CN115236601A - Weak target searching method based on magnifying glass beam - Google Patents
Weak target searching method based on magnifying glass beam Download PDFInfo
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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
- G01S7/282—Transmitters
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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
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
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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
- G01S13/589—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
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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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
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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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
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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
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- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides a weak target searching method based on a magnifying glass beam, which mainly solves the problem that the existing beam scanning method cannot detect a weak target. The method comprises the following implementation steps: dividing the search range of the phased array radar; generating a 'magnifying glass' wave beam, and setting a transmitting and scanning wave beam mode of the 'magnifying glass' wave beam along with the wave position searching of the phased array radar; the phased array radar transmits scanning beams, executes a search task, and records the prior state of a weak target after the weak target is searched by the 'magnifying glass' beams; and tracking the weak target by using a DP-TBD method according to the arrived batching task instruction, and outputting a weak target track. The method can accurately search weak targets and can be used for searching and tracking radar targets.
Description
Technical Field
The invention belongs to the technical field of radars, and further relates to a weak target searching method based on a magnifying glass beam in the technical field of radar signal processing. The method can be used for searching and tracking the long-distance weak target in the air by the phased array radar.
Background
Phased array radars have gained extensive research due to their advantages such as fast scanning of antenna beams, flexible beam pointing, high data rates, etc. The Search and tracking TAS (Track and Search) is a working mode of the phased array radar, under the working mode, the phased array radar inserts a tracking task beam into a Search beam task in a time alternation mode, and can simultaneously perform searching and multi-target tracking tasks in a specified area. However, for a weak target, the searching and tracking performance will be seriously degraded by the conventional TAS mode. This is because weak targets such as a small unmanned aerial vehicle, a stealth aircraft, and the like have a relatively low radar emission cross-sectional area, and due to a fixed beam scanning mode, the gain formed by the TAS on these weak targets through pulse accumulation in one beam is relatively low, so that echoes received by the radar have a relatively low signal-to-noise ratio, and such targets cannot be detected, and therefore such targets cannot be tracked.
The Cinesian Raynaudi technology Limited company of Wuxi discloses a method for realizing a tracking and searching working mode of a phased array radar in the patent document 'a method for realizing the tracking and searching working mode of the phased array radar' (the patent application number: 202111374982.7, the application publication number: CN 114114114238A). The implementation process of the method is that on the basis of a TWS (Track while Scan) architecture, a beam scheduling strategy is added to a TWS mode, and a TAS mode is rapidly developed, so that the TAS mode can reuse a radar tracking processing algorithm in the TWS architecture. The method has strong universality on the phased array radar, a beam scheduling strategy and a simple time sequence, and has low requirements on radar processing and time sequence control resources, but the method still has the defects that weak targets cannot be effectively accumulated when the TWS working mode is used for searching, so the method cannot search and track the weak targets.
The patent document "a method for realizing a phased array radar search and tracking working mode" (patent application number 201811076232.X, application publication number: CN 109164420A) applied by the university of Dian electronic science and technology discloses a method for realizing a phased array radar search and tracking working mode. The method comprises the steps of firstly carrying out initialization setting, emitting scanning beams by a phased array radar antenna array, executing a search task, obtaining target prior information, then judging whether a tracking task arrives, if so, obtaining the dwell time of the tracking beams, emitting incoherent pulse trains by the phased array radar by adopting a frequency agile technology within the dwell time, and completing the tracking of a target by utilizing a subsequent tracking algorithm. The method reduces the tracking residence time of the TAS mode of the phased array radar, but has the defects that the method has higher requirement on the time sequence control of the radar, and the method needs to consume extra resources due to the adoption of the frequency agility technology.
Disclosure of Invention
The invention aims to provide a weak target searching method based on a magnifying glass beam aiming at the defects of the prior art, so as to solve the problems that the weak target cannot be effectively searched and tracked in the existing searching mode of the phased array radar, and extra resources are required to be consumed.
The technical scheme for realizing the aim of the invention is that under the search mode of the phased array radar, a magnifying glass wave beam which is searched along with the wave position is specially arranged, the residence time of the wave beam is longer than that of a common wave beam, and the energy of a weak target is effectively accumulated. Because only one magnifying glass wave beam is set in one scanning period, the normal working resources of the phased array radar are not excessively consumed.
