CN107656247B - Three-coordinate monitoring radar point trace processing method based on active phased array technology system - Google Patents
Three-coordinate monitoring radar point trace processing method based on active phased array technology system Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—Extracting wanted echo-signals
- G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
- G01S7/2927—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods by deriving and controlling a threshold value
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S2013/0236—Special technical features
- G01S2013/0245—Radar with phased array antenna
- G01S2013/0254—Active array antenna
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Abstract
The invention belongs to the technical field of radar trace processing, and particularly relates to a three-coordinate monitoring radar trace processing method based on an active phased array technical system. According to the invention, the three-coordinate trace data is subjected to aggregation and filtering optimization processing through initial echo processing, trace point aggregation processing and trace point filtering processing, and the result after trace point processing is displayed to a user through a terminal display monitoring system, so that the monitoring management capability of a management department on low-altitude small targets is improved. The initial echo processing and trace coagulation processes are spontaneous, the influence of artificial factors on the final three-coordinate monitoring radar trace coagulation result is reduced to the maximum extent, the terminal displays site optimization parameters fed back by the monitoring system and enables control, the quality of the trace can be further optimized, and the coagulated trace is filtered. The invention realizes the output of distance, direction and height information of the low-altitude target and provides a basis for the identification and monitoring of low, slow and small targets by traffic control departments.
Description
Technical Field
The invention belongs to the technical field of radar trace processing, and particularly relates to a three-coordinate monitoring radar trace processing method based on an active phased array technical system.
Background
Phased array radar is one of the most advanced radar systems at present, and is used for controlling the directional change of radar beams in an electric mode to scan, so that the most reasonable self-adaptive application of time and energy resources of the radar is obtained, and the search task of an alert airspace is completed in a shorter time. The phased array radar is divided into an active phased array and a passive phased array, the radiation energy of the active phased array radar is generated on an antenna array surface, a high-power transmitter is not needed, a feeder network is simple, the complex transmitting and receiving channel loss is reduced, directional beams are synthesized in a coherent mode through electromagnetic wave space, and the efficiency of a radar system is improved.
The main advantages of active phased array radars are as follows: 1) the radio frequency transceiving loss of the feeder line system is greatly reduced; 2) the power is coherently synthesized by the independent unit space, and the antenna radiation efficiency is high; 3) the power resistance requirement of a feeder line system is low, and the design is simplified; 4) the radiation unit works independently, and the reliability is high; 5) the large quantity and distributed product composition is beneficial to standardized and modular production; 6) is favorable for realizing full digitalization and self-adaptive work.
With the increasing demand of ground defense, the monitoring of the low-altitude unknown aircrafts is realized, the monitoring demand of security defense departments in important places such as civil airports, security markets, frontier defense, smuggling and the like is ensured, particularly, as the low-altitude opening is gradually advanced, the low-altitude aircraft will grow explosively, in order to prevent some non-cooperative targets and dangerous targets from mistakenly intruding into the ground area or airport clearance area, the monitoring radar is required to accurately monitor the low, slow and small targets in the low-altitude area, display and output the distance, direction and height information of the flying target, form the three-dimensional motion situation of the low-altitude target, the low-altitude monitoring system automatically alarms under the unattended condition, can be networked through a radar system, transmits low-altitude monitoring information to an information system for centralized processing, display and forwarding, and monitors and guards non-cooperative targets and dangerous targets around a heavy spot area.
Because the computing technology in the existing three-coordinate monitoring radar trace processing method is difficult to meet the requirements, low, slow and small targets in a low-altitude area cannot be accurately monitored.
Disclosure of Invention
The invention provides a three-coordinate monitoring radar trace processing method based on an active phased array technology system to overcome the defects of the prior art, realizes the output of distance, direction and height information of low-altitude targets, and provides a basis for a traffic control department to identify and monitor low, slow and small targets.
