CN109856607A - Beam region real-time searching method, device and electronic equipment - Google Patents
Beam region real-time searching method, device and electronic equipment Download PDFInfo
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Abstract
The present invention provides a kind of beam region real-time searching method, device and electronic equipment, is related to field of radar, and this method includes obtaining trajectory parameter and radar running parameter；Current radar position is determined based on current time, radar initial position message, radar speed vector；It is directed toward based on radar beam center and determines radar beam center and ground intersecting point coordinate；It is directed toward based on radar altitude, radar beam center and radar beam beam angle obtains the boundary information in beam region；It is indexed to obtain mesh point coordinate all inside boundary information according to current radar position, boundary information and default auxiliary data.This method can accomplish under any trajectory and radar running parameter, and in an emulation beat, real time beam irradiation area parameter is provided for missile borne SAR real-time echo simulation process, the technical issues of can not scanning for beam region existing in the prior art can be alleviated.Another this method also has the characteristics that accurate, quick, flexible.
Description
Technical field
The present invention relates to missile-borne radar synthetic aperture radar echo simulator technical fields, shine more particularly, to a kind of wave beam
Penetrate region real-time searching method, device and electronic equipment.
Background technique
Missile-borne radar synthetic aperture radar echo simulator is that radar seeker HWIL simulation and test platform are important
Component part.Echo simulator is used to be tested the single machine test of radar seeker, system-wide half closed-loop simulation test in kind, with
Accelerate the research and development process of tested device.
Currently, existing echo simulator receives the beam region parameter of user's input usually to carry out echo meter
It calculates, can not voluntarily obtain beam region parameter and be calculated.
To sum up, there is technical issues that can not be to beam region for traditional echo simulator.
Summary of the invention
In view of this, the purpose of the present invention is to provide beam region real-time searching method, device and electronic equipment,
To alleviate the technical issues of can not scanning for beam region existing in the prior art.
In a first aspect, the embodiment of the invention provides a kind of beam region real-time searching methods, comprising:
Obtain trajectory parameter and radar running parameter；The trajectory parameter includes radar initial position message, radar speed
Vector, radar altitude；The radar running parameter includes: radar beam center direction, radar beam beam angle；
Current radar position is determined based on current time, the radar initial position message and the radar speed vector
It sets；
The intersecting point coordinate for determining radar beam center and ground is directed toward based on the radar beam center；
It is directed toward based on the radar altitude, the radar beam center and the radar beam beam angle obtains wave beam and shines
Penetrate the boundary information in region；
It indexes to obtain the boundary information according to the current radar position, the boundary information and default auxiliary data
Internal all mesh point coordinates.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein institute
State method further include:
Based on the mesh point Coordinate generation grid cluster.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides second of first aspect
Possible embodiment, wherein the method also includes:
Echo is carried out based on the grid cluster to calculate in real time.
With reference to first aspect, the embodiment of the invention provides the third possible embodiments of first aspect, wherein institute
Stating radar beam beam angle includes radar beam distance to beam angle and radar beam azimuth beam width；The side
Boundary's information includes up-and-down boundary and right boundary；
It is described that wave is obtained based on the radar altitude, radar beam center direction and the radar beam beam angle
The boundary information of beam irradiation area, comprising:
It is directed toward according to the radar altitude, the radar beam center and the radar beam distance is obtained to beam angle
The up-and-down boundary in beam region；
It is directed toward according to the radar altitude, the radar beam center and the radar beam azimuth beam width obtains
The right boundary of radar antenna irradiation area.
The third possible embodiment with reference to first aspect, the embodiment of the invention provides the 4th kind of first aspect
Possible embodiment, wherein the up-and-down boundary in beam region is calculated using following equation:
Wherein, rminIndicate lower boundary；rmaxIndicate coboundary, H indicates radar altitude, θRng3dBIndicate radar beam distance
To beam angle,Indicate the pitch angle of the beam center and ground intersection point in the direction of radar beam center.
The third possible embodiment with reference to first aspect, the embodiment of the invention provides the 5th kind of first aspect
Possible embodiment, wherein the right boundary in beam region is calculated using following equation:
Wherein, r indicates that right margin, l indicate that left margin, H indicate radar altitude, θAzm3dBIndicate radar beam orientation wave
Beam width,Indicate that the pitch angle of the beam center and ground intersection point in the direction of radar beam center, θ indicate radar beam center
The azimuth of beam center and ground intersection point in direction.
