Cooperative tracking method of multi-station same frequency pulse radar based on phase information interconnection

Abstract

The present application relates to radar technical field, especially to a kind of same frequency pulse radar multi-station cooperative tracking method based on phase information interconnection, the method is based on radar network system implementation, the radar network system includes at least two same frequency pulse radars and a control terminal, the method includes the following steps: S10, each pulse radar gathers own phase information, and sends to control terminal;S20, control terminal receives the phase information sent by each pulse radar, and according to phase information, pulse radar quantity, pulse radar's station information and target position information, calculates the phase control deviation value of each pulse radar, and sends each phase control deviation value to corresponding pulse radar;S30, each pulse radar receives the phase control deviation value sent by control terminal, and controls own phase according to the phase control deviation value.By the present application, the same frequency interference problem of pulse radar chain can be fundamentally solved.

Description

Technical Field

[0001] This invention relates to the field of radar control technology, and in particular to a multi-station cooperative tracking method for co-frequency pulse radar based on phase information interconnection. Background Technology

[0002] Precision tracking and measurement monopulse radar is widely used in the aerospace telemetry and control field. In the current mode of radar operation, multiple radar stations are deployed independently and dispersedly, with no signal-level interaction between them.

[0003] Unlike search and early warning radars that use reflection-based tracking, the most common tracking method for precision tracking and measurement monopulse radars is response-based tracking. The most significant difference between response-based tracking and reflection-based tracking is that response-based tracking requires the cooperation of a cooperating target to jointly complete the target tracking and measurement. Specifically, the precision tracking and measurement radar triggers a transponder on the cooperating target by transmitting a signal, and then the radar tracks the target by receiving the transponder's response signal. Once the initial phase, radar position, and target transponder position of one radar are determined, the time it takes for the radar's transmitted signal to reach the transponder is also determined. For a period of time after responding to a signal from one radar, the transponder will not respond to signals from other radars. When multiple pulse radars at the same frequency are tracking the same target, there is a possibility that after one radar triggers its transponder, another radar's transmitted signal will reach the target transponder shortly afterward. The later-arriving radar signal is not responded to, and the transponder will not generate a corresponding response signal; this is called transponder signal blocking, which usually leads to radar tracking loss. In the actual operating environment of precision tracking and measurement radars, target loss due to transponder signal blocking often occurs, which is a common mutual interference phenomenon in co-frequency pulse radar chains.

[0004] In traditional pulse radar design, to avoid simultaneous transponder activation due to relative signal movement during tracking, manual phase adjustment or a forward gate control method is typically used to prevent mutual interference. Manual phase adjustment involves the radar operator observing and, if it's suspected that the radar signal might trigger the transponder simultaneously with other radar signals, changing the phase of the radar's transmitted signal to lengthen the time interval between triggering the transponder. Forward gate control involves setting a time-corresponding detection zone in front of the radar signal. If other radar signals are detected within this zone, the phase of the radar's transmitted signal is changed via command, preventing other radar signals from interfering with the transponder activation of the radar.

[0005] However, neither manual phase adjustment nor gate control can resolve radar signal interference during the search and acquisition phase, because the gate for pulse radar signals is inactive during this phase, and the signal phase is random. Furthermore, manual phase adjustment is highly dependent on the operator's training level and the accuracy of their subjective judgment; gate control cannot prevent synchronous debris reflections from entering the gate detection area, causing continuous phase adjustment problems, nor can it prevent signal interference from the rear end crossing the tracking gate into the front end. The phase after gate control may also be close to the phase of other radars, causing mutual interference. Therefore, co-frequency interference in pulse radar chains has always existed in application fields and occurs frequently. Summary of the Invention

[0006] The purpose of this invention is to provide a multi-station cooperative tracking method for pulse radar based on phase information interconnection, so as to solve the problem of co-frequency interference in pulse radar chains.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] In a first aspect, the present invention provides a multi-station cooperative tracking method for co-frequency pulse radars based on phase information interconnection. The method is implemented based on a radar network system, which includes at least two co-frequency pulse radars and a control terminal. The method includes the following steps:

[0009] S10, each pulse radar collects its own phase information and sends it to the control terminal;

[0010] S20, the control terminal receives the phase information sent by each pulse radar, and calculates the phase modulation deviation value of each pulse radar based on the phase information, the number of pulse radars, the station location information of the pulse radars and the target location information, and sends each phase modulation deviation value to the corresponding pulse radar.