In order to achieve the purpose, the invention adopts the following technical measures:
a three-coordinate monitoring radar trace processing method based on an active phased array technology system comprises the following steps:
s1, inputting trace point data which passes through a threshold through a network;
s2, carrying out channel selection and wild value elimination on the trace point data passing through the threshold to obtain trace point data after initial echo processing;
s3, sequentially performing distance condensation processing, distance resolution processing, sum and difference beam vertical beam height measurement processing, azimuth condensation processing and azimuth resolution processing on the trace data after the initial echo processing to obtain processed trace condensation data;
s4, performing track tracking wave gate processing, interference point track suppression processing, fixed clutter suppression processing and point track threshold suppression point track filtering processing on the processed point track condensed data in sequence by using site optimization parameters and enabling control fed back by a terminal display monitoring system to obtain result data;
and S5, sending the result data to the terminal display monitoring system through the network and presenting the result data to the user.
Preferably, the site optimization parameters include a track tracking wave gate processing parameter, an interference point track suppression processing parameter, a fixed clutter suppression processing parameter, and a point track threshold suppression parameter.
Preferably, the specific operation steps of step S2 include:
and performing channel selection processing on the trace point data which passes through the threshold, performing standardized storage processing on the trace point data after the channel selection processing, and setting a clutter frequency threshold with a wild value removed from the normalized storage processed trace point data, namely filtering the trace point data with a target Doppler frequency smaller than the clutter frequency threshold with the wild value removed from the normalized storage processed trace point data as clutter trace point data, thereby obtaining the trace point data after initial echo processing.
Preferably, the specific operation steps of step S3 include:
s31, condensation treatment over distance: performing trace point data condensation on the trace point data after the initial echo processing on the distance to obtain the trace point data after distance condensation, wherein the trace point data after distance condensation comprises a timestamp of a target, a distance from the condensed target, a position from the condensed target, a sum channel amplitude value from the condensed target, a difference channel amplitude value from the condensed target, Doppler frequency information from the condensed target, a distance starting unit of the target, a distance ending unit of the target, and amplitude values of the target on each distance unit in the distance starting and distance ending of the target;
s32, distance resolution processing: performing target actual length prejudgment on the distance-aggregated trace data, setting a target length preset value, if the target actual length is greater than the target length preset value, sequentially traversing the amplitude values of the targets on each distance unit in the distance starting and distance ending of the target to obtain a distance unit with the maximum amplitude value of the target, a distance unit with the second largest amplitude value of the target and a distance unit with the minimum amplitude value of the target, and taking the distance unit with the minimum amplitude value of the target as a boundary from the distance-aggregated trace data to obtain distance-resolved processed trace data;
s33, sum and difference beam vertical beam height measurement processing: calculating the angle information, height information, distance unit information, azimuth information and the number of target points of condensed data of the trace point data after distance resolution processing by using a sum-difference beam angle measurement algorithm;
s34, orientation coagulation treatment: searching the trace point data with the same distance unit, the same height and different directions according to the distance unit information, the height information and the direction information in the trace point data after the sum and difference beam vertical beam height measurement processing to obtain the broadening data of the same target trace point data in the direction of direction, and then selecting the broadening data in the direction of direction according to the sum channel amplitude value to obtain the trace point data after the direction condensation;
s35, orientation discrimination processing: and prejudging the actual width of the target azimuth of the orientation-aggregated point trace data according to the scanning direction of the radar antenna, wherein the actual width of the target azimuth is equal to the distance ending azimuth of the target minus the distance starting azimuth of the target plus 1, setting a preset value of the target azimuth width, and if the actual width of the target azimuth is greater than the preset value of the target azimuth width, distinguishing the distance starting azimuth of the target plus the preset value of the target azimuth width in the orientation-aggregated point trace data, thereby obtaining the processed point trace aggregation data.