The third possible embodiment with reference to first aspect, the embodiment of the invention provides the 6th kind of first aspect
Possible embodiment, wherein the radius round as minimum distance using the lower border value of the up-and-down boundary, upper boundary values respectively
With the radius of maximum distance circle；
It divides to obtain multiple equidistant circles based on minimum distance circle, maximum distance circle and default resolution ratio；Wherein, described
Default resolution ratio refers to round interval；
The circular horn of multiple equidistant circles is determined according to default resolution ratio；
Successively determine what each equidistant circle was put in the case where the part in the right boundary is with bullet according to the right boundary
The boundary of angle and each distance circle；
It is searched for since minimum distance circle, from the near to the remote, each equidistant circle is successively searched in the up-and-down boundary
Mesh point in boundary, and searched according to default auxiliary data index and obtain the mesh point coordinate of each equidistant round edge circle.
The 6th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 7th kind of first aspect
Possible embodiment, wherein the method also includes:
Based on the mesh point Coordinate generation polar coordinates array；
A variety of matrixes are generated based on the polar coordinates array；Wherein the matrix includes cppolar matrix, cxypolar square
Battle array and Mgpr matrix.
Second aspect, the embodiment of the present invention also provide a kind of real-time searcher in beam region, comprising:
Module is obtained, for obtaining trajectory parameter and radar running parameter；The trajectory parameter includes radar initial position
Information, radar speed vector, radar altitude；The radar running parameter includes: radar beam center direction, radar beam wave beam
Width；
Position determination module, for based on current time, the radar initial position message and radar speed arrow
It measures and determines current radar position；
Intersection point determining module, for being directed toward the intersection point for determining radar beam center and ground based on the radar beam center
Coordinate；
Feature modeling module, for based on the radar altitude, radar beam center direction and the radar beam
Beam angle obtains the boundary information in beam region；
Search module, for being indexed according to the current radar position, the boundary information and default auxiliary data
All mesh point coordinates inside to the boundary information.
The third aspect, the embodiment of the present invention also provide a kind of electronic equipment, including memory, processor and are stored in described
On memory and the computer program that can run on the processor, the processor are realized when executing the computer program
The step of above-mentioned method.
Fourth aspect, the embodiment of the present invention also provide a kind of computer readable storage medium, the computer-readable storage
Computer program is stored on medium, the computer program executes above-mentioned method when being run by processor the step of.
The embodiment of the present invention brings following the utility model has the advantages that beam region provided in an embodiment of the present invention is searched in real time
Method, apparatus, electronic equipment and computer readable storage medium, wherein this method includes obtaining trajectory parameter and radar work
Parameter；Trajectory parameter includes radar initial position message, radar speed vector, radar altitude；Radar running parameter includes: radar
Beam center direction, radar beam beam angle；It is true based on current time, radar initial position message and radar speed vector
Settled preceding radar site；The intersecting point coordinate for determining radar beam center and ground is directed toward based on radar beam center；Based on radar
Highly, radar beam center is directed toward and radar beam beam angle obtains the boundary information in beam region；According to current thunder
It indexes to obtain mesh point coordinate all inside boundary information up to position, boundary information and default auxiliary data.Therefore, this hair
The technical solution that bright embodiment provides, can accomplish under any trajectory and radar running parameter, and in an emulation beat,
Real time beam irradiation area parameter is provided for missile borne SAR real-time echo simulation process, can be alleviated in the prior art
Existing the technical issues of beam region can not being scanned for.In addition, this method also have it is accurate, quick, flexible
Feature.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification, claims
And specifically noted structure is achieved and obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 shows a kind of flow chart of beam region real-time searching method provided in an embodiment of the present invention；
Fig. 2 shows the geometrical relationship figures between missile-borne radar platform and ground；
Fig. 3, which is shown, describes the geometrical relationship figure of irradiation area and grid and missile-borne radar platform with stereogenic；
Fig. 4 shows the signal of the upper and lower and right boundary for describing irradiation area and grid careful in a planar form
Figure；
Fig. 5 is shown beam region has been determined after internal mesh point coordinate schematic diagram；
Fig. 6 shows the flow chart of another beam region provided in an embodiment of the present invention real-time searching method；
Fig. 7 shows the flow chart of the third beam region real-time searching method provided in an embodiment of the present invention；
Fig. 8 shows a kind of structural block diagram of real-time searcher in beam region provided in an embodiment of the present invention；
Fig. 9 shows a kind of missile borne SAR real-time echo simulator working principle provided in an embodiment of the present invention
Block diagram；
Figure 10 shows the schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Current existing echo simulator receives the beam region parameter that user inputs usually to carry out echo calculating,
Beam region parameter can not voluntarily be obtained to be calculated, i.e., traditional echo simulator exists can not be to beam
The technical issues of region scans for is based on this, a kind of beam region real-time searching method provided in an embodiment of the present invention,
Device and electronic equipment can alleviate the technical issues of can not scanning for beam region existing in the prior art.
For convenient for understanding the present embodiment, first to a kind of reality of beam region disclosed in the embodiment of the present invention
When searching method describe in detail.
