CN112881988A - Clutter simulation display method in navigation radar simulation training system - Google Patents

Clutter simulation display method in navigation radar simulation training system Download PDF

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CN112881988A
CN112881988A CN202110032061.6A CN202110032061A CN112881988A CN 112881988 A CN112881988 A CN 112881988A CN 202110032061 A CN202110032061 A CN 202110032061A CN 112881988 A CN112881988 A CN 112881988A
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clutter
distribution
rain
simulation
snow
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姚烨
车春宇
冯翔宇
朱怡安
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Northwestern Polytechnical University
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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
    • G01S7/38—Jamming means, e.g. producing false echoes
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/06—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics

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Abstract

The invention relates to a clutter simulation display method in a navigation radar simulation training system, belonging to the technical field of electronic information. By analyzing different clutter and distribution characteristics, the distribution which is more consistent with sea clutter and rain and snow clutter by using normal distribution and Rayleigh distribution is obtained. A clutter display effect diagram is obtained by establishing a distribution model of the rain and snow clutter and the sea clutter, generating a random sequence to generate a clutter sequence, and obtaining a screen coordinate sequence of the rain and snow clutter and the sea clutter through coordinate transformation. Compared with the existing method, the simulation method of the invention can be closer to the real situation.

Description

Clutter simulation display method in navigation radar simulation training system
Technical Field
The invention relates to the technical field of electronic information, in particular to a clutter simulation display method in a navigation radar simulation training system.
Background
The radar occupies an important position in modern war, but the problems of easy loss, difficult repair and the like of the radar exist in the radar teaching process. Therefore, a navigation radar simulation training system needs to be designed, and systematic and effective training is carried out on a radar student. During the process of sailing on the sea, a target displayed on a navigation radar display often receives clutter interference, and common clutter are rain and snow clutter and sea wave clutter. In order to better simulate the real environment by radar simulation display, the display effect simulation of rain and snow clutter and sea wave clutter is required.
The sea wave clutter is the most common interference clutter of the navigation radar in the navigation process, and different clutter interferences can be reflected by the fluctuation height of the sea wave due to the course of the ship on the sea surface and the change of the sea wave on the sea surface, so that the real target can be observed by the image. The formation of the sea clutter is not only related to the self factors of the navigation radar, but also has different display effects in different radars related to sea surface environments, so that when a clutter simulation model is selected, not only the clutter characteristics need to be considered, but also the clutter display effects on the used radar need to be considered by combining with a real radar. The optimal clutter simulation model can be selected by comprehensive analysis. Various distributions of the current sea clutter and the applicable environments and advantages and disadvantages are described below, as shown in table 1.
TABLE 1 sea clutter amplitude distribution comparison
Figure BDA0002892852190000011
Figure BDA0002892852190000021
Disclosure of Invention
Technical problem to be solved
In order to avoid the defect that rain and snow clutters and sea wave clutters are not considered in the existing radar simulation technology, the invention provides a new clutters simulation display method in a navigation radar simulation training system, and the rain and snow clutters and the sea wave clutters are considered, so that the simulation display method can be closer to the real condition.
Technical scheme
As can be seen from Table 1, the formation of the sea clutter is influenced by various factors, and the navigation radar needs to sail in a complex environment for navigation radars, so that a normal distribution model is selected for simulating the sea clutter. The environment on the sea surface is changeable, and rain and snow can form rain and snow clutter through sea surface scattering when rain and snow weather occurs. The influence factors on the intensity of the rain and snow clutter are various, and the radar contains the radar factors and is related to the characteristics of rain and snow. The rainfall intensity can influence the rain and snow clutter, and the larger the rainfall degree is, the stronger the produced rain and snow clutter is, otherwise, the smaller the rain and snow clutter is. The distribution characteristics of the rain and snow clutter conform to the rayleigh distribution.
The method for simulating the rain and snow clutter generates a random sequence according with the distribution of the rain and snow clutter according to the characteristics of the rain and snow clutter, and then converts the sequence into coordinate points to be drawn on a screen. Rayleigh distribution is adopted to simulate rain and snow clutter.
A clutter simulation display method in a navigation radar simulation training system is characterized by comprising the following steps:
step 1: firstly, generating a random number sequence distributed in a [0,1] interval;
step 2: respectively carrying out function transformation on the random sequences generated in the step 1 through normal distribution and Rayleigh distribution, and outputting random sequences conforming to the normal/Rayleigh distribution;
and step 3: and (3) combining the two groups of random sequences which are generated in the step (2) and conform to normal/Rayleigh distribution as horizontal and vertical coordinate values to form a point coordinate sequence, thereby generating a clutter point sequence which conforms to the characteristics of sea clutter/rain and snow clutter.
Preferably: the probability density function of the normal distribution in step 2 is
Figure BDA0002892852190000031
Order to
Figure BDA0002892852190000032
The probability density distribution of y is then:
Figure BDA0002892852190000033
y is a random number obeying N (0, 1), and x ═ f-1(y) y σ + μ, and a random sequence conforming to the normal distribution is calculated.
Preferably: the distribution function of Rayleigh distribution in step 2 is
Figure BDA0002892852190000034
