CN115508795B - Method for dynamically generating detection interference integrated shared signal - Google Patents
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Abstract
The invention relates to a method for dynamically generating a detection interference integrated shared signal, belonging to the field of radar electronic warfare; the method specifically comprises the following steps: firstly, aiming at an airspace where a real radar and a false target coexist, calculating resultant force updating stepping quantity of the false target based on a virtual force field algorithm, moving the position of each false target according to the stepping quantity, and calculating the position of an echo signal corresponding to an interference sharing signal detected by the real radar target; judging whether the position of the current false target after moving conflicts with the position of the corresponding echo signal; until the number of decoy pulses reaches the value of m; calculating the maximum non-blurring distance and the maximum non-blurring speed, which are used for updating the set maximum distance range and maximum speed range, reserving the current position of each false target to transmit a sounding shared signal waveform, and implementing detection and interference on a non-cooperative party; the invention solves the problems of time sequence conflict, pulse overlapping and the like in the lightning integrated field, and realizes the matching compatibility of detection, interference and reconnaissance channels in the coherent processing period.
Description
Technical Field
The invention belongs to the field of radar electronic warfare, and relates to the fields of digital frequency storage, reconnaissance signal processing, radar signal processing, artificial intelligence and the like; in particular to a dynamic generation method of a shared signal integrating detection and interference.
Background
In order to improve the survival rate of the fight platform and operators, an effective way to enhance the fight efficiency of modern weaponry is to realize the integrated sharing of radar and electronic fight equipment. In addition, the commonality of the radar and the electronic warfare equipment in the aspect of applying electromagnetic spectrum determines the design of the radar and the electronic warfare equipment in an integrated mode, and the integrated mode can reduce the volume, the bearing and the energy consumption of the equipment, which is also an initial and most basic concept and the most intuitive target of the radar and electronic warfare integration (short for lightning integration).
The lightning integrated system has the main advantages of not only reducing the complexity and maintenance cost of the fight platform system and improving the utilization rate of equipment, but also not simply realizing the hardware combination of the radar and the electronic fight equipment, and functionally raising the key capabilities of the lightning integrated fight platform such as detection, interference, anti-interference, battlefield survival and the like, thereby improving the comprehensive fight capability of the fight platform.
At present, research on an integrated system for detecting interference at home and abroad is only limited to hardware integration or signal splicing, and energy sharing in detection and interference functions is not completely realized, and along with development of various key technologies, integrated sharing of detection and interference (short for detecting dry sharing) is not only possible, but also a necessary trend of future electronic warfare development.
For airborne radar electronic warfareIntegrated research, zhou Jingbo [1] Wu Longwen and its preparation method [2] Jiang Jizong and its preparation method [3] The students summarize the development process of the foreign radar electronic warfare integration, and go through three development stages:
the 1 st stage is an information sharing stage, which is a germination stage for realizing radar detection and electronic combat measures, and only provides an integrated sharing concept, and the output signals of the respective devices are simply overlapped, so that a large breakthrough is not made on software and hardware, and the two stages are still independent of each other.
The 2 nd stage is a hardware integration stage, which realizes the hardware integration of intermediate frequency signals and the following parts, and the radar and electronic warfare systems share a receiver, signal processing and the like, but the radio frequency link, the transmitter and the antenna are still mutually independent. Nevertheless, this stage is the rudiment and the important turning point that realize radar detection and electronic warfare equipment an organic whole, has laid hardware basis and thought foundation for further realizing detecting interference integrated system.
And in the 3 rd stage resource sharing stage, after being inspired by the active phased array antenna technology and the shared aperture technology, the radio frequency front end of the radar electronic warfare integrated system is improved in a subversion way, the fusion of an antenna assembly and a transmitter module is realized, the partial system resource sharing can be realized, and the radar electronic warfare integrated system has better commonality and greater use value.