Further, the specific operation of step S4 includes:
s41, track tracking wave gate processing: performing track tracking wave gate processing on the processed trace aggregation data according to site optimization parameters and enabling control fed back by a terminal display monitoring system, establishing a track prediction tracking wave gate by taking a track prediction value in the site optimization parameters as a center, and identifying the processed trace aggregation data in the track prediction tracking wave gate as a track to-be-selected trace;
s42, interference trace suppression processing: according to interference point trace inhibition processing parameters and enabling control fed back by a terminal display monitoring system, marking processed point trace aggregation data in an interference area as interference point traces;
s43, fixed clutter suppression processing: according to the fixed clutter suppression processing parameters and the enabling control fed back by the terminal display monitoring system, marking the processed point trace aggregation data in the fixed clutter area as fixed clutter point traces;
s44, trace point filtering processing of trace point threshold suppression: and according to the trace point threshold inhibition parameter fed back by the terminal display monitoring system and the enabling control, carrying out condensation point filtering processing on trace point condensation data of which the number of target points of the processed trace point condensation data is less than the threshold set by the trace point threshold inhibition parameter to obtain the data after trace point filtering.
The invention has the beneficial effects that:
1) the invention carries out the aggregation and filtering optimization processing on the three-coordinate trace data through the initial echo processing, the trace point aggregation processing and the trace point filtering processing, and presents the result after the trace point processing to the user through the terminal display monitoring system, thereby improving the monitoring and management capability of the management department on the low altitude small target. The initial echo processing and trace condensing process of the invention is automatic, the influence of artificial factors on the final three-coordinate monitoring radar trace condensing result is reduced to the maximum extent, the terminal displays the site optimization parameters fed back by the monitoring system and enables control, the quality of the trace can be further optimized, and the condensed trace is filtered, therefore, the invention realizes the output of the distance, the direction and the height information of the low-altitude target, and provides a basis for the traffic control department to identify and monitor the low, slow and small targets.
2) All trace point data processing processes are parallel, so that the data processing efficiency is greatly improved, and a user can quickly acquire the distance, direction and height information of the low-altitude target during operation.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a flow chart of the initial echo processing of the present invention;
FIG. 3 is a flow chart of a trace point agglomeration process of the present invention;
FIG. 4 is a flow chart of the trace-point filtering process of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a three-coordinate monitoring radar trace processing method based on an active phased array technology system includes the following steps:
s1, inputting trace point data which passes through a threshold through a network;
s2, carrying out channel selection and wild value elimination on the trace point data passing through the threshold to obtain trace point data after initial echo processing;
s3, sequentially performing distance condensation processing, distance resolution processing, sum and difference beam vertical beam height measurement processing, azimuth condensation processing and azimuth resolution processing on the trace data after the initial echo processing to obtain processed trace condensation data;
s4, performing track tracking wave gate processing, interference point track suppression processing, fixed clutter suppression processing and point track threshold suppression point track filtering processing on the processed point track condensed data in sequence by using site optimization parameters and enabling control fed back by a terminal display monitoring system to obtain result data;
and S5, sending the result data to the terminal display monitoring system through the network and presenting the result data to the user.
Steps S1, S2 belong to an initial echo processing step, and are specifically implemented in an initial echo processing module; step S3 belongs to the point trace coagulation processing step, and is specifically realized in a point trace coagulation processing module; steps S4, S5 belong to the trace point filtering step, and are specifically implemented in the trace point filtering module.
The site optimization parameters comprise a track tracking wave gate processing parameter, an interference point track suppression processing parameter, a fixed clutter suppression processing parameter and a point track threshold suppression parameter.
Specifically, the specific operation steps of performing channel selection processing and outlier rejection processing on the trace point data passing through the threshold to obtain the trace point data after the initial echo processing include: and performing channel selection processing on the trace point data which passes through the threshold, performing standardized storage processing on the trace point data after the channel selection processing, and setting a clutter frequency threshold with a wild value removed from the normalized storage processed trace point data, namely filtering the trace point data with a target Doppler frequency smaller than the clutter frequency threshold with the wild value removed from the normalized storage processed trace point data as clutter trace point data, thereby obtaining the trace point data after initial echo processing.
The channel enlarging process is to compare the amplitude values of 5 channels in the channel corresponding to the distance unit where the trace point data passing the threshold is located, and to retain the time stamp of the target with the maximum amplitude value, the distance of the target, the direction of the target, the amplitude value of the target and the Doppler frequency information of the target on the corresponding distance unit.
