Radar residence time distribution method, system and equipment based on helix scanning

Abstract

The invention provides a radar residence time distribution method, system and device based on spiral line scanning, and belongs to the technical field of radar target detection. The method comprises the following steps: establishing a spiral line scanning model based on an Archimedes spiral orbit, and performing interpolation processing on a corresponding discretized spiral line scanning path; wherein the discretization processing is carried out based on the coherent processing interval of the residence time distribution radar and the total scanning duration; mapping the spiral line scanning path after interpolation processing to a preset guide information error distribution function so as to determine cumulative probability distribution corresponding to each interpolation scanning path point; according to the cumulative probability distribution, determining a beam index set corresponding to the first probability region through inverse transformation sampling, and generating a beam scanning scheme according to each scanning point corresponding to the beam index set; according to the beam scanning scheme, radar residence time is distributed on the basis of scanning points with uneven scanning point density in interpolation scanning path points.

Description

Technical Field

[0001] The present application relates to the field of radar target detection technology, and in particular to a radar dwell time allocation method, system and device based on spiral scanning. Background Art

[0002] In radar target acquisition scenarios, acquisition efficiency is highly dependent on the rationality of beam scanning strategies and dwell time allocation. For radar systems that rely on external guidance information (such as the target's initial position and velocity provided by other observation platforms), this guidance information is subject to many random factors and may contain errors compared to the target's true position, thus affecting radar target acquisition performance. Based on the confidence level in the guidance information provided by the observation platform, the target's true position should preferentially converge to the vicinity of the initial position indicated by the guidance information.

[0003] The inventors found that the traditional straight-line return scanning, U-shaped scanning, and circular path scanning methods use uniform dwell time distribution. Although they are simple to calculate and easy to implement, they do not take into account the uneven distribution of target position probability density, resulting in insufficient scanning dwell time in high-probability areas where targets appear, and waste of scanning dwell time resources in low-probability areas. In addition, they lack flexibility, affecting the radar interception efficiency. Summary of the Invention

[0004] To solve the above problems, the embodiments of the present application provide a radar dwell time allocation method, system and device based on spiral scanning, so as to reasonably and flexibly implement dwell time allocation and improve radar interception efficiency.

[0005] On the one hand, an embodiment of the present application provides a radar dwell time allocation method based on spiral scanning, the method comprising:

[0006] A spiral scanning model is established based on an Archimedean spiral orbit, and the corresponding discretized spiral scanning path is interpolated; wherein the discretization is performed based on the coherent processing interval and the total scanning time of the dwell time allocation radar;

[0007] Mapping the interpolated spiral scanning path to a preset guidance information error distribution function to determine the cumulative probability distribution corresponding to each interpolated scanning path point;

[0008] According to the cumulative probability distribution, a beam index set corresponding to the first probability region is determined by inverse transform sampling, so as to generate a beam scanning scheme according to each scanning point corresponding to the beam index set; wherein the beam scanning scheme allocates radar dwell time based on each scanning point having an uneven scanning point density in the interpolated scanning path points.

[0009] In one implementation of the present application, determining a beam index set corresponding to a first probability region by inverse transform sampling according to the cumulative probability distribution specifically includes:

[0010] According to the cumulative probability distribution, performing the inverse transform sampling a number of times corresponding to the total number of the first scanning path points to screen out each screened interpolated scanning path point having a cumulative probability density value greater than or equal to a preset random number;

[0011] The scanning point index value corresponding to each of the filtered interpolation scanning path points is added to the beam index set.

[0012] In one implementation of the present application, before generating a beam scanning scheme according to each scanning point corresponding to the beam index set, the method further includes:

[0013] According to the position order of each scanning point corresponding to the beam index set in the spiral scanning path, each scanning point index value is added to the beam index sequence in sequence; the beam index sequence includes the scanning point index values of the total number of first scanning path points corresponding to the spiral scanning path.