[0011] S30, each pulse radar receives the phase modulation deviation value sent by the control terminal, and adjusts its own phase according to the phase modulation deviation value.

[0012] In step S20, the process of calculating the phase modulation deviation value of each pulse radar based on phase information, the number of pulse radars, the location information of the pulse radars, and the target location information includes:

[0013] The location of the Mth pulse radar at time t is calculated from the station location information and target location information of the pulse radar. n The straight-line distance R between the time and the target M ;

[0014] Define the phase information acquired by the Mth pulse radar at time t0 as T. M_t0 Then at tn The phase information of its position at the target location at time T is M_tn =T M_t0 +R M / c, where c is the radar signal transmission speed;

[0015] The phase modulation deviation value ΔT of the Mth pulse radar M_tn =T+(M-1)*T / mT M_tn 1≤M≤m, where m is the number of pulse radars and T is the pulse period.

[0016] In step S20, for each pulse radar, the control terminal also sends phase information of other pulse radars to it; in step S30, the pulse radar also identifies and displays other radar signals on its own control terminal.

[0017] In step S10, the frequency at which the pulse radar collects and transmits phase information and the frequency f at which the control terminal sends phase modulation deviation values ​​to the pulse radar are the same, and 0.1Hz < f ≤ 1Hz.

[0018] Secondly, this invention provides another method for multi-station cooperative tracking of co-frequency pulse radar based on phase information interconnection. This method is implemented using a control terminal and includes the following steps:

[0019] S1 receives the phase information of each pulse radar.

[0020] S2 calculates the phase control deviation value of each pulse radar based on the phase information, the number of pulse radars, the location information of the pulse radars, and the target location information, and sends each phase control deviation value to the corresponding pulse radar so that each pulse radar can adjust its own phase according to the control deviation value.

[0021] Thirdly, the present invention provides a computer program product, including computer-readable instructions, characterized in that, when executed by a processor, the computer-readable instructions implement the steps in the co-frequency pulse radar multi-station cooperative tracking method based on phase information interconnection of the present invention.

[0022] Fourthly, the present invention provides a computer-readable storage medium including computer-readable instructions, characterized in that the computer-readable instructions, when executed by a processor, implement the steps in the co-frequency pulse radar multi-station cooperative tracking method based on phase information interconnection of the present invention.

[0023] Fifthly, the present invention provides an electronic device, comprising: a memory storing program instructions; and a processor connected to the memory, executing the program instructions in the memory to implement the steps in the co-frequency pulse radar multi-station cooperative tracking method based on phase information interconnection of the present invention.

[0024] Compared with the prior art, the present invention has the following technical advantages:

[0025] Interference between pulse radars is avoided by recording, transmitting, and controlling the phase information of the transmitted signals from pulse radars at the same frequency. This method is inexpensive for improving mature systems and building new ones, and can significantly improve the reliability and stability of pulse radar tracking in spacecraft telemetry and control, and missile telemetry and control. In traditional pulse radar chains, more than 5 instances of same-frequency interference typically occur during 10 complete tracking operations, and each instance of interference causes at least one radar to lose target once. With this scheme, the phases of the pulse radars will not be close together, fundamentally avoiding the problem of target tracking loss.