The trace data of the passing threshold comprises a time stamp of the target (time information of the radar detecting the target, unit: year, month, day, hour, minute and second), a distance (meter) of the target, a direction (degree) of the target, amplitude values (dB) of a sum channel of 5 channel targets, amplitude values (dB) of a difference channel of the 5 channel targets, and Doppler frequency information (Hz) of the target.
The clutter frequency threshold of the wild value elimination is obtained by counting Doppler frequency information of targets in trace point data which are sent to the threshold after the three-coordinate monitoring radar front end is processed, 80% of targets can be detected by the clutter frequency threshold, the clutter frequency threshold is related to a radar erection site and radar front end processing, and a preset value is obtained after a radar is erected on the spot and is tested.
The specific operation steps of step S3 include:
s31, condensation treatment over distance: performing distance condensation on trace point data after initial echo processing to obtain distance condensed trace point data, wherein the distance condensed trace point data comprises a timestamp of a target, a distance (meter) from the condensed target, an azimuth (degree) from the condensed target, a sum channel amplitude value (dB) from the condensed target, a difference channel amplitude value (dB) from the condensed target, Doppler frequency information (Hz) from the condensed target, a distance starting unit of the target, a distance ending unit of the target, amplitude values of the target on each distance unit in the distance starting and distance ending of the target;
s32, distance resolution processing: performing target actual length prejudgment on the condensed trace data, setting a target length preset value, setting the target length preset value according to the actual detection power and detection precision (distance resolution, azimuth resolution and height resolution) of the three-coordinate monitoring radar, sequentially traversing the amplitude values of the targets on each distance unit in the distance starting and distance ending of the targets to obtain a distance unit with the maximum amplitude value of the target, a distance unit with the second largest amplitude value of the target and a distance unit with the minimum amplitude value of the target if the actual length of the target is greater than the target length preset value, and obtaining the trace data after distance resolution processing by taking the distance unit with the minimum amplitude value of the target as a boundary;
s33, sum and difference beam vertical beam height measurement processing: calculating the angle information, height information, distance unit information, azimuth information and the number of target points of condensed data of the trace point data after distance resolution processing by using a sum-difference beam angle measurement algorithm;
the sum-difference beam angle measurement algorithm is to calculate the difference value between the sum channel amplitude value and the difference channel amplitude value, and perform table look-up calculation by using a radar antenna directional diagram curve table to obtain the angle difference corresponding to the amplitude value difference; the angle information is the antenna preset elevation angle plus the angle difference of the point trace data after distance resolution processing;
s34, orientation coagulation treatment: searching the trace point data with the same distance unit, the same height and different directions according to the distance unit information, the height information and the direction information in the trace point data after the sum and difference beam vertical beam height measurement processing to obtain the broadening data of the same target trace point data in the direction of direction, and then selecting the broadening data in the direction of direction according to the sum channel amplitude value to obtain the trace point data after the direction condensation;
the selection of the channel amplitude value is to compare the amplitude of the broadening data in the azimuth direction with the amplitude value of the channel, and to retain the timestamp of the target with the maximum channel amplitude value in the broadening data in the azimuth direction, the distance of the target, the azimuth of the target, the amplitude value of the target, and the Doppler frequency information of the target, so as to obtain the trace point data after azimuth aggregation.
S35, orientation discrimination processing: and prejudging the actual width of the target azimuth of the orientation aggregated trace data according to the scanning direction of the radar antenna, wherein the actual width of the target azimuth is equal to the distance ending azimuth of the target minus the distance starting azimuth of the target plus 1, setting a preset value of the width of the target azimuth according to the actual detection power and detection precision (distance resolution, azimuth resolution and height resolution) of the three-coordinate monitoring radar, and distinguishing the distance starting azimuth of the target plus the preset value of the width of the target azimuth in the trace data after orientation aggregation if the actual width of the target azimuth is greater than the preset value of the width of the target azimuth, thereby obtaining the processed trace aggregated data.