Embodiment one:
The embodiment of the invention provides a kind of beam region real-time searching methods, are applied to missile-borne radar synthetic aperture
Radar real-time scene echo simulator is applied particularly to the wave beam of missile-borne radar synthetic aperture radar real-time scene echo simulator
Irradiation area and inner mesh are searched in real time, and radar hereafter each means missile-borne radar synthetic aperture radar.
As shown in Figure 1, this method comprises:
Step S101 obtains trajectory parameter and radar running parameter；Trajectory parameter includes radar initial position message, radar
Velocity vector, radar altitude；Radar running parameter includes radar beam center direction, radar beam beam angle；
Wherein, radar speed vector includes radar speed value and radar direction of travel；It is directed toward at radar beam center
Beam center and the pitch angle of ground intersection point and the azimuth of beam center and ground intersection point；Radar beam beam angle includes
Radar beam distance is to beam angle and radar beam azimuth beam width.
It should be noted that above-mentioned radar initial position message includes radar initial position and radar initial position pair
At the time of answering；Here radar initial position refers to radar corresponding with the current time immediate emulation initial time of beat
Position；Such as current time is 12:10:00, emulation beat is that (usually emulation beat is 1ms to 1h, here will emulation beat amplification
In order to make it easy to understand, should not be construed as limiting the invention to 1h), then with current time it is immediate emulation beat rise
Moment beginning is 12:00:00, and the end time of current time immediate emulation beat is 13:00:00；So 12:00:00 pairs
The radar site answered is radar initial position；
Step S102 determines current radar position based on current time, radar initial position message and radar speed vector
It sets；
Specifically, current time is based on, at the beginning of the radar of emulation beat, the emulation beat initial time locating for current time
Beginning position and radar speed vector determine current radar position.
Step S103 is directed toward the intersecting point coordinate for determining radar beam center and ground based on radar beam center；
In the present embodiment, in the case where not considering earth curvature, i.e. hypothesis ground is flat, at this point, being based on radar
The beam center that beam center is directed toward can be true with the pitch angle and beam center of ground intersection point and the azimuth of ground intersection point
Determine the intersecting point coordinate on radar beam center and ground.
In other embodiments, in the case where considering earth curvature, i.e., ground is not flat, at this point, being based on radar
The beam center and the pitch angle of ground intersection point and the orientation combined ground of beam center and ground intersection point that beam center is directed toward
Scene determines the intersecting point coordinate at radar beam center and ground.
It should be pointed out that beam center and the pitch angle of ground intersection point and the azimuth of beam center and ground intersection point
It is to be calculated by the search angle of radar, in fact, the pitch angle of beam center and ground intersection point is the search angle of radar
Complementary angle；And the azimuth of beam center and ground intersection point is the spy of pitch angle and radar based on beam center Yu ground intersection point
What angle measurement obtained.
Fig. 2 describes the geometrical relationship between missile-borne radar platform (abbreviation radar) and ground, referring to Fig. 2,For missile-borne
Radar platform movement velocity vector, can define YOZ plane withIt is coplanar, ground any scattering point P (i.e. beam center and ground
Intersection point) relative to Missile Motion direction space cone angle be ψ, α be radar search angle (i.e. the direction of radar detection), θ XOY
Deviateing the angle of X-axis in plane, θ is known as azimuth (i.e. the azimuth of beam center and ground intersection point),For pitch angle (i.e. wave
The azimuth of beam center and ground intersection point).
Step S104 is directed toward based on radar altitude, radar beam center and radar beam beam angle obtains beam
The boundary information in region；
Wherein the boundary information includes up-and-down boundary and right boundary；
Specifically, step S104 is mainly realized by following steps:
1, it is directed toward according to the radar altitude, the radar beam center and the radar beam distance is obtained to beam angle
To the up-and-down boundary in beam region；
2, it is directed toward according to the radar altitude, the radar beam center and the radar beam azimuth beam width obtains
To the right boundary of radar antenna irradiation area.
In order to make it easy to understand, referring to figure 3. and Fig. 4, Fig. 3 with stereogenic describe irradiation area and grid and missile-borne
The geometrical relationship of radar platform, in Fig. 3, ellipse is entire radar illumination region, and Δ r indicates default resolution ratio (including distance
To resolution ratio and azimuth resolution, the two is Δ r) here,Indicate the pitch angle of beam center and ground intersection point；θ table
The azimuth of oscillography beam center and ground intersection point, H indicate radar altitude；rminIndicate the lower boundary in beam region (also known as
Distance of the point to minimum distance circle under bullet)；rmaxIndicate that the coboundary in beam region (puts also known as under bullet and arrives maximum distance
Round distance)；The left margin in l expression beam region；The right margin in r expression beam region；RcenterIt indicates in wave beam
Oblique distance of the heart point to radar；rcenterIndicate the length of the projection of oblique distance on the ground.Wherein, radar beam distance is wide to wave beam
Spend θRng3dBIt is antenna arrays of radar center and radar illumination region lower boundary rminLine and antenna arrays of radar center and thunder
Up to irradiation area coboundary rmaxLine between angle；Radar beam distance is to beam angle θAzm3dBIt is antenna arrays of radar
Center and the line of radar illumination region left margin l and the line at antenna arrays of radar center and radar illumination region right margin r
Between angle；Radar illumination region includes the mesh point of multiple Δ r × Δ r, schematically shows only one of them in Fig. 3
Mesh point.Here distance resolution and azimuth resolution is Δ r；It should be noted that Δ r≤radar imagery resolution ratio,
With ensure each mesh point be it is uniform, in other words, the antenna gain of each mesh point, Doppler frequency shift, distance, incidence angle,
Clutter scattered power is constant；It is understood that the antenna gain of different mesh points, Doppler frequency shift, distance, incidence angle,
The constants such as clutter scattered power are different.Further, it is contemplated that the data-handling capacity of the processor of echo simulator can incite somebody to action
2k×2k(k=1,2,3,4 ...) one grid cluster (wrap) of a mesh point composition, wherein k is the processing energy with processor
The relevant constant of power.