[0026] This solution can also provide ideas for the construction of novel radar telemetry and control systems such as pulse coherent and quasi-coherent radar. Other advantages of this invention are described in the embodiments section. Attached Figure Description

[0027] Figure 1 This is a flowchart of a multi-station cooperative tracking method for co-frequency pulse radar based on phase information interconnection, provided in the embodiments.

[0028] Figure 2 This is a schematic diagram of a radar network system structure as exemplified in the embodiments.

[0029] Figure 3 This is a flowchart of another co-frequency pulse radar multi-station cooperative tracking method based on phase information interconnection provided in the embodiment.

[0030] Figure 4 This is a block diagram of the components of an electronic device. Detailed Implementation

[0031] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0032] Please see Figure 1 This embodiment provides a multi-station cooperative tracking method for co-frequency pulse radar based on phase information interconnection. This method is based on the entire radar network system, such as... Figure 2 As shown, the radar network system includes at least two pulse radars operating at the same frequency and a control terminal, wherein the at least two pulse radars track the same target. In other words, the present invention is particularly suitable for scenarios where multiple pulse radars operating at the same frequency are tracking the same target.

[0033] like Figure 1 As shown, the method includes the following steps:

[0034] S10: The pulse radar collects its own phase information and sends it to the control terminal.

[0035] The position information of the square wave signal transmitted by a pulse radar within one pulse period is called radar phase information. It is calibrated and recorded using the rising edge time position of the square wave signal; that is, the acquired phase information is the pulse rising edge time information. For calibrating a square wave signal with a width of 0.8 μs (a typical pulse radar signal is a square wave signal modulated by a high-frequency pulse signal with a repetition frequency of approximately 585.53214 Hz, a pulse period of approximately T = 1.70784818 ms, and a pulse width of approximately 0.8 μs (from "Precision Tracking Measurement Radar Technology", p. 232), a time synchronization accuracy greater than 0.1 μs is sufficient; commercially available time synchronization systems can meet this requirement.

[0036] Pulse radar phase information is stable and maintains its position. By calibrating and recording the rising edge position of any square wave signal, the generation time of subsequent square wave signals can be calculated without changing the phase. Assume that radar A acquires pulse rising edge time information T at time t0. af_t0 Then t can be calculated. n The rising edge time information of the nth pulse is T. af_t0 +n*T, where T is the pulse period, and the phase information of the nth pulse within one pulse period is still T. af_t0 .

[0037] Once the phase information of any single transmitted pulse from the pulse radar is acquired, all transmitted pulses will maintain this phase information until it is adjusted or the system is restarted. Therefore, the acquisition and transmission frequencies of the pulse radar phase information do not need to be too high, and there is no need to worry about transmission delays or the real-time nature of the transmitted data affecting the accuracy of the phase information. The pulse radar phase information needs to be acquired at a certain frequency and transmitted to a designated control terminal; a transmission frequency ≥1Hz is sufficient for the requirements.

[0038] S20, the control terminal receives the phase information sent by each pulse radar, calculates the phase modulation deviation value of each pulse radar based on the phase information, the number of pulse radars, the station location information of the pulse radars and the target position information, and sends each phase modulation deviation value to the corresponding pulse radar.

[0039] The control terminal receives pulse radar phase information that includes phase information uploaded by all pulse radars in operation (including guidance, search, and tracking states), and counts and sorts these phase information.

[0040] See also Figure 2The illustrated radar network assumes four pulse radars in guidance, search, or tracking states, with a pulse radar count of m=4, labeled A, B, C, and D. The radar site information consists of the geodetic coordinates of the four pulse radars (A, B, C, and D), which can be pre-configured. The target location information is the real-time location of the same target that the four pulse radars (A, B, C, and D) are preparing to track or are currently tracking, which can be obtained and transmitted from the pulse radar data processing center.

[0041] Although the phase information transmitted by each pulse radar is kept stable, the phase delay time caused by the different distances after the pulses transmitted by each pulse radar reach the target will be different. Therefore, the phase of each pulse radar at the target position needs to be calculated by combining the phase at the time of transmission and the different distance delays.