[0014] In one implementation of the present application, a spiral line scanning model is established based on the Archimedean spiral track, specifically including:

[0015] The basic equation of the spiral line of the Archimedean spiral track is converted into a Cartesian coordinate system, and the time variable is associated to determine the corresponding dynamic scanning model;

[0016] The azimuth function θ corresponding to the radar is allocated according to the dwell time Azi and the pitch angle function φ Ele and the dynamic scanning model, determining the spiral scanning model:

[0017]

[0018] Among them, θ0 and φ0 are the starting angles of the path; θ B Allocate the radar beamwidth for the dwell time; θ R The total scanning range angle of the radar is allocated to the dwell time; Ω is the scanning angular velocity of the radar allocated to the dwell time.

[0019] In one implementation of the present application, the corresponding discretized spiral scanning path is interpolated, specifically including:

[0020] Calculating the total number of first scanning path points according to the ratio of the total scanning time to the coherent processing interval;

[0021] Discretize the initial spiral scanning path according to the total number of points in the first scanning path, and discretize the time variable into time point t to obtain the spiral scanning path; where t=k·T CPI , k=1,2,…,N, N is the total number of points on the first scanning path, T CPI is the coherent processing interval;

[0022] The total number of second scanning path points is determined according to a preset fineness rate and the total number of the first scanning path points, so as to perform interpolation processing on the spiral scanning path according to the total number of the second scanning path points.

[0023] In one implementation of the present application, before mapping the interpolated spiral scanning path to a preset guidance information error distribution function, the method further includes:

[0024] Based on the standard deviation of the preset guidance information error and the mean of the guidance angle of the preset guidance information when the dwell time allocation radar detects the target, the preset guidance information error distribution function is constructed. The preset guidance information error distribution function G(x, y) is a Gaussian probability density function, and the formula is as follows:

[0025]

[0026] Among them, x and y are function variables, (μ x , μ y ) is the mean of the guidance angles, and σ is the standard deviation of the preset guidance information error.

[0027] In one implementation of the present application, the interpolated spiral scanning path is mapped to a preset guidance information error distribution function to determine the cumulative probability distribution corresponding to each interpolated scanning path point, specifically including:

[0028] The initial point of the interpolated spiral scanning path is aligned with the origin of the preset guidance information error distribution function, and the azimuth and pitch angles corresponding to the spiral scanning model are substituted into the preset guidance information error distribution function as function arguments to determine the probability density value of each interpolated scanning path point;

[0029] Each of the probability density values is normalized to determine the corresponding cumulative probability distribution according to the normalized probability density value.

[0030] In one implementation of the present application, generating a beam scanning scheme according to each scanning point corresponding to the beam index set specifically includes:

[0031] According to the beam index sequence, the beam scanning scheme is generated for sequentially scanning the scanning points corresponding to the scanning point index values at the coherent processing interval, so as to perform different dwell time allocations on each path area.

[0032] On the other hand, an embodiment of the present application further provides a radar dwell time allocation system based on spiral scanning, the system comprising:

[0033] Establishing an interpolation module for establishing a spiral scanning model based on the Archimedean spiral orbit and interpolating the corresponding discretized spiral scanning path; wherein the discretization is performed based on the coherent processing interval and the total scanning time of the dwell time allocation radar;

[0034] A mapping module, configured to map the interpolated spiral scanning path to a preset guidance information error distribution function to determine a cumulative probability distribution corresponding to each interpolated scanning path point;

[0035] A determination module is configured to determine, based on the cumulative probability distribution, a beam index set corresponding to a first probability region by inverse transform sampling, so as to generate a beam scanning scheme based on each scanning point corresponding to the beam index set; wherein the beam scanning scheme allocates radar dwell time based on each scanning point having an uneven scanning point density in the interpolated scanning path points.

[0036] In another aspect, an embodiment of the present application further provides a radar dwell time allocation device based on spiral scanning, the device comprising:

[0037] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the radar dwell time allocation method based on spiral scanning as described above.