Fig. 4 is careful in a planar form to describe the upper and lower and right boundary of irradiation area and grid.Radar beam exists
The projection of shape on ground is approximate ellipsoidal, is approximately rectangle in this method.In Fig. 4, αmaxIndicate beam region side
Relative to the maximum subtended angle put under bullet on position；rnIndicate bullet under point to n-th distance justify distance；Indicate beam region
In n-th distance circle orientation on relative to the maximum subtended angle put under bullet.
It is directed toward specifically, being calculated using following equation according to radar altitude H, radar beam centerWith radar beam away from
Descriscent beam angle θRng3dBCalculate the up-and-down boundary [r in radar antenna beam regionmin,rmax]:
Wherein, rminIndicate lower boundary；rmaxIndicate coboundary, H indicates radar altitude, θRng3dBIndicate radar beam distance
To beam angle,Indicate the pitch angle of the beam center and ground intersection point in the direction of radar beam center.
Using following equation according in radar altitude H, radar beam center directionθ and radar beam orientation wave
Beam width θAzm3dBCalculate the right boundary of radar antenna irradiation area
Wherein, r indicates that right margin, l indicate that left margin, H indicate radar altitude, θAzm3dBIndicate radar beam orientation wave
Beam width,Indicate that the pitch angle of the beam center and ground intersection point in the direction of radar beam center, θ indicate radar beam center
The azimuth of beam center and ground intersection point in direction.
Step S105 indexes to obtain in boundary information according to current radar position, boundary information and default auxiliary data
All mesh point coordinates in portion.
Specifically, step S105 is executed by following steps:
(1) respectively using the lower border value of the up-and-down boundary, upper boundary values as minimum distance circle radius and most long distance
From round radius；
(2) it divides to obtain multiple equidistant circle (i.e. n+2 based on minimum distance circle, maximum distance circle and default resolution ratio
A equidistant circle)；Wherein, the default resolution ratio refers to round interval；
(3) circular horn of multiple equidistant circles is determined according to default resolution ratio；
(4) each equidistant circle point in the case where the part in the right boundary is with bullet is successively determined according to the right boundary
Angle and it is each distance circle boundary；
(5) it is searched for since minimum distance circle, from the near to the remote, each equidistant circle is successively searched in the up-and-down boundary
Boundary in mesh point, and according to default auxiliary data index search obtain the mesh point coordinate of each equidistant round edge circle.
Specifically, referring to Fig. 3 and Fig. 4, respectively with the lower border value r of above-mentioned up-and-down boundarymin, upper boundary values rmaxAs most
Short distance radius of circle and maximum distance radius of circle, and divide to obtain multiple equidistant circles using default resolution ax r as circle interval；Root
Multiple equidistant radius of circles and its circular horn are determined according to preset formula and default resolution ratio；Preset formula is as follows: rn=rmin+
n·Δr；Wherein rnIndicate the radius of n-th of isometric circle, rminIndicating lower border value, n indicates the circular horn of n-th of equidistant circle,
Δ r indicates default resolution ratio；Determine that the round part in boundary of distance that circular horn is n (n=1,2,3 ...) is same according to right boundary
The angle put under bulletSo that it is determined that circular horn is the boundary of the distance circle of n (n=1,2,3 ...)
Wherein:
From minimum distance circle rminStart to search for, from the near to the remote, each equidistant circle is successively searched in the up-and-down boundary
Boundary in mesh point (coordinate and angle value of position and quantity and each mesh point including mesh point), and according to pre-
If auxiliary data index searches the mesh point coordinate for determining each equidistant round edge circle.Here the size of mesh point be Δ r ×
Δ r, Fig. 5 is shown beam region has been determined after internal mesh point coordinate schematic diagram, be divided into two dimensions of X, Y,
Respectively represent orientation and distance to.