[0042] Assume radar A at time t n The straight-line distance between the target and the time point is R. A The one-way transmission delay of the signal is R. A / c,t n Phase information T of radar signal at target position at time A as_tn =T af_t0 +R A / c, where c is the radar signal transmission speed. Straight-line distance R A It is calculated from the pulse radar's site location information and target location information.

[0043] Assume T an Let T be the phase information of radar signal A at the target location. an The size range is 0 to T, and the value is T. as_tn %T, which is T as_tn The time value obtained by multiplying the remainder of / T by T is the pulse period. Similarly, the phase information T of the signals from the three radars (B, C, and D) at the target position can be calculated. bn T cn T dn The size range is 0 to T.

[0044] Since the signals from the four radars A, B, C, and D that operate on the same frequency are uncorrelated, therefore T an T bn T cn T dn The magnitude distribution of these four signals is random. If the difference between any two of them is less than the transponder trigger recovery time (approximately 20 μs, see "Precision Tracking Measurement Radar Technology" p. 254), one radar will fail to provide a response signal, causing mutual interference between pulse radars. Ideally, T... an T bn T cn Tdn These four signal values ​​are uniformly distributed within the range of 0 to T. Therefore, when four radars are tracking simultaneously, the ideal signal phase spacing is T / 4, meaning the ideal phase values ​​for radars A, B, C, and D are 0, T / 4, T / 2, and 3T / 4, respectively. Theoretically, maintaining a certain phase spacing between the signals can avoid interference; the uniform phase distribution method used here aims to achieve the best interference avoidance effect.

[0045] Assume at t n At that moment, T an T bn T cn T dn The magnitudes of these four signals do not meet the requirement of uniform distribution within the range of 0 to T, and therefore need to be analyzed separately for ΔT. an , △T bn , △T cn , △T dn Phase modulation of amplitude, so that it is at t n+1 The uniform distribution is satisfied at time T. a n+1 =0,T b n+1 = T / 4, T c n+1 = T / 2, T d n+1 = 3T / 4. Since the phase is usually positively modulated, it only needs to be uniformly distributed in the next cycle. Therefore, we have: ΔT an =TT an , △T bn = T + T / 4 - T bn , △T cn = T + T / 2 - T cn , △T dn = T + 3T / 4 - T dn Since the phase information of each radar is consistent throughout the tracking link, the phase deviation value that needs to be adjusted for the target position is also the phase deviation value that needs to be adjusted for each radar. Radars A, B, C, and D are respectively adjusted according to ΔT... an , △T bn , △T cn , △T dn By adjusting the phase modulation amplitude, the phase of the pulse radar can be kept basically uniformly distributed.

[0046] When the number of pulse radars is m, the ideal signal phase spacing is T / m, and the calculation methods for the phase information control target and control deviation value are the same. The phase information control target T of the Mth pulse radar... M n+1 =(M-1)*T / m, the phase modulation deviation value ΔT of the Mth pulse radar. Mn =T+(M-1)*T / mT M n1 ≤ M ≤ m. When the value of m changes, i.e., when the number of pulse radars in operation changes, the ideal phase spacing, the phase information control target, and the control deviation value change accordingly. The calculation frequency of the phase control deviation value is consistent with the phase information acquisition frequency.

[0047] According to the phase information acquisition frequency, the phase modulation deviation value is transmitted back to each pulse radar. To improve the tracking reliability of the pulse radar, the phase information of other pulse radars is shared in real time while transmitting the phase modulation deviation value. By sharing the phase information of other radars, the display of other radar signals on this radar control terminal can be identified based on the phase information of other pulse radars, making it easier to identify and avoid them.

[0048] S30, each pulse radar receives the phase modulation deviation value sent by the control terminal, and adjusts its own phase according to the phase modulation deviation value.