Document [4 ]]The integrated radar electronic warfare system thought based on the phased array technology is provided, and simple flows of the scheme in a radar working mode, an electronic station working mode and a radar electronic warfare time sharing working mode are discussed. 2019, germany Christoph Wasserzier [5] By adopting the active sensing element with the noise attribute and the radar technology, the method and the device more perfectly explain the concept of an integrated sensor, successfully push the integrated research direction to the mature stage, and the experimental result shows that the noise radar can have the noise interference characteristic and the radar detection performance at the same time, and can effectively separate all parallel but different tasks and working modes in the integrated sensor. The basic idea of noise radar technology is put forward The development process of the integrated sensor is developed.
At present, although the American aviation system has been developed to the fifth generation, only research on the lightning integrated system model conception and design direction is performed, the lightning software integration and the dry detection sharing are not really realized, and only hardware module sharing is realized.
As a great deal of students in the early stage deeply study the lightning integrated system, the radar and the jammer are found to have unavoidable technical barriers in essence; therefore, a great deal of literature in recent years puts a lot of technical requirements on realizing a lightning integrated system, and some of the literature mainly emphasizes key technologies for realizing radar and jammer integration, such as multisource information processing and multisource fusion technology, functional software modularized processing technology, high-speed signal processing technology, comprehensive radio frequency technology, multisensor collaborative detection technology and the like.
Document [6] proposes a multifunctional radio frequency system based on related software and hardware technology, and comprehensively discusses key technology for realizing the multifunctional radio frequency system; the analysis of the literature [7] summarizes the characteristics of the integration of the ship-borne lightning, the framework model and the key technology of realization; the document [8] describes existing reconnaissance technology and interference technology in detail aiming at the coherent system radar, and provides a reconnaissance interference integrated processing system. However, due to the limitations of such key technologies, little research is done at this stage in China.
Research is carried out on hardware integration in recent years in China, and the research has not been developed to a mature stage, and the energy sharing of radar detection and interference is not really realized, namely, the wave form design is shared by integrated detection and interference; moreover, the realization of lightning integration also requires quite high technical requirements, including a common aperture technology, a high-speed data acquisition technology, a data fusion technology, an intelligent system management technology, a radio frequency resource sharing technology and the like. Because the research main body is limited by key technology, the research main body mainly aims at the design aspect of a lightning integrated system model, and the research direction of the detection interference integrated shared waveform design is not deep, so that the radar and the interference machine are not well integrated, and the technical limitations are the main reasons for the long-standing research direction.
Reference is made to:
[1] zhou Jingbo, hu Bo, jiang Qiuxi. Network radar countermeasure system prime [ J ]. Space electronics countermeasure, 2014, 30 (6): 49-52.
[2] Wu Longwen Integrated electronics systems technology research [ D ]. Harbin: university of halbine industries, 2014.
[3] Jiang Jizong, chen Kailin. Development of the electronic countermeasure system for foreign advanced fighters [ J ]. Fire and command control, 2005, 30 (7): 3-6+10.
[4] Shun, shao Zhusheng, xueming. Airborne radar electronics warfare integrated technical research [ J ]. Space electronics countermeasure, 2009, 25 (3): 25-28.
[5].Wasserzier C,Worms J G and O'Hagan D W.How Noise Radar Technology Brings Together Active Sensing and Modern Electronic Warfare Techniques in a Combined Sensor Concept,"2019 Sensor Signal Processing for Defence Conference(SSPD),Brighton,United Kingdom,2019,pp.1-5.
[6] Multifunctional radio frequency integrated design based on software radio [ J ]. Communication technology, 2014, 47 (11): 1333-1337.
[7].Krudysz G A and McClellan J H.Teaching Signal Processing Concepts to Digital Natives[J]. ICASSP 2019-2019 IEEE International Conference on Acoustics,Speech and Signal Processing (ICASSP),2019,pp.7864-7868.
