Distributed data processing system for radio detection device

Abstract

The invention relates to the technical field of radio detection, in particular to a radio detection device-oriented distributed data processing system, which comprises a network communication unit, a process management unit, a data processing unit, a terminal management unit and a target display control unit, the network communication unit is also connected with terminal equipment; the data processing unit, the terminal management unit, the target display control unit and the network communication unit are functional units running in independent processes, and the process management unit performs scheduling and state monitoring on the processes of the functional units; data transmission among the functional units is realized through the Redis component; the data processing unit executes flight path fusion processing and simulation training tasks; and a protocol converter module is embedded in the network communication unit, so that bidirectional conversion between a standard protocol in the system and a private communication protocol of terminal equipment is realized, and an equipment control function and a data transmission function are decoupled. Through the system, efficient cooperation of multiple terminals can be realized, and the system has high-precision track fusion capability.

Description

Technical Field

[0001] This invention relates to the field of radio detection technology, and in particular to a distributed data processing system for radio detection devices. Background Technology

[0002] With the widespread application of "low-altitude, slow-speed, and small" targets such as drones and micro-aircraft, while bringing convenience to aerial photography, logistics, and agriculture, they also pose serious challenges to airport airspace, security for major events, and protection of sensitive areas. Because "low-altitude, slow-speed, and small" targets have characteristics such as small radar cross-section (RCS), low flight altitude, and high maneuverability, traditional radar systems struggle to effectively detect and track them. Therefore, detection technologies based on radio signal characteristics have gradually become one of the key technical means in the perception system for "low-altitude, slow-speed, and small" targets.

[0003] Currently, radio detection devices targeting "low, slow, and small" targets mainly achieve location and identification by detecting their communication link signals. Typical operating methods include the following three categories: Passive detection mode: The detection device does not actively emit electromagnetic waves. Instead, it uses a high-sensitivity receiver to monitor the uplink / downlink of commonly used communication frequencies or satellite navigation signals (such as GPS and BeiDou) between the drone and its remote controller. It achieves passive positioning by utilizing parameters such as Time Difference of Arrival (TDOA), Angle of Arrival (AOA), or Doppler shift. This method offers strong concealment but requires high signal strength and signal-to-noise ratio. It is susceptible to interference in complex electromagnetic environments and struggles to distinguish between legitimate devices and threatening targets.

[0004] Active-passive cooperative mode: Some systems employ an active excitation + passive reception strategy. For example, they transmit excitation signals in a specific frequency band to the suspected airspace to induce a response from the UAV's communication module, and then identify and locate the UAV by receiving its response signals. This method can improve the detection probability, but it is still limited by its dependence on specific protocols and has poor versatility.

[0005] Multi-node network detection mode: By deploying multiple distributed radio detection terminals, a regional monitoring network is constructed to achieve wide-area coverage and multi-station data fusion. However, existing systems generally suffer from problems such as severe protocol privatization, inconsistent data formats, and strong terminal heterogeneity, making it difficult for equipment from different manufacturers to interconnect, resulting in high system integration costs and poor scalability. In addition, most systems couple data processing, equipment control, and communication functions into the same module, lacking clear functional decoupling, leading to insufficient system stability and maintenance difficulties.

[0006] More importantly, existing technologies generally use static correlation thresholds for multi-terminal track fusion, which do not fully consider the differences in actual measurement accuracy of each terminal and the impact of environmental changes, resulting in problems such as high false alarm rate and track breakage. At the same time, the systems generally lack effective simulation training mechanisms, which cannot support the improvement of operators' skills and the verification of system performance.

[0007] In summary, existing radio detection devices still face technical bottlenecks when dealing with "low, slow, and small" targets, such as low accuracy of multi-source data fusion, high coupling of system architecture, poor terminal compatibility, weak human-computer interaction capabilities, and insufficient training support. Summary of the Invention

[0008] To address the aforementioned technical issues, this invention proposes a distributed data processing system for radio detection devices. This system enables efficient collaboration among multiple terminals, possesses high-precision track fusion capabilities, supports adaptive protocol access, exhibits good scalability, and enhances the comprehensive detection and response capabilities for "low, slow, and small" targets.