[0038] Compared with the prior art, this application has the following significant effects:

[0039] Through the above technical solution, the present application uses spiral scanning and combines cumulative probability and inverse transform sampling to screen the beam index of the high-probability area, so that the residence time allocation is positively correlated with the probability of target appearance, significantly reducing the probability of missed detection. At the same time, it can reasonably allocate the residence time, releasing resources from the low-probability area to the high-probability area. In addition, the present application combines time-refined interpolation with inverse transform sampling to enable the system to dynamically adjust the beam scanning scheme according to the real-time updated guidance information, and has stronger robustness to the trajectory prediction error of the moving target. This solves the problem of insufficient residence time for scanning the high-probability area where the target appears and waste of residence time resources for scanning the low-probability area due to the allocation of the radar's residence time, thereby improving the radar target interception flexibility and interception efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0041] Figure 1 A schematic flow chart of a radar dwell time allocation method based on spiral scanning in an embodiment of the present application;

[0042] Figure 2 A schematic diagram of a Gaussian distribution probability density and a spiral path in an embodiment of the present application;

[0043] Figure 3 Schematic diagram of interception angles in a radar dwell time allocation method based on spiral scanning in an embodiment of the present application;

[0044] Figure 4 Schematic diagram of dwell time distribution in a radar dwell time allocation method based on spiral scanning in an embodiment of the present application;

[0045] Figure 5 Schematic diagram of the structure of a radar dwell time allocation system based on spiral scanning in an embodiment of the present application;

[0046] Figure 6 This is a structural diagram of a radar dwell time allocation device based on spiral scanning in an embodiment of the present application. DETAILED DESCRIPTION

[0047] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0048] The embodiments of the present application provide a radar dwell time allocation method, system and device based on spiral line scanning, which are used to solve the current situation in which radar dwell time allocation has insufficient dwell time for scanning high-probability areas where targets appear, and wastes dwell time resources for scanning low-probability areas, resulting in insufficient flexibility in radar target interception and poor interception efficiency.

[0049] The following describes in detail various embodiments of the present application with reference to the accompanying drawings.

[0050] The embodiment of the present application provides a radar dwell time allocation method based on spiral scanning, such as Figure 1 As shown, the method may include steps S101-S103:

[0051] S101: establishing a spiral scanning model based on the Archimedean spiral track, and interpolating the corresponding discretized spiral scanning path.

[0052] The discretization processing is performed based on the coherent processing interval and the total scanning time of the dwell time allocation radar.

[0053] It should be noted that the execution entity of this application can be the microcontroller in the chip of the radar that performs the dwell time allocation, or it can be other terminal devices with computing and processing capabilities connected to the radar by wired or wireless communication, such as computers, servers, server clusters, etc. This application does not make specific limitations on this.

[0054] In the embodiment of the present application, a spiral line scanning model is established based on the Archimedean spiral track, specifically including:

[0055] The basic equation of the spiral of the Archimedean spiral orbit is converted to the Cartesian coordinate system and associated with the time variable to determine the corresponding dynamic scanning model. The azimuth function θ corresponding to the radar is assigned according to the dwell time. Azi and the pitch angle function φ Ele And dynamic scanning model, determine the spiral scanning model:

[0056]

[0057] Among them, θ0 and φ0 are the starting angles of the path, which can be determined by pre-input guidance information. The guidance information can be obtained from the initial position and velocity of the target provided by other observation platforms. For other observation platforms, such as phased array radar, the guidance information at least includes the average azimuth angle and the average pitch angle of the target. The average azimuth angle can be used as θ0, and the average pitch angle can be used as φ0; θ B Allocate the radar beamwidth for the dwell time; θ R The total scanning angle of the radar is allocated for the dwell time; Ω is the scanning angular velocity of the radar allocated for the dwell time.

[0058] The Archimedean spiral curve is the trajectory of a point moving outward at a uniform speed on a ray while the ray rotates at a uniform speed. Its basic equation is r = a + bθ, where r is the polar radius, a is the distance between the starting point and the origin, b is the pitch of the spiral, and θ is the polar angle. Converting the basic equation of the spiral to a Cartesian coordinate system and associating it with time t, the static spiral is converted into a dynamic scanning model, resulting in the formula:

[0059] x(t)=r(t)cosθ(t);

[0060] y(t)=r(t)sinθ(t);

[0061] Where (x(t), y(t)) are Cartesian coordinates. This application converts Cartesian coordinates into azimuth function θ Azi and the pitch angle function φ Ele , and then the above-mentioned spiral scanning model can be obtained.

