disappears, start to predict the drop point of the track in the kernel, if there is still a target, return to step 1 and repeat the operation.

[0035] Further, the TWS beam scheduling operation of step 1; in this application, the cross array antenna beam is a fan-shaped beam, so the beam width in the horizontal direction is greatly different from that in the vertical direction, which enables it to monitor a larger range of elevation space while measuring the azimuth angle. When in TWS mode, the radar will search continuously in the wave position matrix with the guided position as the center wave position, only need to transmit an azimuth beam to the first wave position of each column, and the wave positions in the same column share the azimuth angle measured by the first wave position of each column. If there is an effective target in the azimuth beam, transmit an elevation beam to each wave position of the column in turn; if there is no effective target, directly transmit an azimuth beam to the first wave position of the next column.

[0036] Further, the azimuth dimension angle measurement and elevation dimension angle measurement of step 2, the azimuth dimension angle measurement and the elevation dimension angle measurement are performed separately in the form of staggered CPI. First, the target distance, velocity, and difference channel amplitude, protection channel amplitude information are obtained by signal processing on the azimuth dimension data, and the target data is discarded when the amplitude of the sum channel is lower than the amplitude of the difference channel or the protection channel. According to the antenna pattern, the remaining target data is angle-measured and solved; after obtaining the angle measurement data, the targets with close distance and velocity are condensed according to the distance and velocity information corresponding to the target, and finally condensed into the target corresponding to the maximum sum beam amplitude, and the target velocity is discarded if it does not meet the range of the ballistic target velocity. Then the target elevation dimension data is also angle-measured and condensed. Finally, the azimuth dimension data and the elevation dimension data of the target need to be matched, and when the speed direction of the azimuth dimension data and the elevation dimension data is the same, and the distance and velocity are close, it is considered to be the same target. The target distance and velocity are obtained by measuring the azimuth dimension data, and thus the target distance, velocity, azimuth angle, and elevation angle information are obtained, and the target three-dimensional coordinate information is determined.

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

[0038] Further, step 4 describes the TAS beam scheduling operation. When in the TAS mode, the radar will take the tracking position as the center wave position, detect the wave position, and sequentially transmit the azimuth beam and the elevation beam to obtain the target information and 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 in the TWS mode.

[0039] Further, step 5 describes the task allocation of the track tracking operation in the TAS mode, including plot coordinate conversion, plot association, track extrapolation, track extinction, and beam prediction.

[0040] In order to further illustrate the technical means and effects adopted by the present application to achieve the predetermined object of the application, the beam scheduling and task allocation scheme design of the cross array ballistic measurement radar according to the present application is described in detail below in combination with the drawings and specific embodiments.

[0041] Embodiment

[0042] The erected model of the cross array ballistic measurement radar designed in this embodiment is shown in Figure 1 The beam scheduling of the cross array ballistic measurement radar can be divided into the TWS (track while search) mode and the TAS (track and search) mode, and the azimuth and elevation beams of the radar are transmitted in the CPI staggered manner. The search range of each search is only a 5*5 wave position matrix. When in the TWS mode, the radar will take the guide position as the wave position 13 and continuously search in the wave position matrix according to the guide information. When in the TAS mode, the radar will take the tracked position as the wave position 13, first detect the wave position 13, and then sequentially detect the wave position matrix. The scanning beam shape is a sector beam, and the beam width of the horizontal plane and the vertical plane has a large difference, so there are azimuth and elevation beams. In the TAS mode, the center of the wave position matrix (wave position 13) will change in real time with the tracking target position. As shown in Figure 2 .

[0043] The timing chart of the radar beam scheduling scheme in the TWS mode designed in this embodiment is shown in Figure 3 . Since the beam shape is a sector beam, only the azimuth beams of the wave positions 1, 6, 11, 16, and 21 need to be transmitted in the search mode, and the azimuth angles measured by the first wave position of each column are shared by the wave positions in the same column. For example, after transmitting the azimuth beam of the wave position 1, the data is received and signal processing and data processing are performed. If the target exists, the elevation beams of the wave positions 1, 2, 3, 4, and 5 in the column are sequentially transmitted, and signal processing and data processing are performed. If the target does not exist, the azimuth beam of the wave position 6 is directly transmitted, the azimuth beams of the wave positions 1, 6, 11, 16, and 21 are sequentially transmitted and processed, and the target is detected.