Beam region provided in an embodiment of the present invention real-time searching method includes obtaining trajectory parameter and radar work
Parameter；Trajectory parameter includes radar initial position message, radar speed vector, radar altitude；Radar running parameter includes: radar
Beam center direction, radar beam beam angle；It is true based on current time, radar initial position message and radar speed vector
Settled preceding radar site；The intersecting point coordinate for determining radar beam center and ground is directed toward based on radar beam center；Based on radar
Highly, radar beam center is directed toward and radar beam beam angle obtains the boundary information in beam region；According to current thunder
It indexes to obtain mesh point coordinate all inside boundary information up to position, boundary information and default auxiliary data.Therefore, this hair
The technical solution that bright embodiment provides, can accomplish under any trajectory and radar running parameter, and in an emulation beat,
Real time beam irradiation area parameter is provided for missile borne SAR real-time echo simulation process, can be alleviated in the prior art
Existing the technical issues of beam region can not being scanned for.In addition, this method also have it is accurate, quick, flexible
Feature, wherein 1) accurate: according to radar altitude, beam position, azimuth beam width, pitching to beam angle, ground level
Parameter completes beam region by Floating-point Computation and inner mesh is searched for；2) quickly: on mainstream processor (including CPU,
ARM, DSP, GPU etc.) on can in an emulation beat (usually within 1ms) complete beam range searching, symbol
Close strict demand of the real-time echo simulated technological process to irradiation range searching；3) flexibly: considering elevation information, support to various complexity
Irradiation area search under topography and geomorphology state.
Further, this method further includes: constructing the auxiliary data index.
Specifically, ground is divided to obtain the ground scene of mesh point form according to the size of mesh point, in, wherein it is each
Coordinate (x, the y) group of a mesh point becomes a matrix, and the line number of matrix is that scene is long divided by resolution ratio, and the width of matrix is scene
Width is divided by resolution ratio.Wherein, it is contemplated that mesh point is square, here using the coordinate of the upper left angle point of square as the grid
The coordinate of point.
As long as can produce required resolution ratio and scene size it should be noted that modification resolution ratio and scene size
Auxiliary data index file.
Embodiment two:
As shown in fig. 6, on the basis of example 1, it is real that the embodiment of the invention also provides another beam regions
When searching method, the difference with embodiment one is, this method further include:
Step S601 is based on mesh point Coordinate generation grid cluster.
Specifically, being divided mesh point and its coordinate all inside boundary information to obtain grid according to preset rules
Cluster, preset rules here include specific trellis point quantity and coding rule, and the specific trellis of each grid cluster, which is counted, to measure
The data-handling capacity of processor certainly in echo simulator；Coding rule is for determining each grid cluster of each grid cluster
Number.Correspondingly, grid cluster includes number and mesh point quantity.
Specifically, it includes multiple processors, the data processing of each processor that this step, which fully takes into account echo simulator,
Therefore the possible different situation of ability divides mesh point all inside boundary information to obtain multiple grid clusters, each here
It include 2 inside grid clusterk×2k(k=1,2,3,4 ...) a mesh point, by the grid in the most upper left corner inside each grid cluster
Number of the coordinate of point as each grid cluster, simultaneously because distance resolution and azimuth resolution are to be set in advance, i.e., often
The coordinate of all mesh points can directly determine inside a grid cluster.It should be pointed out that echo simulator may include multiple
The processing capacity of processor, each processor can be different, therefore, the grid cluster of division can also with size be also possible to
Different, as long as corresponding grid cluster size is handled by the processor of corresponding data-handling capacity.
Step S602 carries out echo based on grid cluster and calculates in real time.
It is counted in real time specifically, the grid cluster of division is transmitted and carries out echo to the corresponding processor of echo simulator
It calculates.
In other embodiments, mesh point coordinate progress echo is directly based upon to calculate in real time.
Specifically, the mesh point coordinate searched to be sent to the processing for being ultimately routed to processing real-time echo simulation in caching
Device is handled.
Beam region provided in an embodiment of the present invention real-time searching method is by being divided into grid cluster for mesh point, just
In the processing of corresponding processor, suitable for different processors, be conducive to save the cost.
Embodiment three:
As shown in fig. 7, on the basis of example 1, the embodiment of the invention provides the third beam region is real-time
Searching method, the difference with embodiment one be, this method further include:
Step S701 is based on mesh point Coordinate generation polar coordinates array；
Specifically, will be gone on each maps mesh points to polar coordinates in beam region first, i.e., each mesh point
No longer indicated with (x, y), but with distance (such as Rcenter in Fig. 3) and angle (such as in Fig. 3In θ or Fig. 4
αmax) indicate.Since ground scene is divided into multiple equidistant circles, mesh points all in this way can be grouped into its institute
The equidistant circle belonged to gets on.
The polar coordinates for being then based on each mesh point generate polar coordinates array.