The specific operation steps of step S4 include:
s41, track tracking wave gate processing: performing track tracking wave gate processing on the processed trace aggregation data according to site optimization parameters and enabling control fed back by a terminal display monitoring system, establishing a track prediction tracking wave gate by taking a track prediction value in the site optimization parameters as a center, and identifying the processed trace aggregation data in the track prediction tracking wave gate as a track to-be-selected trace;
s42, interference trace suppression processing: marking the processed trace point agglomeration data in the interference area as an interference trace point according to an interference trace point inhibition processing parameter (range of the interference area) and enabling control fed back by a terminal display monitoring system;
s43, fixed clutter suppression processing: according to the fixed clutter suppression processing parameters (the range of a fixed clutter area) and enabling control fed back by a terminal display monitoring system, marking the processed point trace aggregation data in the fixed clutter area as a fixed clutter point trace;
s44, trace point filtering processing of trace point threshold suppression: and according to the trace point threshold inhibition parameter fed back by the terminal display monitoring system and the enabling control, carrying out condensation point filtering processing on trace point condensation data of which the number of target points of the processed trace point condensation data is less than the threshold set by the trace point threshold inhibition parameter to obtain the data after trace point filtering.
The processing of steps S41 to S44 is to determine whether or not to start the trace filtering processing on the processed trace aggregation data by enabling control, and which kind of site optimization parameters and enabling control to start can be determined according to the field situation of the radar erection site.
As shown in fig. 2, when performing initial echo processing, trace point data that passes a threshold is entered into trace processing system software through a network, and channel selection processing is performed in an MTD mode; and then eliminating the outlier part in the original point trace to obtain the original point trace information after the initial echo processing, such as: the CPI number of the target, the wave position number, the position of the distance unit library, the azimuth information, the original amplitude value of the sum channel, the original amplitude value of the difference channel and the like.
To further understand the steps of the trace point agglomeration processing in the present invention, the steps of the trace point agglomeration processing are further described with reference to fig. 3;
and (3) condensing trace data on distance:
the original trace data of the target is recorded into the trace data after the initial echo processing according to the distance unit library, the trace data of the same target may continue a plurality of distance quantization units, and the trace data of different targets need to be respectively condensed according to the continuity of threshold traces in the distance units, so that different targets are prevented from being overlapped.
And (3) resolving and processing the trace point data on distance:
the method mainly starts from the signal characteristics of corresponding radar and related priori knowledge, determines the number of distance units which can possibly continue in distance of single target point trace data and signal amplitude thresholds of units on two sides of a main lobe, sequentially slides forwards in a distance unit sliding window mode, and performs distance resolution on the point trace after distance condensation.
And (3) sum and difference beam vertical beam height measurement processing:
the method comprises the steps that the same target possibly appears in different wave beams, wave beam condensation is carried out on adjacent wave beams according to distance units to obtain target center wave beams, the center elevation angle of each wave beam is preset, the signal amplitude on each wave beam is known, a sum wave beam angle measurement and a difference wave beam angle measurement can be carried out, according to a radar wave beam coverage map of an active phased array system, through inter-group correlation, in a high wave beam area, the possibility that the target falls on one wave beam is large, in a low wave beam area, the target possibly falls in 2-3 wave beams, and by means of the measured angle, the height information of the target can be obtained according to the located distance unit through a trigonometric function method.
Orientation coagulation treatment:
in order to eliminate false targets caused by noise and interference and collect effective pulses as much as possible to participate in accumulation fusion, the measuring and calculating accuracy is improved, the azimuth beginning and ending information of the targets is obtained by a sliding window detection method judged by azimuth agglomeration according to a beginning/ending criterion, and the azimuth information of the targets is obtained by an azimuth centroid method.
Resolving in azimuth:
in consideration of the fluctuation characteristics of the target, certain related processing is carried out on the beam number and the distance of the suspected target when azimuth agglomeration is carried out, the method specifically comprises the steps of traversing the suspected target meeting the starting condition and the data of the next CPI, if the distance is within a certain wave gate range, regarding the suspected target as azimuth broadening of the same target, meeting azimuth sliding window detection, and storing the starting azimuth and the ending azimuth until ending. And if the azimuth start and the azimuth end are higher than the corresponding horizontal beam width, distinguishing the azimuth information of the target according to the background amplitude value.