[0009] This invention is achieved by adopting the following technical solution: A distributed data processing system for a radio detection device includes a network communication unit and a process management unit, a data processing unit, a terminal management unit, and a target display and control unit, all communicatively connected to the network communication unit. The network communication unit also communicates with at least one terminal device, which is a radio detection device. Each of the data processing unit, terminal management unit, target display and control unit, and network communication unit is a functional unit running as an independent process. The process management unit schedules and monitors the processes and status of each functional unit. Data transmission between functional units is implemented using a Redis component. The target display and control unit provides visual display of detection data and human-computer interaction. The terminal management unit receives control commands from the target display and control unit and manages the terminal device's permissions, configuration, and resources. The data processing unit receives detection data collected by the terminal device and control commands from the target display and control unit via the network communication unit, and performs track fusion processing and simulation training tasks. The network communication unit embeds a protocol converter module to achieve bidirectional conversion between the system's internal standard protocol and the terminal device's proprietary communication protocol, decoupling the device control function from the data transmission function, and only handling raw data relay and command forwarding.

[0010] The target display and control unit supports switching between two coordinate references: the geodetic coordinate system and the vehicle coordinate system. Based on the characteristics of the protocol messages uploaded by the terminal device, it parses and displays the echo pulse compression result and pitch angle information to assist the operator in target identification and judgment.

[0011] The bidirectional conversion between the system's internal standard protocol and the terminal device's proprietary communication protocol specifically refers to: converting control commands in the system's internal standard protocol format into a proprietary protocol format that the terminal device can recognize for output; and parsing proprietary protocol data uploaded by the terminal device into the system's standard format for input.

[0012] The specific steps of the track fusion processing task are as follows: using the detection data of the main terminal device as a benchmark, the tracks of multiple terminal devices in the spatially overlapping area are traversed and associated; during the traversal, a batch of tracks of the main terminal device are selected and matched with the tracks of all sub-terminal devices; using the timestamp of the main terminal device as a benchmark, it is determined whether the current track is a uniform velocity model or a uniform acceleration model; combining the time difference between the sub-terminal devices and the main terminal device, the three-coordinate information of the current track point of the sub-terminal device is spatiotemporally compensated; based on the angle measurement difference and distance measurement difference of the tracks of the main terminal device and the sub-terminal devices at the same time after compensation, it is determined whether they belong to the same target; the initial decision threshold is set as the standard deviation of the distance measurement and angle measurement accuracy of the main terminal device and the sub-terminal devices, and the threshold value is dynamically adjusted according to the average error of multiple measured data in actual operation.

[0013] The method for determining whether the current trajectory is a uniform speed model or a uniform acceleration model is as follows: based on the timestamp of the main terminal device, combined with the speed and acceleration changes of historical trajectories, the acceleration changes within similar preset distance segments are statistically analyzed, and a threshold is set to distinguish whether the trajectory is a uniform speed model or a uniform acceleration model.

[0014] Spatiotemporal compensation of the three coordinates of the current track point of the sub-terminal device specifically refers to: assuming the current heading angle is φ, and the time difference between the sub-terminal device and the main terminal is... The three coordinates of the terminal device are X, Y, and Z, and the corresponding velocity and acceleration components are Vx, Vy, Vz, Ax, Ay, and Az. When the model is determined to be uniform acceleration, the compensated three coordinates X1, Y1, and Z1 are: X1 = X + Vx* +0.5*Ax* Y1 = Y + Vy* +0.5*Ay* Z1 = Z + Vz* +0.5*Ay* When the model is classified as uniform velocity, the acceleration component is 0, and the compensated three coordinates X2, Y2, Z2 are: X2 = X + Vx* Y2=Y+Vy* Z3 = Z + Vz* When the judgment is a uniform acceleration model, the acceleration component is taken from the average acceleration value within a similar pre-distance segment.

[0015] The specific meaning of performing the simulation training task is as follows: based on three preset flight modes, namely radial heading, triangular heading and figure-eight heading, set the flight distance, altitude, speed and radar cross section (RCS) parameters; after determining the track, combine the refresh rate and measurement accuracy error of the current terminal equipment to generate simulated point and track data that conform to the real detection characteristics.