[0062] Furthermore, in one embodiment of the present application, the interpolation process of the corresponding discretized spiral scanning path specifically includes:

[0063] The total number of points in the first scanning path is calculated based on the ratio of the total scanning time to the coherent processing interval. The initial spiral scanning path is discretized based on the total number of points in the first scanning path, and the time variable is discretized into time points t to obtain the spiral scanning path. Where t = k·T CPI , k=1,2,…,N, N is the total number of points on the first scanning path, T CPI The total number of the second scanning path points is determined according to the preset fineness and the total number of the first scanning path points, so as to perform interpolation processing on the spiral scanning path according to the total number of the second scanning path points.

[0064] In other words, the present application can calculate the ratio of the total scan time to the coherent processing interval N is the total number of discrete path points in the discretized spiral scanning path, that is, the total number of first scanning path points, T is the total scanning time, and the discretized discrete time point t = k·T CPI, k=1,2,…,N. At this time, the azimuth angle θ of the kth point in the spiral scanning path k and pitch angle φ k It can be expressed as:

[0065]

[0066] This application will also calculate the total number of second scanning path points corresponding to each interpolated scanning path point after interpolation processing based on the preset fineness rate q and the total number of first scanning path points N. The total number of second scanning path points N1 = q·N. For example, if the total number of first scanning path points is 25, the total number of second scanning path points N1 = 10 × 25 = 250 interpolated scanning path points are obtained through interpolation with a fineness rate q = 10 times. The total number of second scanning path points is the total number of interpolated scanning path points. The preset fineness rate can be set by the user according to the actual usage scenario, and this application does not make any specific restrictions on this.

[0067] Through the above scheme, it can be ensured that the total scanning time obtained after the execution of the beam scanning scheme remains unchanged, but the radar can allocate the dwell time more effectively to the high-probability area for scanning through subsequent probability distribution and inverse transform sampling, thereby improving the capture efficiency of the radar scanning.

[0068] S102 : Mapping the interpolated spiral scanning path to a preset guidance information error distribution function to determine a cumulative probability distribution corresponding to each interpolated scanning path point.

[0069] In an embodiment of the present application, before mapping the interpolated spiral scanning path to the preset guidance information error distribution function, the method further includes:

[0070] Based on the standard deviation of the preset guidance information error and the mean of the guidance angle of the preset guidance information when the dwell time allocation radar detects the target, a preset guidance information error distribution function is constructed. The preset guidance information error distribution function G(x, y) is a Gaussian probability density function, and the formula is as follows:

[0071]

[0072] Among them, x and y are function variables, (μ x , μ y ) is the mean of the guidance angle, and σ is the standard deviation of the preset guidance information error.

[0073] That is to say, the present application can obtain the preset standard deviation of the guidance information error, simulate the target guidance information error distribution to establish a two-dimensional Gaussian distribution error model, assuming μ x , μ yThe above-mentioned preset guidance information error distribution function is established as the mean of the guidance angle. σ can be set by the user according to the actual usage scenario, and this application does not make specific restrictions on this. Among them, the preset guidance information error distribution function is a Gaussian probability density function for exemplary purposes only. When the guidance radar adopts a single pulse method, Kalman filtering and other methods to provide guidance information, it can usually be approximately considered that the target guidance information obeys a Gaussian distribution; in some scenarios, the guidance information noise may conform to a Rayleigh distribution, a mixed Gaussian model, etc., which can be specifically set by the user according to the actual usage scenario, and this application does not make specific restrictions on this. This application takes the preset guidance information error distribution function as a Gaussian probability density function as an example to describe the following embodiments.