[0044] The timing chart of the radar beam scheduling scheme in the TAS mode designed in the embodiment is shown in Figure 4 If a target is tracked, TAS enabling occurs, and the beam scheduling enters the tracking mode. When in the search mode, the beam scheduling is the same as in the TWS mode. When TAS enabling occurs, the radar directly transmits the azimuth beam and the elevation beam to the target position (wave position 13) to perform target tracking detection. After the tracking detection ends, the radar returns to the search mode and searches again until TAS enabling occurs again.

[0045] The flow chart of the target angle measurement module designed in the embodiment is shown in Figure 5 Since the target azimuth and elevation data are received in the staggered CPI mode, the target azimuth data are processed first. The target data and the sum channel amplitude are compared with the difference channel amplitude. If the sum channel amplitude is lower than the difference channel amplitude, it is considered that the target data are caused by the sidelobe of the signal and are discarded. The target data and the sum channel amplitude are compared with the guard channel amplitude. The targets with the sum channel amplitude greater than the guard channel amplitude are screened out to realize sidelobe concealment. The sum-to-difference amplitude ratio is calculated, the angle measurement is completed according to the antenna pattern fitting curve, and the angle measurement data are obtained. According to the distance and speed information corresponding to the target, the targets with close distance and speed are condensed, and finally the target corresponding to the maximum beam amplitude is condensed. If the target speed does not meet the range of the ballistic target speed, the data are considered invalid and discarded. If the data are valid, the elevation data are received and calculated again. Finally, the azimuth data of the target are matched with the elevation data. When the speed and direction of the azimuth data and the elevation data are the same, and the distance and speed are close, the target is considered to be the same target. The distance and speed of the target are obtained from the azimuth data, and thus the distance, speed, azimuth and elevation information of the target are obtained. If the data are invalid, the azimuth data of the next wave beam are received.

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

[0047] The flow chart of the search mode designed in the embodiment is shown in Figure 6The target coordinates are rotated in three dimensions to the ENU coordinate system with the radar as the origin, considering the antenna array elevation angle and true north angle, so as to facilitate the target sliding window condensation and subsequent operation. After obtaining the accurate target parameters through the sliding window condensation, the track starting operation is started, and a temporary track is established. If the track starting is successful, a reliable track is established; if the track starting fails, the temporary track is continued to be used for track starting. The reliable track after starting is judged for track extinction, the extinct track is predicted for a drop point, and the track extinction and drop point prediction results are reported. If the track is not extinct, the next point position of the track is predicted and is assigned to a slave core, and the latest point position of the track and the predicted point beam position are reported, so that the system can be switched from the TWS beam scheduling mode to the TAS beam scheduling mode.

[0048] The tracking working mode flowchart designed in the embodiment is as shown in Figure 7 Since the reliable track exists, the point track after coordinate conversion is directly associated with the reliable track. If the point track association is successful, the latest position of the track is updated; if the point track association fails, the point track is inversely transformed and sent to the master core in the search mode for track starting. After the point track association, the track of the unassociated track needs to be extrapolated, and is extrapolated to the current time. The updated track is judged for extinction, the extinct track is predicted for a drop point, and the track extinction and drop point prediction results are reported. If the track is not extinct, the next point position 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 remain in 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 aims to improve the detection and tracking capability of high-speed targets. The scheme adopts TWS and TAS modes, and realizes efficient target search and tracking through the wave position matrix and sector beam design. In the aspect of point track generation, the sidelobe interference can be effectively eliminated, and the distance, speed, azimuth angle and elevation angle of the target can be accurately measured. According to the task allocation strategy in different modes, the 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 practicability of the radar.