The specific implementation steps of the invention comprise the following steps:
step 1, dividing a search range:
setting a search range of the phased array radar according to technical parameters of the phased array radar, and equally dividing the search range according to the 3dB wave beam width of the phased array radar to obtain M wave positions;
step 2, generating a 'magnifying glass' wave beam:
expanding the retention time T of a scanning beam which is usually set by a phased array radar system by q times to generate a 'magnifying glass' beam, wherein the retention time of the 'magnifying glass' beam is qT, and q represents a positive number which is more than 1 and is set according to the capacity of detecting a weak target limited by the phased array radar system;
step 3, setting a search mode of the phase-controlled radar:
step 3.1, when the phased array radar is in a first scanning period, transmitting a magnifying glass wave beam at a first wave position, and sequentially transmitting scanning wave beams at second to Mth wave positions, wherein each transmitting wave beam corresponds to one receiving wave beam and has the same direction;
step 3.2, when the phased array radar is in the second scanning period, transmitting scanning beams at the first wave position, transmitting magnifying glass beams at the second wave position, and sequentially transmitting the scanning beams at the third to Mth wave positions;
3.3, adopting the same method as the steps 3.1 and 3.2, and alternately setting magnifying glass beams and scanning beams to obtain a transmitting scanning beam mode of the phased array radar;
step 3.4, performing cyclic operation on the emission scanning beam mode of the phased array radar to obtain a search mode of the phased array radar;
and 4, executing transmission beam scanning according to the search mode of the phase-controlled radar:
step 4.1, carrying out emission beam scanning by utilizing a search mode of the phase-controlled radar to search a target of each wave position;
step 4.2, after the scanning beam detects the target, performing TWS tracking processing on the target;
step 4.3, after the magnifying glass beam detects the target, judging whether the distance of the target is beyond the maximum distance which can be detected by the scanning beam and whether the amplitude of the target is smaller than the minimum amplitude which can be detected by the scanning beam, if so, determining that the target is a weak target, and executing the step 4.4, otherwise, performing TWS tracking processing on the target by the phased array radar;
step 4.4, the phased array radar transmits a confirmation wave beam at the wave position of the weak target to confirm the weak target, wherein the wave beam residence time of the confirmation wave beam of the weak target is the same as the residence time of a 'magnifying glass' wave beam, if the weak target is confirmed to exist, the prior state of the weak target is recorded, the prior state comprises the wave position, the distance, the azimuth angle, the amplitude and the speed of the weak target, and meanwhile, the phased array radar sets a low threshold multiplier of a constant false alarm processor with high false alarm rate at the wave position and issues a batch task instruction;
and 5, outputting a track sequence of the weak target:
and according to the start task instruction of the arrived weak target, outputting a track sequence of the weak target after detecting and tracking the weak target by using a DP-TBD processing method.
Compared with the prior art, the invention has the following advantages:
firstly, when a weak target exists in the phased array radar searching range, the 'magnifying glass' wave beam is arranged, the residence time of the wave beam is longer than that of the scanning wave beam, so that the detection performance of the weak target is improved, the defect that the weak target cannot be searched in the existing searching mode is overcome, the weak target can be searched, and the searching and tracking performance of the phased array radar is improved.
Secondly, when the searching task is executed, extra resource consumption is basically not needed, and the complex beam scheduling strategy and the complex time sequence control program in the prior art are overcome, so that the method has the advantages of simple beam scheduling strategy and simple time sequence control.
Drawings
FIG. 1 is a flow chart of an implementation of the present invention;
FIG. 2 is a diagram of the beam scanning pattern of a phased array radar of simulation experiment 1 of the present invention;
fig. 3 is a beam scanning pattern diagram of simulation experiment 2 of the present invention.
Detailed Description
The invention is described in more detail below with reference to the figures and examples.
The specific implementation steps of the present invention are further described with reference to fig. 1 and the embodiment.
Step 1, dividing a search range.
Setting a search range of the phased array radar according to technical parameters of the phased array radar, and equally dividing the search range according to the 3dB wave beam width of the phased array radar to obtain M wave positions.
And 2, generating a magnifying glass beam.
The method comprises the steps of expanding a scanning beam residence time T usually set by a phased array radar system by q times to generate a 'magnifying glass' beam, wherein the residence time of the 'magnifying glass' beam is qT, and q represents a positive number larger than 1 and is set according to the capacity of the phased array radar system for detecting a weak target.
And 3, setting a search mode of the phase-controlled radar.
And 3.1, when the phased array radar is in a first scanning period, emitting a magnifying glass wave beam at a first wave position, and sequentially emitting scanning wave beams at second to Mth wave positions, wherein each emitting wave beam corresponds to one receiving wave beam and the directions are the same.
And 3.2, when the phased array radar is in the second scanning period, transmitting scanning beams at the first wave position, transmitting magnifying glass beams at the second wave position, and sequentially transmitting the scanning beams at the third to Mth wave positions.
And 3.3, crossing and setting magnifying glass beams and scanning beams by adopting the same method as the steps 3.1 and 3.2 to obtain a transmitting scanning beam mode of the phased array radar.
And 3.4, performing cyclic operation on the emission scanning beam mode of the phased array radar to obtain a search mode of the phased array radar.