[0074] Next, in one embodiment of the present application, the interpolated spiral scanning path is mapped to a preset guidance information error distribution function to determine the cumulative probability distribution corresponding to each interpolated scanning path point, specifically including:

[0075] The initial point of the interpolated helical scan path is aligned with the origin of the preset guidance information error distribution function. The azimuth and elevation angles corresponding to the helical scan model are then substituted into the preset guidance information error distribution function as function arguments to determine the probability density value for each interpolated scan path point. Each probability density value is normalized to determine the corresponding cumulative probability distribution based on the normalized probability density value.

[0076] Specifically, the present application maps the interpolated spiral scanning path to the preset guidance information error distribution function. First, the initial point of the spiral scanning path is coincided with the origin of the preset guidance information error distribution function, where the origin of the preset guidance information error distribution function is the mean position of the guidance information (θ0, φ0). Then, the azimuth and pitch angle coordinates are substituted into the above G(x, y) to obtain the probability density value corresponding to the interpolated scanning path point k:

[0077]

[0078] Next, the application may also normalize the probability density values obtained above to normalize the probability density values:

[0079]

[0080] Then, the cumulative probability distribution function F is determined based on the normalized probability density value. k :

[0081]

[0082] S103 : Determine a beam index set corresponding to the first probability region through inverse transform sampling according to the cumulative probability distribution, so as to generate a beam scanning scheme according to each scanning point corresponding to the beam index set.

[0083] The beam scanning scheme allocates radar dwell time to each scan point based on the uneven density of scan points in the interpolated scan path. In this application, the scan dwell time is consistent at each scan point, but different spatial locations may be scanned by different scanning beams, so the scan point density can reflect the different dwell times at different spatial locations.

[0084] In the embodiment of the present application, the above-mentioned determination of the beam index set corresponding to the first probability region by inverse transform sampling according to the cumulative probability distribution specifically includes:

[0085] Based on the cumulative probability distribution, perform inverse transform sampling a number of times corresponding to the total number of first scan path points to screen out interpolated scan path points whose cumulative probability density value is greater than or equal to a preset random number. Add the scan point index value corresponding to each screened interpolated scan path point to the beam index set.

[0086] Specifically, the present application performs an inverse transform sampling operation according to the above cumulative probability distribution, thereby generating a beam index set:

[0087] in, For each i=1,2,…,N,ξ i is a random variable that obeys a uniform distribution on the interval (0, 1), that is, ξ i In the interval (0, 1), ξ takes values with equal probability. i To randomly obtain a preset random number that obeys a uniform distribution; For each ξ i , find the cumulative distribution function F(k)≥ξ i The smallest integer k of That is, the scan point index value obtained by sampling; the beam index set S is obtained by repeating the above process for i = 1, 2, ..., N N times Collect them to form a beam index set. The first probability area is the high probability area where the scanning point index value corresponds to the scanning point.

[0088] For example, if the total number of points on the second scan path is 10, the scan point index values are 0 to 9, the normalized probability p = [0.1, 0.1, 0.2, 0.3, 0.1, 0.05, 0.05, 0.0, 0.0], and its cumulative probability distribution F = [0.1, 0.2, 0.4, 0.7, 0.8, 0.85, 0.9, 0.95, 0.95, 0.95]; if the total number of points on the first scan path is 3, and the random numbers are 0.3, 0.6, and 0.85 respectively, the sampling process is:

[0089] ξ1=0.3:Find the minimum k so that F(k)≥0.3, then

[0090] ξ2=0.6:Find the minimum k so that F(k)≥0.6, then

[0091] ξ3=0.85:Find the minimum k so that F(k)≥0.85, then

[0092] The resulting beam index set is {2, 3, 5}. This indicates that the scan point index values 2-3 correspond to a high-probability region where the scan point is located. When the scan points corresponding to the scan point index values 2-3 are scanned with the coherent processing interval dwell time, the corresponding region has a longer dwell time. Subsequently, the coherent processing interval is performed on the scan point with the scan point index value 5. Since the region with the scan point index value 5 only has one scan point, the dwell time allocated to this region is less than the region containing the scan point index values 2-3, achieving flexible dwell time allocation.