[0016] The method for determining the flight path is as follows: After obtaining the radar cross section (RCS) parameters, the farthest detection distance is determined based on the current terminal equipment detection index. The farthest point of the flight mode is determined based on the farthest detection distance. Based on the preset flight mode, the corresponding flight path is generated: the radial heading flight mode flies from the farthest detection distance to the nearest blind zone in the radial direction at the set speed and altitude; the target flight path of the triangular heading flight mode forms an equilateral triangle, and the center line of the equilateral triangle is the preset heading; the target flight path of the figure-eight heading flight mode is a figure-eight shape formed by two tangent circles, and its central axis is the preset heading.

[0017] By combining the refresh rate and measurement accuracy error of the current terminal device, simulated point and track data that conform to the characteristics of real detection are generated. Specifically, after determining the target's flight mode and corresponding track, preset acceleration and velocity information are configured, theoretical three-coordinate information is generated at the refresh rate interval of the current terminal device, and random disturbances that conform to the characteristics of detection accuracy error are superimposed on the generated theoretical three-coordinate information. Finally, simulated three-coordinate results are output, generating simulated point and track data that conform to the characteristics of real detection.

[0018] The terminal management unit is also equipped with a database. The resource management specifically refers to using the database as a resource management platform to store the data points uploaded by the terminal devices, device status information, and system operation logs in real time, and to support indexed queries by time, device ID, and event type, in order to assist in system fault diagnosis and performance analysis.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention is based on independent processes and loose coupling with Redis. It splits functional units into independent processes and uses Redis to decouple communication, thus blocking fault propagation, improving robustness, and providing a prerequisite for independent deployment of functional units and on-demand addition or removal of terminals. This is a key support for scenario adaptation. Furthermore, this invention achieves deep integration of protocol converters and scalability: it supports bidirectional conversion between standard and proprietary protocols, solving the problem of different terminal access. Without this compatibility, on-demand terminal expansion would be limited by device type. The combination of these two features breaks down scenario and terminal limitations, reducing operation and maintenance costs. Finally, this invention further optimizes system performance by stripping the network communication unit of its functions: by stripping the device control and data output functions, the network communication unit only acts as a data relay, reducing load, improving transmission efficiency, and enhancing adaptability to complex network environments. This provides a guarantee for stable operation under large-scale networking, complementing the aforementioned robustness and scalability.

[0020] Ultimately, this invention achieves reliable operation of the system under different scales, terminals, and network environments through a collaborative closed loop of architectural decoupling, extension compatibility, and efficiency optimization.

[0021] In addition, relying on the advantages of flexible access to multiple terminals and efficient data transmission, and using a loosely coupled architecture to achieve efficient aggregation of data from multiple terminals, combined with the real-time performance guaranteed by lightweight relay after functional decoupling, this invention can significantly improve the accuracy and stability of trajectory association when performing trajectory fusion processing tasks, especially suitable for tracking "low, slow and small" targets in low signal-to-noise ratio and high maneuverability scenarios.

[0022] In addition, thanks to the independent process deployment and protocol compatibility features, this invention can perform simulation training tasks without physical objects to achieve system docking. It can be used for functional verification, algorithm optimization, and operator training, which greatly reduces the dependence on field tests and at the same time improves the robustness of the system.

[0023] 2. When performing track fusion processing, this invention introduces a motion model recognition mechanism, enabling adaptive model selection and avoiding prediction bias caused by model mismatch. Furthermore, the refined spatiotemporal compensation mechanism of this invention better conforms to the laws of real physical motion, eliminating bias caused by asynchronous sampling and improving compensation accuracy. In addition, this invention employs a dynamic decision threshold, adjusting the threshold value in real time based on the average accuracy of measured data, significantly improving the accuracy and stability of multi-terminal track association. Finally, this invention uses the master terminal timestamp as a benchmark to achieve a unified spatiotemporal reference, combining motion models for forward / backward compensation to achieve high-precision spatiotemporal alignment.

[0024] 3. When performing simulated training tasks, this invention achieves a leap from idealized simulation to realistic simulation through a four-pronged mechanism: detection capability binding, typical heading design, refresh rate alignment, and real error injection. It exhibits significant advantages in realism, adaptability, engineering practicality, and testing effectiveness. Specifically, this invention dynamically binds track generation with radar detection capabilities to enhance test realism; it comprehensively covers typical "low, slow, and small" threat behaviors through three typical flight mode designs, supporting multi-dimensional system performance evaluation; it discretizes data based on the terminal device's refresh rate to recreate the actual sampling process; and it superimposes random disturbances conforming to the characteristics of detection accuracy errors onto the theoretical three-coordinate system, introducing real measurement errors to make the simulated data more closely resemble the actual detection environment.