Step S702 generates a variety of matrixes based on polar coordinates array；Wherein matrix includes cppolar matrix, cxypolar
Matrix and Mgpr matrix.
Specifically, obtaining a variety of matrixes according to the coordinate of mesh point and above-mentioned polar coordinates array.
Wherein, the create-rule of Cppolar matrix is as follows: from the near to the remote according to distance, storage is each equidistant circle
On mesh point angle value, and these angle values according to arranging from small to large.
The create-rule of cxypolar matrix is as follows: identical with the dimension of cppolar matrix, difference is cxypolar square
What is stored in battle array is the coordinate (x, y) of mesh point and the angle value of mesh point, and the two is one-to-one relationship.
The create-rule of Mgpr matrix: the Mgpr matrix is one-dimension array, and inside from the near to the remote, is stored according to equidistant circle
Be mesh point on each equidistant circle quantity.
Step S703, by a variety of Output matrixes into caching, in order to which processor extracts and carries out implementing echo calculating stream
Journey.
Beam region provided in an embodiment of the present invention real-time searching method is by being convenient for mesh point coordinates matrix
Processor extracts and carries out implementing echo calculation process, is conducive to improve treatment effeciency.
Example IV:
As shown in figure 8, the embodiment of the invention also provides a kind of real-time searchers in beam region, comprising: obtain
Module 100, position determination module 200, intersection point determining module 300, feature modeling module 400 and search module 500.
Wherein, module 100 is obtained for obtaining trajectory parameter and radar running parameter；At the beginning of the trajectory parameter includes radar
Beginning location information, radar speed vector, radar altitude；The radar running parameter includes: radar beam center direction, radar wave
Beam beam angle；
Position determination module 200 is used to be based on current time, the radar initial position message and the radar speed
Vector determines current radar position；
Intersection point determining module 300 is used to be directed toward the friendship for determining radar beam center and ground based on the radar beam center
Point coordinate；
Feature modeling module 400 is used for based on the radar altitude, the radar beam center is directed toward and the radar wave
Beam beam angle obtains the boundary information in beam region；
Search module 500 is used to be indexed according to the current radar position, the boundary information and default auxiliary data
Obtain mesh point coordinate all inside the boundary information.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
Specific work process, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
The real-time searcher in beam region provided in an embodiment of the present invention, with beam provided by the above embodiment
Real-time searching method technical characteristic having the same in region reaches identical technology so also can solve identical technical problem
Effect.
Embodiment five:
Since current main-stream missile flight speed is fast, maneuverability is strong, while its synthetic aperture radar carried has ginseng
The feature that number variation is fast, ground irradiated area is big.To meet the requirement calculated in real time, this just proposes very strong fortune to simulator
Calculation ability and efficient Processing Algorithm.And it wherein can be real-time according to the trajectory parameter and radar parameter of each emulation beat variation
The search for completing target seeker beam region and inner mesh just becomes the key precondition that can generate echo in real time.
In view of this, the embodiment of the invention also provides a kind of missile-borne radar synthetic aperture radar real-time scene analogue echoes
Device, the missile-borne radar synthetic aperture radar real-time scene echo simulator include that dress is searched in the beam region being connected in real time
It sets and echo real-time calculation device.
Fig. 9 shows missile borne SAR real-time echo simulator working principle block diagram, referring to Fig. 9, the simulator
Speed, height, beam region, imaging resolution etc. can be calculated in real time in each emulation beat to meet really
Echo-signal under guided missile operating condition.The core work process of the simulator includes radar beam irradiation area and inner mesh
Search and irradiation area echo calculate two large divisions in real time in real time.Wherein, by the real-time searcher in beam region according to
The radars running parameter such as trajectory parameter and radar beam direction, beam angle carries out beam region and inner mesh is searched
Rope；Echo real-time calculation device emits signal according to missile borne SAR and real-time search result is calculated missile-borne and closes
At aperture radar echo signal.
It should be pointed out that the radars running parameter such as trajectory parameter and radar beam direction, beam angle is in each reality
When emulation beat update, therefore the real-time searcher in beam region is accordingly to search result in each real-time simulation beat
It updates.The simulator is required according to the real work of missile borne SAR, can be in an emulation beat (usually
Within 1ms) beam range searching is completed, meet strict demand of the real-time echo simulated technological process to irradiation range searching.
Specifically, carrying out number of echoes again after needing to obtain irradiation area and grid search result at last in view of echo meter
According to calculating, therefore the beam region real-time searching method of the real-time searcher in beam region is carried out here brief
Illustrate:
One, prepare auxiliary data
As long as modifying resolution ratio and scene size.It can produce the auxiliary data file of required resolution ratio and scene size.
The coordinate (x, y) of mesh point each in scene group is become a matrix, the line number of matrix be scene it is long divided by point
Resolution, the width of matrix are that scene is wide divided by resolution ratio.