To further understand the steps of the trace-point filtering process of the present invention, the steps of the trace-point aggregation process are further described with reference to FIG. 4;
and (3) track tracking wave gate processing:
and establishing a fan-shaped related wave gate by taking a predicted value of a period on the track as a center, wherein the size of the wave gate is mainly determined according to information such as the distance, the speed, the direction and the like of a target, and the track to be selected is predicted by tracking the wave gate information.
Interference trace suppression processing:
and displaying the site optimization parameters sent by the monitoring software through the terminal, performing interference point trace enabling control check, defining an interference sector, defining an interference point trace inhibition parameter, and judging whether the condensed target points are the target point of a heavy interference area, the target point of a medium interference area and the target point of a light interference area according to the definition of the interference point trace sector.
And (3) fixed clutter suppression processing:
and identifying the target point falling into the fixed clutter region as a fixed clutter point according to the enabling control output by the terminal display monitoring software, the sector information of the fixed clutter region sent according to the fixed clutter suppression processing field optimization parameters.
And (3) trace point filtering processing of trace point threshold suppression:
the point track threshold processing method comprises the steps of firstly dividing an effective processing airspace into subunits of a plurality of annular sectors, then starting a point track threshold processing function according to the density of point tracks of each subunit, and when the local airspace of the radar has too many point tracks, influences the track correlation processing and generates false tracks, and the point track suppression effect of a fixed clutter area and an interference area is not obvious, starting the point track threshold processing. The trace point threshold processing dynamically adjusts the trace point filtering parameters or criteria of the sectors according to the characteristic parameters (the number threshold of the target points after agglomeration) of the trace points, thereby reducing the false trace point number and the influence of the false trace point number on the relevant processing of the flight path. The trace point threshold processing is to the last level of trace point filtering unit sent to the track recording unit, and aims to reduce the number of false trace points generated by false echoes and finally reduce the false alarm rate of the radar.
And obtaining a target point after the point trace filtering, transmitting the target point to terminal display monitoring software through a network, and presenting the target point to a user.
And transmitting the processed three-coordinate monitoring radar traces after the initial echo processing, the trace point agglomeration and the trace point filtering processing to terminal display monitoring software in a network packet mode through a network, and presenting the terminal display monitoring software to a user.
In conclusion, the initial echo processing and trace point agglomeration processing processes are spontaneous, the influence of human factors on the final trace point agglomeration result is reduced to the maximum extent, all data are calculated in parallel, the trace point data processing efficiency is greatly improved, the site optimization parameters sent by the monitoring software are displayed through the terminal, the agglomerated trace point data can be filtered, the precision of distance, direction and height information of a low-altitude target is further improved, and a user can obtain the trace point processed result in real time.