And 4, executing transmission beam scanning according to the search mode of the phase-controlled radar.
And 4.1, carrying out transmission beam scanning by utilizing a search mode of the phase-controlled radar to search a target of each wave position.
And 4.2, after the scanning beam detects the target, performing TWS tracking processing on the target.
And 4.3, after the magnifying glass beam detects the target, judging whether the distance of the target is beyond the maximum distance which can be detected by the scanning beam and whether the amplitude of the target is smaller than the minimum amplitude which can be detected by the scanning beam, if so, determining that the target is a weak target, and executing the step 4.4, otherwise, performing TWS tracking processing on the target by the phased array radar.
And 4.4, the phased array radar transmits a confirmation wave beam at the wave position of the weak target to confirm the weak target, wherein the wave beam residence time of the confirmation wave beam of the weak target is the same as the residence time of a 'magnifying glass' wave beam, if the weak target is confirmed to exist, the prior state of the weak target is recorded, the prior state comprises the wave position, the distance, the azimuth angle, the amplitude and the speed of the weak target, meanwhile, the phased array radar sets a low threshold multiplier of a constant false alarm processor with high false alarm rate at the wave position, and issues a batch task starting instruction.
The low-threshold multiplier of the constant false alarm processor with the high false alarm rate is calculated by the following formula:
where K represents the low-threshold multiplier of the constant false alarm processor for high false alarm rate, ln represents the logarithmic operation with the natural constant e as the base, p f Indicating a high false alarm probability set against a gaussian white noise background.
And 5, outputting a track sequence of the weak target.
And according to the start task instruction of the arrived weak target, outputting a track sequence of the weak target after detecting and tracking the weak target by using a DP-TBD processing method.
The DP-TBD treatment method comprises the following specific steps:
in the first step, initializing parameters of a track-before-detect algorithm includes: threshold V calculated by adopting Monte Carlo simulation test DT And observing the total frame number K.
And secondly, reading the target prior state detected in the 1 st frame from the radar receiver.
And thirdly, initializing a value function corresponding to each target prior state according to the following formula.
I(x 1 )＝L(x 1 )
Wherein, I (x) 1 ) Representing the target prior state x of frame 1 1 Value function of, L (x) 1 ) Representing the target prior state x of frame 1 1 The amplitude value of (a).
Thirdly, reading a target prior state detected in a kth frame from a radar receiver, wherein K is more than or equal to 2 and less than or equal to K;
fourthly, carrying out recursion accumulation on the target prior state according to the following formula:
wherein, I (x) k ) A function of values representing the target prior state recursively accumulated to the kth frame, max (-) representing the get big operation, τ (x) k-1 ) Represents the target prior state set, I (x), for frame k-1 k-1 ) Value function, L (x), representing the recursive accumulation of the target prior state to the (k-1) th frame k ) Is an amplitude value, phi (x), representing the target prior state of the kth frame k ) Representing the target a priori state transfer functions from frame k-1 to frame k.
Fourthly, performing threshold judgment on the value function according to the following formula;
wherein, the first and the second end of the pipe are connected with each other,
represents the target prior state of the Kth frame estimate, max (-) represents the get big operation, I (x) K ) A function of values representing the target prior state accumulated up to the kth frame recursively,
a value function, V, corresponding to an estimated target prior state representing a Kth frame DT Representing the threshold calculated using monte carlo simulation experiments.
And fifthly, for the estimated target prior state of the Kth frame exceeding the threshold, restoring the track corresponding to the maximum value of the value function according to the interframe target prior state transfer function, and outputting the target track.
The effect of the present invention is further explained by combining the simulation experiment as follows:
1. simulation experiment conditions are as follows:
the hardware platform of the simulation experiment of the invention is as follows: the processor is an Intel i7 7700CPU, the main frequency is 3.6GHz, and the memory is 16GB.
The software platform of the simulation experiment of the invention is as follows: windows 10 operating system and Visio 2013.
The parameter q of the dwell time of the 'magnifying glass' beam of the phased array radar used in the simulation experiment of the invention is set to 2, and the search range is [ -60 degrees, 60 degrees ].
2. Simulation content and result analysis thereof:
the simulation experiment of the invention has two, adopt the invention and prior art, carry out the transmission beam scanning to [ -60 degrees, 60 degrees ] search range separately, obtain the scanning map of the beam.
In a simulation experiment, the prior art transmission beam scanning method refers to:
the works "phased array radar principle [ M ] published by zhangguangyi academy, beijing: the transmit beam scanning method given in the national defense industry press, 2009 ".
Simulation experiment 1, the phased array radar performs transmit beam scanning on the search range using the prior art, and the result is shown in fig. 2. It can be seen from fig. 2 that the prior art transmits M scanning beams in the search range, and the beam dwell time of each scanning beam is the same. When the beam scanning method in the prior art is used for searching the search range, the gain formed by the beam scanning method for the weak targets in one beam is low, so that the weak targets cannot be searched.