[0025] 4. This invention uses a terminal management unit to structure and store data such as traces, status, and operation logs in a database, and associates them with dimensions such as time axis, device ID, and spatial location. This provides a high-quality, indexable data foundation for subsequent big data analysis (such as fault prediction and behavior pattern recognition), enabling a leap from recording to insight.

[0026] 5. The target display and control unit of the present invention supports free switching between the geodetic coordinate system and the vehicle coordinate system, enabling the operator to intuitively understand the target location in the geographic map or vehicle view, thereby improving situational awareness; at the same time, by displaying the echo pulse compression result and pitch information, it provides auxiliary decision-making capabilities to traditional radar display technology, thereby enhancing the efficiency of human-machine collaborative decision-making. Attached Figure Description

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments, wherein: Figure 1 This is a schematic diagram of the framework of the present invention. Detailed Implementation

[0028] Example 1 As a basic embodiment of the present invention, the present invention includes a distributed data processing system for a radio detection device, comprising a network communication unit and a process management unit, a data processing unit, a terminal management unit, and a target display and control unit respectively communicatively connected to the network communication unit. The network communication unit is also used to communicate with at least one terminal device. The terminal device is a radio detection device used to collect detection data.

[0029] The data processing unit, terminal management unit, target display and control unit, and network communication unit are each functional units running as independent processes. The process management unit is used to schedule and monitor the processes and status of each of these functional units. Data transmission between the functional units is implemented through a Redis component.

[0030] The target display and control unit is used to visualize the detection data and enable human-computer interaction. The terminal management unit receives control commands from the target display and control unit and manages the terminal device's permissions, configuration, and resources. The data processing unit receives the detection data collected by the terminal device and the control commands from the target display and control unit via the network communication unit, and performs track fusion processing and simulation training tasks. The network communication unit embeds a protocol converter module to achieve bidirectional conversion between the system's internal standard protocol and the terminal device's proprietary communication protocol, and decouples the device control function from the data transmission function, handling only the relay of raw data and command forwarding.

[0031] Example 2 In a preferred embodiment of the present invention, a distributed data processing system for a radio detection device is provided, comprising a network communication unit and a process management unit, a data processing unit, a terminal management unit, and a target display and control unit, all communicatively connected to the network communication unit. The network communication unit is further configured to communicate with at least one terminal device, which is a radio detection device used to collect detection data.

[0032] The data processing unit, terminal management unit, target display and control unit, and network communication unit are each functional units running as independent processes. The process management unit is used to schedule and monitor the processes and status of each functional unit. Data transmission between functional units is implemented through a Redis component. The target display and control unit is used to visualize the detection data and provide human-computer interaction. Specifically, the target display and control unit supports switching between two coordinate references: the geodetic coordinate system and the vehicle coordinate system. Based on the characteristics of the protocol messages uploaded by the terminal device, it parses and displays the echo pulse compression result and pitch angle information to assist the operator in target identification and judgment.

[0033] The terminal management unit receives control commands from the target display and control unit and manages the terminal device's permissions, configuration, and resources. The data processing unit receives detection data collected by the terminal device and control commands from the target display and control unit via the network communication unit, and performs trajectory fusion processing and simulation training tasks. The network communication unit embeds a protocol converter module to achieve bidirectional conversion between the system's internal standard protocol and the terminal device's proprietary communication protocol, decoupling the device control function from the data transmission function, and only handling raw data relay and command forwarding. Specifically, the bidirectional conversion between the system's internal standard protocol and the terminal device's proprietary communication protocol refers to: converting control commands in the system's internal standard protocol format into a proprietary protocol format recognizable by the terminal device for output; and parsing proprietary protocol data uploaded by the terminal device into the system's standard format for input.

[0034] Example 3 In another preferred embodiment of the present invention, a distributed data processing system for a radio detection device is provided, comprising a network communication unit and a process management unit, a data processing unit, a terminal management unit, and a target display and control unit, all communicatively connected to the network communication unit. The network communication unit is further configured to communicate with at least one terminal device. The terminal device is a radio detection device used to collect detection data.