Claims (3)
1. The three-coordinate monitoring radar trace processing method based on the active phased array technology system is characterized by comprising the following steps of:
s1, inputting trace point data which passes through a threshold through a network;
s2, carrying out channel selection and wild value elimination on the trace point data passing through the threshold to obtain trace point data after initial echo processing;
s3, sequentially performing distance condensation processing, distance resolution processing, sum and difference beam vertical beam height measurement processing, azimuth condensation processing and azimuth resolution processing on the trace data after the initial echo processing to obtain processed trace condensation data;
s4, performing track tracking wave gate processing, interference point track suppression processing, fixed clutter suppression processing and point track threshold suppression point track filtering processing on the processed point track condensed data in sequence by using site optimization parameters and enabling control fed back by a terminal display monitoring system to obtain result data;
s5, sending the result data to a terminal display monitoring system through a network and presenting the result data to a user;
the specific operation steps of step S3 include:
s31, condensation treatment over distance: performing trace point data condensation on the trace point data after the initial echo processing on the distance to obtain the trace point data after distance condensation, wherein the trace point data after distance condensation comprises a timestamp of a target, a distance from the condensed target, a position from the condensed target, a sum channel amplitude value from the condensed target, a difference channel amplitude value from the condensed target, Doppler frequency information from the condensed target, a distance starting unit of the target, a distance ending unit of the target, and amplitude values of the target on each distance unit in the distance starting and distance ending of the target;
s32, distance resolution processing: performing target actual length prejudgment on the distance-aggregated trace data, setting a target length preset value, if the target actual length is greater than the target length preset value, sequentially traversing the amplitude values of the targets on each distance unit in the distance starting and distance ending of the target to obtain a distance unit with the maximum amplitude value of the target, a distance unit with the second largest amplitude value of the target and a distance unit with the minimum amplitude value of the target, and taking the distance unit with the minimum amplitude value of the target as a boundary from the distance-aggregated trace data to obtain distance-resolved processed trace data;
s33, sum and difference beam vertical beam height measurement processing: calculating the angle information, height information, distance unit information, azimuth information and the number of target points of condensed data of the trace point data after distance resolution processing by using a sum-difference beam angle measurement algorithm;
s34, orientation coagulation treatment: searching the trace point data with the same distance unit, the same height and different directions according to the distance unit information, the height information and the direction information in the trace point data after the sum and difference beam vertical beam height measurement processing to obtain the broadening data of the same target trace point data in the direction of direction, and then selecting the broadening data in the direction of direction according to the sum channel amplitude value to obtain the trace point data after the direction condensation;
s35, orientation discrimination processing: pre-judging the actual width of the target azimuth of the orientation-aggregated point trace data according to the scanning direction of a radar antenna, wherein the actual width of the target azimuth is equal to the distance ending azimuth of the target minus the distance starting azimuth of the target plus 1, setting a preset value of the target azimuth width, and if the actual width of the target azimuth is greater than the preset value of the target azimuth width, distinguishing the distance starting azimuth of the target plus the preset value of the target azimuth width in the orientation-aggregated point trace data to obtain processed point trace aggregation data;
the specific operation steps of step S4 include:
s41, track tracking wave gate processing: performing track tracking wave gate processing on the processed trace aggregation data according to site optimization parameters and enabling control fed back by a terminal display monitoring system, establishing a track prediction tracking wave gate by taking a track prediction value in the site optimization parameters as a center, and identifying the processed trace aggregation data in the track prediction tracking wave gate as a track to-be-selected trace;
s42, interference trace suppression processing: according to interference point trace inhibition processing parameters and enabling control fed back by a terminal display monitoring system, marking processed point trace aggregation data in an interference area as interference point traces;
s43, fixed clutter suppression processing: according to the fixed clutter suppression processing parameters and the enabling control fed back by the terminal display monitoring system, marking the processed point trace aggregation data in the fixed clutter area as fixed clutter point traces;
s44, trace point filtering processing of trace point threshold suppression: and according to the trace point threshold inhibition parameter fed back by the terminal display monitoring system and the enabling control, carrying out condensation point filtering processing on trace point condensation data of which the number of target points of the processed trace point condensation data is less than the threshold set by the trace point threshold inhibition parameter to obtain the data after trace point filtering.
2. The active phased array technology system-based three-coordinate monitoring radar locus processing method according to claim 1, characterized in that: the site optimization parameters comprise a track tracking wave gate processing parameter, an interference point track suppression processing parameter, a fixed clutter suppression processing parameter and a point track threshold suppression parameter.
3. The active phased array technology system-based three-coordinate monitoring radar locus processing method according to claim 2, wherein the specific operation step of the step S2 includes:
and performing channel selection processing on the trace point data which passes through the threshold, performing standardized storage processing on the trace point data after the channel selection processing, and setting a clutter frequency threshold with a wild value removed from the normalized storage processed trace point data, namely filtering the trace point data with a target Doppler frequency smaller than the clutter frequency threshold with the wild value removed from the normalized storage processed trace point data as clutter trace point data, thereby obtaining the trace point data after initial echo processing.
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