Order to
Figure BDA0002892852190000035
y is [0,1]]Uniformly distributed random numbers, and
Figure BDA0002892852190000036
a random number subject to a rayleigh distribution can be generated by the above equation.
Preferably: step 3 draws on the display via Qpointer.
Advantageous effects
According to the clutter simulation display method in the navigation radar simulation training system, although the distribution of rain and snow and sea waves in nature is three-dimensional, images of the rain and snow clutter and the sea clutter on a radar screen are two-dimensional plane images according to the characteristic of irregularity of the distribution range of the rain and snow. According to the invention, the distribution which is more in line with sea clutter and rain and snow clutter by using normal distribution and Rayleigh distribution is obtained by analyzing the characteristics of different clutter and distribution. Therefore, the invention generates a random sequence by establishing a distribution model of the rain and snow clutter and the sea clutter so as to generate a clutter sequence, obtains a screen coordinate sequence of the rain and snow clutter and the sea clutter by coordinate transformation, and obtains a clutter display effect diagram. The simulation method of the invention can be closer to the real situation, so that the simulation is more vivid, and the simulation method is beneficial to teaching and subsequent clutter performance research.
Drawings
FIG. 1 is a flow chart of clutter sequence generation
FIG. 2 is a clutter simulation diagram satisfying the effect of rain and snow clutter
FIG. 3 is a simulation diagram of clutter effect satisfying sea wave clutter
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
as shown in fig. 1, the specific implementation steps of the present invention are as follows:
the method comprises the following steps: random number generation method
When rain and snow clutter and sea wave clutter displayed by a navigation radar are simulated, random numbers are generated in a [0,1] interval according to the characteristics of the clutter before the rain and snow clutter and the sea wave clutter are generated due to the randomness characteristics of the clutter; and generating a sequence according with the clutter characteristics according to the distribution characteristics of the clutter on the basis of the random number, and finally simulating the clutter.
(1) Normal distribution (Normal distribution)
The probability density function of a normal distribution is:
Figure BDA0002892852190000041
order to
Figure BDA0002892852190000042
The probability density distribution of y is then:
Figure BDA0002892852190000043
y is a random number obeying N (0, 1), and x ═ f-1Y σ + μ, so that a random sequence conforming to Normal distribution can be calculated.
(2) Rayleigh Distribution (Rayleigh Distribution)
The Distribution function of Rayleigh Distribution is
Figure BDA0002892852190000044
Order to
Figure BDA0002892852190000045
y is [0,1]]Uniformly distributed random numbers, and
Figure BDA0002892852190000051
then a random number subject to Rayleigh Distribution can be generated by equation 4.
Step two: clutter analog display
The clutter simulation process firstly needs to generate random numbers, and then the random numbers are converted into random sequences which accord with Rayleigh distribution or normal distribution through function transformation. And combining the clutter coordinates into a clutter coordinate sequence according to the generated clutter characteristics. And finally drawing on a display through a Qpointer.
When the simulation process of navigation radar sea clutter and rain and snow clutter is carried out, firstly, the center of the clutter needs to be set, the center position of the sea clutter is located at a scanning center, and the position of the rain and snow clutter is located at a coordinate position set by rain and snow. And determining the number n of generated random numbers according to the attribute values such as the clutter range, the clutter size and the like. And respectively generating an X (n) sequence and a Y (n) sequence which respectively accord with the distribution characteristics of the clutter, and respectively drawing the two sequences along with the clutter points as an abscissa value and an ordinate value.
Step three: coordinate transformation
The direction and angle of the target in a real radar are represented in polar coordinates. The conversion calculation is also performed for the polar coordinates when processing the target signal. The transformation formula from polar coordinates (ρ, θ) to rectangular coordinates (x, y) is shown in equation 5.
Figure BDA0002892852190000052
Since the data of the echo display is in polar coordinates, there is a problem that accuracy may be lost in the conversion to rectangular coordinates. And the calculation amount of the design of the conversion process can be met under the condition that the data amount is small in the initial operation stage of the system, but in the process of continuously carrying out training of the subsequent navigation radar simulation training system, the operation load of the system is overlarge along with the increase of the calculation amount, so that the consideration of how to rapidly switch the coordinates is needed and the resource is not occupied in the system. The problem is solved by building a coordinate index table. Since the coordinate system of the object motion is different in different display modes. This requires that the coordinates of the various motion patterns be unified together and that no complicated conversion between coordinate systems is necessary.
(1) Obtaining a coordinate lookup value idx according to the polar coordinate data;
(2) the display center of the navigation radar is (ox, oy), and the true motion center is (ox)1，oy1) Two coordinate offset amounts (m _ offset _ x, m _ offset _ y) can be calculated:
Figure BDA0002892852190000061
(3) the coordinates under true motion can be found:
Figure BDA0002892852190000062
step three: clutter simulation display effect
The sea wave clutter is the clutter formed by the reflection of sea waves in the process of driving a ship on the sea surface. Therefore, the clutter display image is clutter which is uniformly diffused outward with the ship as the center. The normally distributed model superposition display effect can well simulate the display effect of the ocean wave clutter diffused outwards from the center on the radar. Therefore, the simulation of the display effect of the two methods on the sea wave clutter and the rain and snow clutter is based on the actual effect, and the simulation is feasible.
A simulation diagram of rain and snow clutter generated from random particles is shown in fig. 2.
The sea wave clutter simulation display process is similar to rain and snow clutter, and the sea clutter simulation effect diagram is shown in fig. 3.