[0035] The data processing unit, terminal management unit, target display and control unit, and network communication unit are each functional units running as independent processes. The process management unit is used to schedule and monitor the processes and status of each functional unit. Data transmission between functional units is implemented through a Redis component. The target display and control unit is used to visualize the probe data and enable human-computer interaction. The terminal management unit is used to receive control commands from the target display and control unit, manage the terminal device's permissions, configuration, and resources, and store and index the uploaded data points, status data, and system logs.

[0036] The data processing unit is used to receive detection data collected by the terminal device and control commands from the target display and control unit through the network communication unit, and to perform track fusion processing and simulation training tasks. Specifically, the track fusion processing task involves: using the detection data of the main terminal device as a benchmark, traversing and associating the tracks of multiple terminal devices within a spatially overlapping area; during the traversal, selecting a batch of tracks from the main terminal device and matching them with the tracks of all sub-terminal devices; using the timestamp of the main terminal device as a benchmark, determining whether the current track is a uniform velocity model or a uniform acceleration model; combining the time difference between the sub-terminal devices and the main terminal device, performing spatiotemporal compensation on the three-coordinate information of the current track point of the sub-terminal device; based on the angle and distance differences between the compensated tracks of the main terminal device and the sub-terminal devices at the same time, determining whether they belong to the same target; the initial decision threshold is set as the standard deviation of the distance and angle measurement accuracy of the main and sub-terminal devices, and the threshold value is dynamically adjusted based on the average error of multiple measured data during actual operation. The specific meaning of performing the simulation training task is as follows: based on three preset flight modes, namely radial heading, triangular heading and figure-eight heading, set the flight distance, altitude, speed and radar cross section (RCS) parameters; after determining the track, combine the refresh rate and measurement accuracy error of the current terminal equipment to generate simulated point and track data that conform to the real detection characteristics.

[0037] The network communication unit has an embedded protocol converter module, which is used to realize bidirectional conversion between the system's internal standard protocol and the terminal device's private communication protocol, and decouples the device control function from the data transmission function, and is only responsible for raw data relay and instruction forwarding.

[0038] Example 4 As another preferred embodiment of the present invention, the present invention includes a distributed data processing system for radio detection devices, as described in the appendix to the specification. Figure 1 The system includes a network communication unit and a process management unit, a data processing unit, a terminal management unit, and a target display and control unit, all of which are communicatively connected to the network communication unit. The network communication unit can also communicate with at least one terminal device via a network port. The terminal device is a radio detection device used to collect detection data. The network communication unit can also communicate with upstream terminal devices and external terminal devices via reserved protocols and communication interfaces. The upstream terminal device can also provide system operation control functions.

[0039] The data processing unit, terminal management unit, target display and control unit, and network communication unit are each functional units running as independent processes. The process management unit is used to schedule and monitor the processes and status of these functional units. Data transmission between the functional units is achieved through a Redis component. When the target display and control unit is running in the foreground, the process management unit schedules all processes to work. When running in the background, the process management unit can independently call the network communication unit and the data processing unit. By disabling calls to the target display and control unit and the terminal management unit, hardware resource usage can be optimized.

[0040] The network communication unit embeds a protocol converter module that takes the proprietary protocols of different terminal devices as input, and converts the output data using encoding and decoding methods. It extracts the original point, focal point, track, and status data. The point track data includes the signal amplitude, noise mean, detection time, three-coordinate information, and extrapolation flags for each pulse, each CPI, and each track. The status data includes the temperature, current, voltage, status heartbeat, and processing quantity of the antenna, processor, turntable, and other peripherals. This module is used to realize bidirectional conversion between the system's internal standard protocol and the terminal device's private communication protocol. Specifically, it converts the control commands in the system's internal standard protocol format into the private protocol format that the terminal device can recognize for output, and parses the private protocol data uploaded by the terminal device into the system's standard format input.

[0041] The network communication unit can also decouple the device control function from the data transmission function. It mainly relays device data transmission and external data. By modifying the current interface, it can be adapted to different numbers of terminal devices, thus improving adaptability.