Two, search in real time
According to current time, the trajectory parameters such as radar initial position, velocity vector calculate current radar position；
It is directed toward according to current radar beam center, calculates the intersecting point coordinate at radar beam center and ground；
It is directed toward according to the radar beam center in trajectory parameter and radar beam distance is to beam angle θRng3dB, calculate
The coboundary of radar antenna irradiation area, lower boundary [rmin,rmax]；
According to the radar beam azimuth beam width θ in trajectory parameterAzm3dBCalculate right boundaryWherein:
Determine lower boundary；
Determine coboundary；
From nearest distance circle rminStart to search for, the circular horn n of multiple equidistant circles is calculated according to Δ r；According to previous step
The right boundary of calculating determines part (circular arc) of the distance circle in boundary with the angle put under bulletSo that it is determined that should be away from
From round boundaryWherein:
rn=rmin+n·Δr
Each distance circle is searched for, from top to bottom, is searched in up-and-down boundary, which is a process of tabling look-up, according to auxiliary
Data directory is helped to go to search the process of grid cluster number and coordinate.
Going on each maps mesh points to polar coordinates, each mesh point no longer uses (x, y) to indicate, but with distance and
Angle indicates.It is multiple equidistant circles scene partitioning.Mesh points all in this way can be grouped into equidistant belonging to it
Circle gets on.
Mesh point is put into polar coordinates array, cppolar matrix and cxypolar matrix, Mgpr matrix are generated.
Cppolar: from the near to the remote according to distance, storage be grid on each equidistant circle angle value, these angles
Angle value according to arranging from small to large.
Cxypolar matrix: as the dimension of cppolar matrix, what is only stored in matrix is the coordinate of grid
The angle value of (x, y) and mesh point has one-to-one relationship.
Mgpr matrix: being one-dimension array, and the grid on each equidistant circle from the near to the remote, is stored according to equidistant circle in the inside
Points.
After all grid search, the mesh point coordinate searched and mesh point polar coordinates array are sent in caching most
It is sent to the processor of processing real-time echo simulation eventually.
It is apparent to those skilled in the art that for convenience and simplicity of description, the simulation of foregoing description
The specific work process of device, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Missile-borne radar synthetic aperture radar real-time scene echo simulator provided in an embodiment of the present invention, with above-described embodiment
The beam region real-time searching method technical characteristic having the same of offer, so also can solve identical technical problem,
Reach identical technical effect.
Referring to Figure 10, the embodiment of the present invention also provides a kind of electronic equipment 1000, comprising: processor 40, memory 41, always
Line 42 and communication interface 43, the processor 40, communication interface 43 and memory 41 are connected by bus 42；Processor 40 is used for
Execute the executable module stored in memory 41, such as computer program.
Wherein, memory 41 may include high-speed random access memory (RAM, Random Access Memory),
It may further include nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.By at least
One communication interface 43 (can be wired or wireless) realizes the communication between the system network element and at least one other network element
Connection, can be used internet, wide area network, local network, Metropolitan Area Network (MAN) etc..
Bus 42 can be isa bus, pci bus or eisa bus etc..The bus can be divided into address bus, data
Bus, control bus etc..Only to be indicated with a four-headed arrow in Figure 10, it is not intended that an only bus convenient for indicating
Or a type of bus.
Wherein, memory 41 is for storing program, and the processor 40 executes the journey after receiving and executing instruction
Sequence, method performed by the device that the stream process that aforementioned any embodiment of the embodiment of the present invention discloses defines can be applied to handle
In device 40, or realized by processor 40.
Processor 40 may be a kind of IC chip, the processing capacity with signal.During realization, above-mentioned side
Each step of method can be completed by the integrated logic circuit of the hardware in processor 40 or the instruction of software form.Above-mentioned
Processor 40 can be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network
Processor (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (Digital Signal
Processing, abbreviation DSP), specific integrated circuit (Application Specific Integrated Circuit, referred to as
ASIC), ready-made programmable gate array (Field-Programmable Gate Array, abbreviation FPGA) or other are programmable
Logical device, discrete gate or transistor logic, discrete hardware components.It may be implemented or execute in the embodiment of the present invention
Disclosed each method, step and logic diagram.General processor can be microprocessor or the processor is also possible to appoint
What conventional processor etc..The step of method in conjunction with disclosed in the embodiment of the present invention, can be embodied directly in hardware decoding processing
Device executes completion, or in decoding processor hardware and software module combination execute completion.Software module can be located at
Machine memory, flash memory, read-only memory, programmable read only memory or electrically erasable programmable memory, register etc. are originally
In the storage medium of field maturation.The storage medium is located at memory 41, and processor 40 reads the information in memory 41, in conjunction with
Its hardware completes the step of above method.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
The computer program product of beam region real-time searching method is carried out provided by the embodiment of the present invention, including
Store the computer readable storage medium of the executable non-volatile program code of processor, the finger that said program code includes
Order can be used for executing previous methods method as described in the examples, and specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, of the invention
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the present invention
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can be with
Store the medium of program code.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of beam region real-time searching method characterized by comprising
Obtain trajectory parameter and radar running parameter；The trajectory parameter include radar initial position message, radar speed vector,
Radar altitude；The radar running parameter includes radar beam center direction, radar beam beam angle；
Current radar position is determined based on current time, the radar initial position message and the radar speed vector；
The intersecting point coordinate for determining radar beam center and ground is directed toward based on the radar beam center；
It is directed toward based on the radar altitude, the radar beam center and the radar beam beam angle obtains beam area
The boundary information in domain；
It indexes to obtain inside the boundary information according to the current radar position, the boundary information and default auxiliary data
All mesh point coordinates.