[0093] Through the above operations, the scanning point indexes corresponding to the high-probability area where the target is located can be filtered out. The scans can be resampled according to the probability density, so that more points in the high-probability area can be retained. In this way, when scanning according to the retained scanning points, the radar will have a longer residence time in the high-probability area.

[0094] In one embodiment of the present application, before generating a beam scanning scheme according to each scanning point corresponding to the beam index set, the method further includes:

[0095] According to the position order of each scanning point corresponding to the beam index set on the spiral scanning path, the index value of each scanning point is sequentially added to the beam index sequence. The beam index sequence includes the total number of scanning point index values of the first scanning path points corresponding to the spiral scanning path.

[0096] That is to say, in order to enable the radar to complete the scan continuously, the present application will also generate an optimized beam index sequence, such as: S opt =sort(S)=[k (1) ,k (2) ,…,k (N) ],k (1) ≤k (2) ≤…≤k (N) , k (N) is the scanning point index value arranged at the Nth position in the beam index sequence, that is, S opt The scanning points are arranged in unequal intervals along the scanning path.

[0097] Finally, in one embodiment of the present application, a beam scanning scheme is generated according to each scanning point corresponding to the beam index set, specifically including:

[0098] According to the beam index sequence, a beam scanning scheme is generated for sequentially scanning scanning points corresponding to the scanning point index values at coherent processing intervals, so as to perform different dwell time allocations on each path area.

[0099] Beam scanning scheme is the Sth in the beam index sequence i The azimuth and elevation coordinates of each scanning point are obtained. The beam index sequence with uneven scanning point density obtained according to the probability distribution can allocate different dwell times to the path area, better focus on scanning high-probability areas, and optimize the dwell time while maintaining the sampling density of high-probability areas.

[0100] In addition, when the guidance information of the present application is updated, the beam scanning scheme will be updated in real time according to the updated guidance information to ensure flexible allocation of the dwell time.

[0101] In another embodiment of the present application, it is assumed that the coherent processing interval (CPI) of a certain radar is 0.04s, the initial azimuth pointing and initial pitch angle pointing of the radar are set to 30 degrees and 10 degrees respectively, the beam width is 0.3 degrees, and the maximum angular velocity of the servo during spiral scanning is 5 degrees / second. Assuming that the target moves in a uniform straight line, the true position of the target (distance, azimuth, pitch angle) is set to (800 meters, 28 degrees, 9 degrees), and the target speed is set to 2 meters / second on the x, y, and z axes in the rectangular coordinate system. The preset standard deviation of the guidance information error σ is set to 0.5. The residence time allocation process and results obtained by applying the above technical solution are as follows: Figure 2 、 Figure 3 、 Figure 4 As shown. Among them, Figure 2 Schematic diagram of the constructed Gaussian distribution probability density and spiral path (spiral scanning path); Figure 3 To obtain the angle diagram, Figure 3 It can be seen that the dwell time distribution of the optimized intercepted wave position for each scanning point is not evenly distributed, while the original intercepted wave position is evenly distributed; Figure 4 Schematic diagram of the residence time distribution.

[0102] The sampling points of this application are closely spaced in the high-probability area where the target appears, the dwell time is longer, and the scanning is more precise. The limited scanning time can be concentrated in the high-probability area, thereby optimizing the allocation of scanning dwell time resources and improving the radar detection efficiency.

[0103] Through the above technical solution, the present application uses spiral scanning and combines cumulative probability and inverse transform sampling to screen the beam index of the high-probability area, so that the residence time allocation is positively correlated with the probability of target appearance, significantly reducing the probability of missed detection. At the same time, it can reasonably allocate the residence time, releasing resources from the low-probability area to the high-probability area. In addition, the present application combines time-refined interpolation with inverse transform sampling to enable the system to dynamically adjust the beam scanning scheme according to the real-time updated guidance information, and has stronger robustness to the trajectory prediction error of the moving target. This solves the problem of insufficient residence time for scanning the high-probability area where the target appears and waste of residence time resources for scanning the low-probability area due to the allocation of the radar's residence time, thereby improving the radar target interception flexibility and interception efficiency.