Claims (4)

1. A clutter simulation display method in a navigation radar simulation training system is characterized by comprising the following steps:
step 1: firstly, generating a random number sequence distributed in a [0,1] interval;
step 2: respectively carrying out function transformation on the random sequences generated in the step 1 through normal distribution and Rayleigh distribution, and outputting random sequences conforming to the normal/Rayleigh distribution;
and step 3: and (3) combining the two groups of random sequences which are generated in the step (2) and conform to normal/Rayleigh distribution as horizontal and vertical coordinate values to form a point coordinate sequence, thereby generating a clutter point sequence which conforms to the characteristics of sea clutter/rain and snow clutter.
2. The method as claimed in claim 1, wherein the probability density function of the normal distribution in step 2 is
Figure FDA0002892852180000011
Order to
Figure FDA0002892852180000012
The probability density distribution of y is then:
Figure FDA0002892852180000013
y is a random number obeying N (0, 1), and x ═ f-1(y) y σ + μ, and a random sequence conforming to the normal distribution is calculated.
3. The method as claimed in claim 1, wherein the distribution function of the rayleigh distribution in step 2 is
Figure FDA0002892852180000014
Order to
Figure FDA0002892852180000015
y is [0,1]]Uniformly distributed random numbers, and
Figure FDA0002892852180000016
a random number subject to a rayleigh distribution can be generated by the above equation.
4. The method as claimed in claim 1, wherein the step 3 is performed by drawing on a display via Qpointer.
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