2. the method according to claim 1, wherein the method also includes:
Based on the mesh point Coordinate generation grid cluster.
3. according to the method described in claim 2, it is characterized in that, the method also includes:
Echo is carried out based on the grid cluster to calculate in real time.
4. the method according to claim 1, wherein the radar beam beam angle includes radar beam distance
To beam angle and radar beam azimuth beam width；The boundary information includes up-and-down boundary and right boundary；
It is described that wave beam photograph is obtained based on the radar altitude, radar beam center direction and the radar beam beam angle
Penetrate the boundary information in region, comprising:
Wave beam is obtained to beam angle according to the radar altitude, radar beam center direction and the radar beam distance
The up-and-down boundary of irradiation area；
It is directed toward according to the radar altitude, the radar beam center and the radar beam azimuth beam width obtains radar
The right boundary in antenna irradiation region.
5. according to the method described in claim 4, it is characterized in that, the upper of beam region is calculated using following equation
Lower boundary:
Wherein, rminIndicate lower boundary；rmaxIndicate coboundary, H indicates radar altitude, θRng3dBIndicate radar beam distance to wave
Beam width,Indicate the pitch angle of the beam center and ground intersection point in the direction of radar beam center.
6. according to the method described in claim 4, it is characterized in that, the left side in beam region is calculated using following equation
Right margin:
Wherein, r indicates that right margin, l indicate that left margin, H indicate radar altitude, θAzm3dBIndicate that radar beam azimuth beam is wide
Degree,Indicate that the pitch angle of the beam center and ground intersection point in the direction of radar beam center, θ indicate that radar beam center is directed toward
In beam center and ground intersection point azimuth.
7. according to the method described in claim 4, it is characterized in that, described believe according to the current radar position, the boundary
Breath and default auxiliary data index to obtain mesh point coordinate all inside the boundary information, comprising:
The half of the radius and maximum distance circle justified respectively using the lower border value of the up-and-down boundary, upper boundary values as minimum distance
Diameter；
It divides to obtain multiple equidistant circles based on minimum distance circle, maximum distance circle and default resolution ratio；Wherein, described default
Resolution ratio refers to round interval；
The circular horn of multiple equidistant circles is determined according to default resolution ratio；
The angle that each equidistant circle is put in the case where the part in the right boundary is with bullet is successively determined according to the right boundary
And the boundary of each distance circle；
It is searched for since minimum distance circle, from the near to the remote, the boundary of each equidistant circle is successively searched in the up-and-down boundary
Interior mesh point, and searched according to default auxiliary data index and obtain the mesh point coordinate of each equidistant round edge circle.
8. the method according to claim 1, wherein the method also includes:
Based on the mesh point Coordinate generation polar coordinates array；
A variety of matrixes are generated based on the polar coordinates array；Wherein the matrix include cppolar matrix, cxypolar matrix with
And Mgpr matrix.
9. a kind of real-time searcher in beam region characterized by comprising
Module is obtained, for obtaining trajectory parameter and radar running parameter；The trajectory parameter include radar initial position message,
Radar speed vector, radar altitude；The radar running parameter includes: radar beam center direction, radar beam beam angle；
Position determination module, for true based on current time, the radar initial position message and the radar speed vector
Settled preceding radar site；
Intersection point determining module determines that the intersection point at radar beam center and ground is sat for being directed toward based on the radar beam center
Mark；
Feature modeling module, for based on the radar altitude, radar beam center direction and the radar beam wave beam
Width obtains the boundary information in beam region；
Search module, for indexing to obtain institute according to the current radar position, the boundary information and default auxiliary data
State mesh point coordinate all inside boundary information.
10. a kind of electronic equipment, including memory, processor and it is stored on the memory and can transports on the processor
Capable computer program, which is characterized in that the processor realizes the claims 1 to 8 when executing the computer program
The step of described in any item methods.
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| CN113640799A (en) * | 2021-08-11 | 2021-11-12 | 北京无线电测量研究所 | Method and device for determining central irradiation point of radar beam and storage medium |
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