[0104] Figure 5 A schematic diagram of a radar dwell time allocation system based on spiral scanning is provided in an embodiment of the present application. Figure 5 As shown, the radar dwell time allocation system 500 based on spiral scanning includes:

[0105] An interpolation module 501 is established to establish a spiral scanning model based on an Archimedean spiral orbit and to interpolate the corresponding discretized spiral scanning path. The discretization is performed based on the coherent processing interval and total scanning duration of the radar allocated by the dwell time. A mapping module 502 is used to map the interpolated spiral scanning path to a preset guidance information error distribution function to determine the cumulative probability distribution corresponding to each interpolated scanning path point. A determination module 503 is used to determine the beam index set corresponding to the first probability region through inverse transform sampling based on the cumulative probability distribution, so as to generate a beam scanning scheme based on each scanning point corresponding to the beam index set. The beam scanning scheme allocates radar dwell time based on each scanning point with uneven scanning point density in the interpolated scanning path points.

[0106] Figure 6 A schematic diagram of a radar dwell time allocation device based on spiral scanning provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the equipment includes:

[0107] At least one processor. And a memory communicatively connected to the at least one processor. The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to:

[0108] A spiral scanning model is established based on the Archimedean spiral orbit, and the corresponding discretized spiral scanning path is interpolated. The discretization is performed based on the coherent processing interval and total scanning duration of the radar's dwell time allocation. The interpolated spiral scanning path is mapped to a preset guidance information error distribution function to determine the cumulative probability distribution corresponding to each interpolated scanning path point. Based on the cumulative probability distribution, the beam index set corresponding to the first probability region is determined through inverse transform sampling, and a beam scanning scheme is generated based on each scanning point corresponding to the beam index set. The beam scanning scheme allocates radar dwell time based on each scanning point with uneven scanning point density in the interpolated scanning path points.

[0109] The various embodiments in this application are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system and device embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the partial description of the method embodiments.

[0110] The systems, devices, and methods provided in the embodiments of the present application correspond one-to-one. Therefore, the systems and devices also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the systems and devices will not be repeated here.

[0111] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0112] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included within the scope of the claims of the present application.

Claims

1. A radar dwell time allocation method based on spiral scanning, characterized in that: The method comprises: A spiral scanning model is established based on an Archimedean spiral orbit, and the corresponding discretized spiral scanning path is interpolated; wherein the discretization is performed based on the coherent processing interval and the total scanning time of the dwell time allocation radar; Mapping the interpolated spiral scanning path to a preset guidance information error distribution function to determine the cumulative probability distribution corresponding to each interpolated scanning path point; According to the cumulative probability distribution, a beam index set corresponding to the first probability region is determined by inverse transform sampling, so as to generate a beam scanning scheme according to each scanning point corresponding to the beam index set; wherein the beam scanning scheme allocates radar dwell time based on each scanning point having an uneven scanning point density in the interpolated scanning path points.

2. The radar dwell time allocation method based on spiral scanning according to claim 1, characterized in that: Determining a beam index set corresponding to a first probability region by inverse transform sampling according to the cumulative probability distribution specifically includes: According to the cumulative probability distribution, performing the inverse transform sampling a number of times corresponding to the total number of the first scanning path points to screen out each screened interpolated scanning path point having a cumulative probability density value greater than or equal to a preset random number; The scanning point index value corresponding to each of the filtered interpolation scanning path points is added to the beam index set.

3. The radar dwell time allocation method based on spiral scanning according to claim 2, characterized in that: Before generating a beam scanning scheme according to each scanning point corresponding to the beam index set, the method further includes: According to the position order of each scanning point corresponding to the beam index set in the spiral scanning path, each scanning point index value is added to the beam index sequence in sequence; the beam index sequence includes the scanning point index values of the total number of first scanning path points corresponding to the spiral scanning path.