[0042] The target display and control unit is used to visualize and interact with the detection data. It can display flight paths and status information. Specifically, it displays the flight path information in PPI and micro-table formats. Considering the loading scenario of ground-based vehicles and the needs of tracking and searching, the target display and control unit supports switching between two coordinate references: geodetic coordinate system and vehicle coordinate system. It can adapt the target display to common threat ranking algorithms and noise floor display requirements. Considering the tracking staring mode of the radio detection device, the target display and control unit can parse and display the echo pulse compression result and pitch angle information based on the characteristics of the protocol messages uploaded by the terminal device, to assist the operator in target identification and judgment.

[0043] In addition, adhering to the principle of comprehensively displaying status information, the micro-display shows the operating parameters and status of the radio detection device. Operating parameters include operating mode, operating frequency, antenna scanning method and parameters, etc. Operating status includes terminal, antenna, channel, signal processing unit, turntable, inertial navigation system, GPS, interface status, radar operating time, etc. The impact of status information is also categorized into three levels: normal, dangerous, and emergency. The PPI auxiliary display shows the radar position and designation, cursor position, current waypoint track count, antenna rotation speed, and primary acquisition method.

[0044] The human-machine interaction operation is used to realize system control, including: realizing work control functions such as antenna transmission, servo turntable rotation and system standby initialization control, and status detection functions such as real-time monitoring of system status and abnormal status alarm reminders. At the same time, considering various application control scenarios, it realizes distributed system work control and system status detection.

[0045] The terminal management unit receives control commands from the target display and control unit and performs permission management, configuration management, and resource management on the terminal devices. Permission management specifically refers to requiring a specific account and password to log in to the system. Configuration management specifically refers to configuring system initialization, frequency control, system transmission area, coordinate system transformation, system benchmark calibration, system operating mode switching, and external sensor compensation parameters. Similarly, considering the common challenges of distributed platform control, the system configuration will preset multiple sets of parameter configurations and allow modification of the configuration for a single system. The terminal management unit is also equipped with a database. Resource management specifically refers to using the database as a resource management platform to store the point data uploaded by the terminal devices, device status information, and system operation logs in real time, and supporting indexed queries by time, device ID, and event type to assist in system fault diagnosis and performance analysis.

[0046] The data processing unit is used to receive detection data collected by the terminal device and control commands from the target display and control unit through the network communication unit, and to perform track fusion processing and simulation training tasks.

[0047] The specific steps involved in performing track fusion processing are as follows: Step S 11 Based on the detection data of the main terminal device, the tracks of multiple terminal devices in the spatially overlapping area are traversed and correlated. During the traversal, a batch of tracks from the main terminal device are selected and matched with the tracks of all sub-terminal devices.

[0048] Step S 12 Based on the timestamp of the main terminal device, determine whether the current trajectory is a uniform speed model or a uniform acceleration model: combine the speed and acceleration changes of historical trajectories, statistically analyze the acceleration changes within a similar preset distance segment, and set ±1 as a threshold value to distinguish whether the trajectory is a uniform speed model or a uniform acceleration model. The similar preset distance segment can be a distance segment of approximately 500m.

[0049] Step S 13 By combining the time difference between the sub-terminal and the main terminal, spatiotemporal compensation is performed on the three-coordinate information of the current track point of the sub-terminal. Assuming the current heading angle is φ, and the time difference between the sub-terminal and the main terminal is... The three coordinates of the terminal device are X, Y, and Z, and the corresponding velocity and acceleration components are Vx, Vy, Vz, Ax, Ay, and Az. When the model is determined to be uniformly accelerated, the compensated three coordinates X1, Y1, and Z1 are: X1 = X + Vx* +0.5*Ax* Y1 = Y + Vy* +0.5*Ay* Z1 = Z + Vz* +0.5*Ay* When the model is classified as uniform velocity, the acceleration component is 0, and the compensated three coordinates X2, Y2, Z2 are: X2 = X + Vx* Y2=Y+Vy* Z3 = Z + Vz* .

[0050] When the judgment is a uniform acceleration model, the acceleration component is taken from the average acceleration value within a similar pre-distance segment.

[0051] Step S 14 Based on the angle and range differences between the compensated main terminal equipment and the sub-terminal equipment at the same time, it is determined whether they belong to the same target.