[0049] After receiving the phase modulation deviation information from the phase control terminal, the monopulse radar completes phase modulation based on the existing phase information. Taking radar B as an example, t n The phase adjustment deviation at time ΔT bn = T +T / 4-T bn The adjusted phase of radar B is T+T / 4.

[0050] Each pulse radar can also identify the display of other radar signals on its control terminal based on the phase information of other pulse radars, making it easier to identify and avoid them.

[0051] The real-time performance of phase modulation is directly related to the relative speed of the target's phase information relative to the target's distance. Assuming the target flies at a maximum speed of 7 km / s, and one radar is tracking it from near to far while another is tracking it from far to near, the maximum relative speed between these two radars is 14 km / s. Using the distance formula R=Ct / 2, the maximum change in the pulse radar's phase information relative to the distance within one second is 93 μs, less than the pulse radar's T / 4 (approximately 427 μs). Typically, no more than four radars will be tracking the target. A 1Hz pulse radar phase modulation frequency can meet the real-time requirements of phase modulation and will not cause mutual interference due to the relative movement of the target's phase information; therefore, the phase modulation frequency can be set to 1Hz. A phase modulation frequency below 0.1Hz may affect pulse radar tracking in extreme cases, while a frequency above 1Hz is not particularly necessary. In practical applications, appropriate adjustments can be made according to requirements.

[0052] Based on the same inventive concept, this invention also provides another method for multi-station cooperative tracking of pulse radar based on phase information interconnection. This method is implemented based on a control terminal, that is, the method is integrated into the control terminal to execute the relevant steps.

[0053] See also Figure 3 The method includes the following steps:

[0054] S1 receives the phase information of each pulse radar.

[0055] S2 calculates the phase control deviation value of each pulse radar based on the phase information, the number of pulse radars, the location information of the pulse radars, and the target location information, and sends each phase control deviation value to the corresponding pulse radar so that each pulse radar can adjust its own phase according to the phase control deviation value.

[0056] Since the same inventive concept is used, the specific processing procedures involved in steps S1 and S2 can be found in the foregoing section and will not be repeated here.

[0057] like Figure 4 As shown, this embodiment also provides an electronic device that may include a processor 41 and a memory 42, wherein the memory 42 is coupled to the processor 41. It is worth noting that this figure is exemplary, and other types of structures can be used to supplement or replace this structure to achieve data extraction, report generation, communication, or other functions.

[0058] like Figure 4 As shown, the electronic device may also include an input unit 43, a display unit 44, and a power supply 45. It is worth noting that the electronic device is not necessarily required to include these components. Figure 4 All components shown in the image. Furthermore, electronic devices may also include... Figure 4 For components not shown, please refer to existing technologies.

[0059] Processor 41, sometimes also called controller or operation control, may include a microprocessor or other processor device and / or logic device, which receives input and controls the operation of various components of the electronic device.

[0060] The memory 42 may be one or more of the following: a cache, flash memory, hard drive, removable media, volatile memory, non-volatile memory, or other suitable devices. It can store configuration information of the processor 41, instructions executed by the processor 41, and other information. The processor 41 can execute programs stored in the memory 42 to perform information storage or processing. In one embodiment, the memory 42 further includes a buffer memory, or buffer, to store intermediate information.

[0061] This invention also provides a computer program product including computer-readable instructions. When the computer-readable instructions are executed in an electronic device, the program product causes the electronic device to perform the operation steps included in the method of this invention.

[0062] This invention also provides a storage medium storing computer-readable instructions that cause an electronic device to perform the operation steps included in the method of this invention.