4. The radar dwell time allocation method based on spiral scanning according to claim 1, characterized in that: A spiral line scanning model is established based on the Archimedean spiral track, specifically including: The basic equation of the spiral line of the Archimedean spiral track is converted into a Cartesian coordinate system, and the time variable is associated to determine the corresponding dynamic scanning model; The azimuth function θ corresponding to the radar is allocated according to the dwell time Azi and the pitch angle function φ Ele and the dynamic scanning model, determining the spiral scanning model: Among them, θ0 and φ0 are the starting angles of the path; θ B Allocate the radar beamwidth for the dwell time; θ R The total scanning range angle of the radar is allocated to the dwell time; Ω is the scanning angular velocity of the radar allocated to the dwell time.

5. The radar dwell time allocation method based on spiral scanning according to claim 4, characterized in that: The corresponding discretized spiral scanning path is interpolated, specifically including: Calculating the total number of first scanning path points according to the ratio of the total scanning time to the coherent processing interval; Discretize the initial spiral scanning path according to the total number of points in the first scanning path, and discretize the time variable into time point t to obtain the spiral scanning path; where t=k·T CPI , k=1,2,…,N, N is the total number of points on the first scanning path, T CPI is the coherent processing interval; The total number of second scanning path points is determined according to a preset fineness rate and the total number of the first scanning path points, so as to perform interpolation processing on the spiral scanning path according to the total number of the second scanning path points.

6. The radar dwell time allocation method based on spiral scanning according to claim 1, characterized in that: Before mapping the interpolated spiral scanning path to a preset guidance information error distribution function, the method further includes: Based on the standard deviation of the preset guidance information error and the mean of the guidance angle of the preset guidance information when the dwell time allocation radar detects the target, the preset guidance information error distribution function is constructed. The preset guidance information error distribution function G(x, y) is a Gaussian probability density function, and the formula is as follows: Among them, x and y are function variables, (μ x , μ y ) is the mean of the guidance angles, and σ is the standard deviation of the preset guidance information error.

7. The radar dwell time allocation method based on spiral scanning according to claim 1, characterized in that: The interpolated spiral scanning path is mapped to a preset guidance information error distribution function to determine the cumulative probability distribution corresponding to each interpolated scanning path point, specifically including: The initial point of the interpolated spiral scanning path is aligned with the origin of the preset guidance information error distribution function, and the azimuth and pitch angles corresponding to the spiral scanning model are substituted into the preset guidance information error distribution function as function arguments to determine the probability density value of each interpolated scanning path point; Each of the probability density values is normalized to determine the corresponding cumulative probability distribution according to the normalized probability density value.

8. The radar dwell time allocation method based on spiral scanning according to claim 3, characterized in that: Generating a beam scanning scheme according to each scanning point corresponding to the beam index set specifically includes: According to the beam index sequence, the beam scanning scheme is generated for sequentially scanning the scanning points corresponding to the scanning point index values at the coherent processing interval, so as to perform different dwell time allocations on each path area.

9. A radar dwell time allocation system based on spiral scanning, characterized in that: The system comprises: Establishing an interpolation module for establishing a spiral scanning model based on the Archimedean spiral orbit and interpolating the corresponding discretized spiral scanning path; wherein the discretization is performed based on the coherent processing interval and the total scanning time of the dwell time allocation radar; A mapping module, configured to map the interpolated spiral scanning path to a preset guidance information error distribution function to determine a cumulative probability distribution corresponding to each interpolated scanning path point; A determination module is configured to determine, based on the cumulative probability distribution, a beam index set corresponding to a first probability region by inverse transform sampling, so as to generate a beam scanning scheme based on each scanning point corresponding to the beam index set; wherein the beam scanning scheme allocates radar dwell time based on each scanning point having an uneven scanning point density in the interpolated scanning path points.

10. A radar dwell time allocation device based on spiral scanning, characterized in that: The device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the radar dwell time allocation method based on helical scanning as described in any one of claims 1 to 8.

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