[0052] The initial decision threshold is set based on the 1x sigma principle, which is the standard deviation of the ranging and angle measurement accuracy between the main terminal and the sub-terminal devices. If the ranging and angle measurement accuracy of the main terminal and the sub-terminal devices differ, the threshold value is set based on the terminal device with the lower accuracy. In actual operation, considering the difference between the design and the actual device, after multiple actual flight tests to determine the true ranging and angle measurement accuracy corresponding to the actual device, the threshold value is dynamically adjusted based on the measured average standard deviation.

[0053] Performing a simulation training task specifically includes the following steps: Step S 21 Based on three preset flight modes—radial heading, triangular heading, and figure-eight heading—the flight distance, altitude, speed, and radar cross section (RCS) parameters are set to determine the flight path. Specifically, after obtaining the RCS parameters, the maximum detection distance is determined based on the current terminal equipment's detection capabilities. This maximum detection distance is used to determine the farthest point of the flight mode. Based on the preset flight modes, corresponding flight paths are generated: In the radial heading flight mode, the target flight path forms an equilateral triangle at the set speed and altitude, moving radially from the maximum detection distance to the nearest blind zone; in the triangular heading flight mode, the target flight path forms an equilateral triangle, with the center line of the equilateral triangle being the preset heading; in the figure-eight heading flight mode, the target flight path is a figure-eight shape formed by two tangent circles, with its central axis being the preset heading.

[0054] Step S 22 After determining the flight path, and considering the refresh rate and measurement accuracy error of the current terminal device, simulated point and flight path data that conforms to the characteristics of real detection are generated. After determining the target's flight mode and corresponding flight path, preset acceleration and velocity information are configured, and theoretical three-coordinate information is generated at intervals corresponding to the refresh rate of the current terminal device. Based on the generated theoretical three-coordinate information, random perturbations that conform to the characteristics of detection accuracy error are superimposed, and finally, simulated three-coordinate results are output, generating simulated point and flight path data that conforms to the characteristics of real detection.

[0055] Since the aforementioned data processing unit is an independent process, modifications and upgrades to this system can be performed only on that process, reducing the difficulty of development and verification. Furthermore, the independent operation of the process reduces the computational pressure on the hardware core and improves the data processing speed.

[0056] In summary, any other corresponding modifications made by those skilled in the art after reading this invention document, without requiring creative mental effort, based on the technical solutions and concepts of this invention, are all within the scope of protection of this invention.

Claims

1. A distributed data processing system for radio detection devices, characterized in that: The system includes a network communication unit and a process management unit, a data processing unit, a terminal management unit, and a target display and control unit, all of which are communicatively connected to the network communication unit. The network communication unit is also used to communicate with at least one terminal device, which is a radio detection device. The data processing unit, terminal management unit, target display and control unit, and network communication unit are each functional units running as independent processes. The process management unit is used to schedule and monitor the processes and status of each functional unit. Data transmission between functional units is implemented through a Redis component. The target display and control unit is used to visualize the detection data and provide human-computer interaction. The terminal management unit is used to receive control commands from the target display and control unit and to manage the terminal device's permissions, configuration, and resources. The data processing unit receives detection data collected by the terminal device and control commands from the target display and control unit through the network communication unit, and performs track fusion processing and simulation training tasks. The network communication unit embeds a protocol converter module to achieve bidirectional conversion between the system's internal standard protocol and the terminal device's private communication protocol, and decouples the device control function from the data transmission function, only handling raw data relay and command forwarding.

2. The distributed data processing system for radio detection devices according to claim 1, characterized in that: The target display and control unit supports switching between two coordinate references: the geodetic coordinate system and the vehicle coordinate system. Based on the characteristics of the protocol messages uploaded by the terminal device, it parses and displays the echo pulse compression result and pitch angle information to assist the operator in target identification and judgment.

3. A distributed data processing system for radio detection devices according to claim 1, characterized in that: The bidirectional conversion between the system's internal standard protocol and the terminal device's proprietary communication protocol specifically refers to: converting control commands in the system's internal standard protocol format into a proprietary protocol format that the terminal device can recognize for output; and parsing proprietary protocol data uploaded by the terminal device into the system's standard format for input.