[0063] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0064] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0065] The above specific embodiments are merely several optional embodiments of the present invention. Based on the technical solutions of the present invention and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. A multi-station cooperative tracking method for co-frequency pulse radar based on phase information interconnection, characterized in that, The method is based on a radar network system, which includes at least two pulse radars operating at the same frequency and a control terminal. The method includes the following steps: S10, each pulse radar collects its own phase information and sends it to the control terminal; S20, the control terminal receives the phase information sent by each pulse radar, and calculates the phase modulation deviation value of each pulse radar based on the phase information, the number of pulse radars, the station location information of the pulse radars and the target location information, and sends each phase modulation deviation value to the corresponding pulse radar. S30, each pulse radar receives the phase modulation deviation value sent by the control terminal, and adjusts its own phase according to the phase modulation deviation value; In step S20, the process of calculating the phase modulation deviation value of each pulse radar based on phase information, the number of pulse radars, the location information of the pulse radars, and the target location information includes: The location of the Mth pulse radar at time t is calculated from the station location information and target location information of the pulse radar. n The straight-line distance R between the time and the target M ; Define the phase information acquired by the Mth pulse radar at time t0 as T. M_t0 Then at t n The phase information of its position at the target location at time T is M_tn =T M_t0 +R M / c, where c is the radar signal transmission speed; Phase modulation deviation value of the Mth pulse radar 1≤M≤m, where m is the number of pulse radars and T is the pulse period.

2. The method for multi-station cooperative tracking of co-frequency pulse radar based on phase information interconnection according to claim 1, characterized in that, In step S20, for each pulse radar, the control terminal also sends phase information of other pulse radars to it; in step S30, the pulse radar also identifies and displays other radar signals on its own control terminal.

3. The method for multi-station cooperative tracking of co-frequency pulse radar based on phase information interconnection according to claim 1, characterized in that, In step S10, the frequency at which the pulse radar collects and transmits phase information and the frequency f at which the control terminal sends phase modulation deviation values ​​to the pulse radar are the same, and 0.1Hz < f ≤ 1Hz.

4. A multi-station cooperative tracking method for co-frequency pulse radar based on phase information interconnection, characterized in that, The method is implemented based on a control terminal and includes the following steps: S1 receives the phase information of each pulse radar. S2, based on the phase information, the number of pulse radars, the location information of the pulse radars and the target location information, calculate the phase control deviation value of each pulse radar, and send each phase control deviation value to the corresponding pulse radar so that each pulse radar can adjust its own phase according to the phase control deviation value. In step S2, the process of calculating the phase modulation deviation value of each pulse radar based on phase information, the number of pulse radars, the location information of the pulse radars, and the target location information includes: The location of the Mth pulse radar at time t is calculated from the station location information and target location information of the pulse radar. n The straight-line distance R between the time and the target M ; Define the phase information acquired by the Mth pulse radar at time t0 as T. M_t0 Then at t n The phase information of its position at the target location at time T is M_tn =T M_t0 +R M / c, where c is the radar signal transmission speed; Phase modulation deviation value of the Mth pulse radar 1≤M≤m, where m is the number of pulse radars and T is the pulse period.

5. The method for multi-station cooperative tracking of co-frequency pulse radar based on phase information interconnection according to claim 4, characterized in that, In S2, the frequency f for sending the phase modulation deviation value to the pulse radar is: 0.1Hz < f ≤ 1Hz.

6. A computer program product comprising computer-readable instructions, characterized in that, The computer-readable instructions, when executed by a processor, implement the steps in the co-frequency pulse radar multi-station cooperative tracking method based on phase information interconnection as described in any one of claims 4-5.

7. A computer-readable storage medium comprising computer-readable instructions, characterized in that, The computer-readable instructions, when executed by a processor, implement the steps in the co-frequency pulse radar multi-station cooperative tracking method based on phase information interconnection as described in any one of claims 4-5.

8. An electronic device, characterized in that, include: Memory, which stores program instructions; The processor, connected to the memory, executes the program instructions in the memory to implement the steps in the co-frequency pulse radar multi-station cooperative tracking method based on phase information interconnection as described in any one of claims 4-5.

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