Simulation experiment 2, the phased array radar performs transmission beam scanning on the search range based on the "magnifying glass" beam in the present invention, and the result is shown in fig. 3. It can be seen from fig. 3 that the present invention transmits M beams within the search range, and in the first search, the first wave position transmits a "magnifying glass" beam, and the second to M wave positions transmit scanning beams, wherein the dwell time of the "magnifying glass" beam is 2 times the dwell time of the scanning beams. In the second search, the first wave position emits scanning beams, the second wave position emits magnifying glass beams, and the scanning beams are emitted at the third wave position to the Mth wave position. In M searches, scanning beams are transmitted at the first wave position to the M-1 wave position, and a magnifying glass beam is transmitted at the M wave position. The weak target searching method based on the magnifier beam is adopted, and the magnifier beam has 3dB gain compared with scanning beam, so that the weak target searching method based on the magnifier beam forms higher gain for the weak targets in the magnifier beam, and the weak targets can be searched.
The simulation experiment shows that: the weak target can not be searched when the target is searched by adopting the emission beam scanning in the prior art, and the weak target can be searched at the position of the magnifying glass beam and is subjected to DP-TBD processing by adopting the weak target searching method based on the magnifying glass beam.
Claims (2)
1. A weak target searching method based on 'magnifying glass' wave beam is characterized in that a 'magnifying glass' wave beam which is searched along with a wave position is set, and the wave beam residence time is increased; the method comprises the following specific steps:
step 1, dividing a search range:
setting a search range of the phased array radar according to technical parameters of the phased array radar, and equally dividing the search range according to the 3dB wave beam width of the phased array radar to obtain M wave positions;
step 2, generating a 'magnifying glass' wave beam:
expanding the dwell time T of a scanning beam usually set by a phased array radar system by q times to generate a 'magnifying glass' beam, wherein the dwell time of the 'magnifying glass' beam is qT, and q represents a positive number which is larger than 1 and is set according to the capacity of detecting a weak target limited by the phased array radar system;
and step 3, setting a search mode of the phase control radar:
step 3.1, when the phased array radar is in a first scanning period, transmitting a magnifying glass wave beam at a first wave position, and sequentially transmitting scanning wave beams at second to Mth wave positions, wherein each transmitting wave beam corresponds to one receiving wave beam and has the same direction;
step 3.2, when the phased array radar is in the second scanning period, transmitting scanning beams at the first wave position, transmitting magnifying glass beams at the second wave position, and sequentially transmitting scanning beams from the third wave position to the Mth wave position;
3.3, adopting the same method as the steps 3.1 and 3.2 to alternately set magnifying glass beams and scanning beams to obtain a transmitting and scanning beam mode of the phased array radar;
step 3.4, performing cyclic operation on the emission scanning beam mode of the phased array radar to obtain a search mode of the phased array radar;
and 4, executing transmission beam scanning according to the search mode of the phase-controlled radar:
step 4.1, carrying out emission beam scanning by utilizing a search mode of the phase-controlled radar to search a target of each wave position;
step 4.2, after the scanning beam detects the target, performing TWS tracking processing on the target;
4.3, after the magnifying glass beam detects the target, judging whether the distance of the target is beyond the maximum distance which can be detected by the scanning beam and whether the amplitude of the target is smaller than the minimum amplitude which can be detected by the scanning beam, if so, determining that the target is a weak target, and executing the step 4.4, otherwise, performing TWS tracking processing on the target by the phased array radar;
step 4.4, the phased array radar transmits a confirmation wave beam at the wave position of the weak target to confirm the weak target, wherein the wave beam residence time of the confirmation wave beam of the weak target is the same as the residence time of a 'magnifying glass' wave beam, if the weak target is confirmed to exist, the prior state of the weak target is recorded, the prior state comprises the wave position, the distance, the azimuth angle, the amplitude and the speed of the weak target, meanwhile, the phased array radar sets a low threshold multiplier of a constant false alarm processor with high false alarm rate at the wave position and issues a batch task starting instruction;
and 5, outputting a track sequence of the weak target:
and according to the start task instruction of the arrived weak target, outputting a track sequence of the weak target after detecting and tracking the weak target by using a DP-TBD processing method.
2. The method for searching for weak objects based on "magnifying glass" beam, according to claim 1, wherein: the low threshold multiplier of the high false alarm rate constant false alarm processor described in step 4.4 is calculated by the following formula:
where K represents the low-threshold multiplier of a constant false alarm processor for high false alarm rate, ln represents the logarithmic operation based on the natural constant e, and p f Indicating a high false alarm probability set against a gaussian white noise background.
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