4. A distributed data processing system for radio detection devices according to claim 1, characterized in that: The specific steps of the track fusion processing task are as follows: using the detection data of the main terminal device as a benchmark, the tracks of multiple terminal devices in the spatially overlapping area are traversed and associated; during the traversal, a batch of tracks of the main terminal device are selected and matched with the tracks of all sub-terminal devices; using the timestamp of the main terminal device as a benchmark, it is determined whether the current track is a uniform velocity model or a uniform acceleration model; combining the time difference between the sub-terminal devices and the main terminal device, the three-coordinate information of the current track point of the sub-terminal device is spatiotemporally compensated; based on the angle measurement difference and distance measurement difference of the tracks of the main terminal device and the sub-terminal devices at the same time after compensation, it is determined whether they belong to the same target; the initial decision threshold is set as the standard deviation of the distance measurement and angle measurement accuracy of the main terminal device and the sub-terminal devices, and the threshold value is dynamically adjusted according to the average error of multiple measured data in actual operation.

5. A distributed data processing system for radio detection devices according to claim 4, characterized in that: The method for determining whether the current trajectory is a uniform speed model or a uniform acceleration model is as follows: based on the timestamp of the main terminal device, combined with the speed and acceleration changes of historical trajectories, the acceleration changes within similar preset distance segments are statistically analyzed, and a threshold is set to distinguish whether the trajectory is a uniform speed model or a uniform acceleration model.

6. A distributed data processing system for radio detection devices according to claim 5, characterized in that: Spatiotemporal compensation of the three coordinates of the current track point of the sub-terminal device specifically refers to: assuming the current heading angle is φ, and the time difference between the sub-terminal device and the main terminal is... The three coordinates of the terminal device are X, Y, and Z, and the corresponding velocity and acceleration components are Vx, Vy, Vz, Ax, Ay, and Az. When the model is determined to be uniform acceleration, the compensated three coordinates X1, Y1, and Z1 are: X1 = X + Vx* +0.5*Ax* Y1 = Y + Vy* +0.5*Ay* Z1 = Z + Vz* +0.5*Ay* When the model is classified as uniform velocity, the acceleration component is 0, and the compensated three coordinates X2, Y2, Z2 are: X2 = X + Vx* Y2=Y+Vy* Z3 = Z + Vz* When the judgment is a uniform acceleration model, the acceleration component is taken from the average acceleration value within a similar pre-distance segment.

7. A distributed data processing system for radio detection devices according to claim 1 or 4, characterized in that: The specific meaning of performing the simulation training task is: based on three preset flight modes, namely radial heading, triangular heading and figure-eight heading, set the flight distance, altitude, speed and radar cross section (RCS) parameters; after determining the track, combine the refresh rate and measurement accuracy error of the current terminal equipment to generate simulated point and track data that conform to the real detection characteristics.

8. A distributed data processing system for radio detection devices according to claim 7, characterized in that: The method for determining the flight path is as follows: After obtaining the radar cross section (RCS) parameters, the farthest detection distance is determined based on the current terminal equipment detection index. The farthest point of the flight mode is determined based on the farthest detection distance. Based on the preset flight mode, the corresponding flight path is generated: the radial heading flight mode flies from the farthest detection distance to the nearest blind zone in the radial direction at the set speed and altitude; the target flight path of the triangular heading flight mode forms an equilateral triangle, and the center line of the equilateral triangle is the preset heading; the target flight path of the figure-eight heading flight mode is a figure-eight shape formed by two tangent circles, and its central axis is the preset heading.

9. A distributed data processing system for radio detection devices according to claim 8, characterized in that: By combining the refresh rate and measurement accuracy error of the current terminal device, simulated point and track data that conform to the characteristics of real detection are generated. Specifically, after determining the target's flight mode and corresponding track, preset acceleration and velocity information are configured, theoretical three-coordinate information is generated at the refresh rate interval of the current terminal device, and random disturbances that conform to the characteristics of detection accuracy error are superimposed on the generated theoretical three-coordinate information. Finally, simulated three-coordinate results are output, generating simulated point and track data that conform to the characteristics of real detection.

10. A distributed data processing system for radio detection devices according to claim 1, characterized in that: The terminal management unit is also equipped with a database. The resource management specifically refers to using the database as a resource management platform to store the data points uploaded by the terminal devices, device status information, and system operation logs in real time, and to support indexed queries by time, device ID, and event type, in order to assist in system fault diagnosis and performance analysis.

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