[0050] The above is a further detailed description of the present application in combination with a specific preferred embodiment, and the specific implementation of the present application cannot be limited to these descriptions. For ordinary skilled persons in the technical field of the present application, some simple deductions or substitutions can be made without departing from the concept of the present application, and all of them should be regarded as falling within the protection scope of the present application.

Claims

1. A method for beam scheduling and task allocation of a cross array ballistic measurement radar, characterized in that, It comprises the following steps: Step 1, when the system is powered on and starts to work, the system is in a TWS beam scheduling mode, transmits a signal according to a beam scheduling scheme, receives target echo data, and performs signal processing; Step 2, after the echo data signal processing, target angle measurement work is started, target azimuth and elevation angles are calculated, and finally target position is obtained; if the data is invalid, return to step 1 and start to transmit the waveform again; Step 3, when the target position data is obtained, the system first calls the main core to make it enter a track search working mode, performs track initiation according to the target point track data, repeatedly executes steps 1-3 until a reliable track is generated, and the TWS beam scheduling mode is ended; Step 4, when the reliable track is generated, the system is in a TAS beam scheduling mode, transmits a signal according to a beam scheduling scheme, receives target echo data, and performs signal processing; Step 5, for the reliable track information, the system calls the slave core to make it enter a track tracking working mode; the echo data after signal processing is angle measured, and point track association is performed according to the point track coordinate data, so that the system remains in the TAS beam scheduling mode until the track disappears; Step 6, when the track disappears, start to predict the falling point of the track in the slave core, and if there is still a target, return to step 1.

2. The method of claim 1, wherein, The TWS beam scheduling in step 1 is specifically: the cross array antenna beam is a fan-shaped beam, when in the TWS beam scheduling mode, the radar takes the guided position as the center wave position and continuously searches in the wave position matrix according to the guide information, only needs to transmit the azimuth beam to the first wave position of each column, and the wave positions in the same column share the azimuth angle measured by the first wave position of each column; if there is an effective target for the azimuth beam, the elevation beam is transmitted to each wave position of the column in turn; if there is no effective target, the azimuth beam is directly transmitted to the first wave position of the next column.

3. The method of claim 1, wherein, In step 2, the azimuth angle measurement and the elevation angle measurement are separately performed in the form of staggered CPI; first, the azimuth dimension data is processed to obtain target distance, speed, and difference channel amplitude, protection channel amplitude information, the data is discarded when the amplitude of the sum channel is lower than the amplitude of the difference channel or the protection channel, according to the target speed, the difference channel and the protection channel; according to the antenna pattern, the remaining target data is angle measured and solved; after the angle measurement data is obtained, the targets with close distance and speed are condensed according to the distance and speed information corresponding to the target, and finally the target corresponding to the maximum beam amplitude is condensed, and if the target speed does not meet the range of the ballistic target speed, it is also discarded; then the elevation dimension data of the target is also angle measured and condensed; finally, the azimuth dimension data of the target needs to be matched with the elevation dimension data; when the speed direction of the azimuth dimension data and the elevation dimension data is the same, and the distance and speed size meet the gate requirement, it is considered to be the same target; finally, the target distance and speed are measured by the azimuth dimension, and thus the target distance, speed, azimuth angle, and elevation angle information are obtained, and the target three-dimensional coordinate information is determined.

4. The method of claim 1, wherein, The task allocation of the 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 method of claim 1, wherein, The TAS beam scheduling operation described in step 4, when in the TAS beam scheduling mode, the radar will take the tracking position as the center wave position, detect the wave position, transmit the azimuth beam and the elevation beam in turn, obtain the target information and complete the track tracking according to the track tracking information; after the track tracking is completed, the wave position matrix of the position is searched, and the search operation is the same as that in the TWS mode.

6. The method of claim 1, wherein, The task allocation of the track tracking work in the TAS beam scheduling mode described in step 5 includes point track coordinate conversion, point track association, track extrapolation, track extinction and beam prediction.

7. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to realize the steps of the method in any one of claims 1-6.

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

9. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the method in any one of claims 1-6.

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