[8].Tangudu R and Sahu P K.Dynamic Range Improvement of Backscattered Optical Signals using Signal Processing Techniques[J].2020 IEEE Applied Signal Processing Conference(ASPCON),2020,pp. 66-69.
Disclosure of Invention
Aiming at the problems, the invention provides a dynamic generation method of an integrated detection and interference sharing signal, which adopts the concept of 'dynamic obstacle avoidance and digital frequency storage', obtains the integrated detection and interference sharing signal based on a virtual force field algorithm and has better deceptive interference effect on a non-cooperative radar; meanwhile, the method has good detection effect on the targets in the space; the problems of time sequence conflict, pulse overlapping and the like of the detection, trunk and three paths of channels are effectively solved.
The detection interference integrated shared signal dynamic generation method comprises the following steps:
step one, setting constraint conditions met by the number m of false targets in an airspace where a real radar target and m non-cooperative radar false targets coexist, so that the false targets are paved with non-cooperative radar channels;
the number of decoys m satisfies the following conditions:
and M > M
Wherein PRI i For the pulse repetition period of the current non-cooperative radar, τ is the pulse width of the non-cooperative detection signal, and n is the number of the detected non-cooperative radar pulse signals; m is the number of radar signal processing channels of the non-cooperative party, M is the final determined value of the number of false targets, and is determined by repetition frequency and pulse width; the value of m is lower when the pulse width is wider the higher the repetition frequency of the non-cooperator signals.
Step two, calculating the resultant force of the ith false target based on a virtual force field algorithmThe ith false target moves to the optimal position in the airspace under the influence of resultant force, so that the true radar target can avoid the false target pulse;
the method comprises the following steps:
firstly, each radar pulse is respectively used as a node, and aiming at the ith false target node, a triplet < P is introduced i ,L,F i The position, the stress and the direction of the node are represented;
P i ＝(x i ,y i ,z i ) Is the space rectangular coordinate of the ith node; l represents the maximum induction range of repulsive force between nodes;
F i ＝(F xi ,F yi ,F zi ) Respectively represent the stressF i Projection components in the X-axis, Y-axis, Z-axis directions.
Then, for the ith node, calculating the distance between the ith node and the adjacent node by using the space position coordinates, and calculating a repulsive force model between the ith node by using the distance between the ith node and the adjacent nodeAnd obtaining resultant force of the nodes after further conversion:
ith node P i Is of the total force of (2)The calculation formula is as follows:
resultant forceFor node P i The repulsive force vector sum of k nodes existing in the maximum induction range L is received at the space position; node P i At the resultant force +.>Under the action of the motion, each node is stressed by the corresponding force, and when all nodes move to the balance position, the optimal position is obtained, so that the real radar target can avoid all false targets;
Step three, utilizing resultant forceCalculating the stepping quantity delta x of the ith false target node, and moving the position of each false target according to the stepping quantity delta x to ensure that the updated false target is still within the range of the pulse repetition interval PRI;
the calculation formula of the stepping quantity deltax is as follows:
where k represents the rejection coefficient and is a fixed value.
The update formula of the false target position is: x is x i' ＝x i +Δx；
x i' The position after the i-th false target moves;
step four, calculating the position of the echo signal corresponding to the detection interference sharing signal by using the position of the current false target after moving;
the method comprises the following steps:
first, the maximum range of the airspace is set to S max Performing grid division, and setting the width of a single grid as r;
each grid characterization quantity g i When 0, the current grid is a free area, and the false target pulse can be set or transferred to the area; when g i When 1, the current grid is an obstacle area, and the false target pulse needs to avoid the area.
When the ith false target is distant from the real radar target pulse R km, the distance of the corresponding movement of the relative time delay is x r The position of the echo signal corresponding to the detected interference sharing signal is:
X ri' ＝x i' +x r
step five, judging whether the position of the current false target after moving conflicts with the position of the corresponding echo signal; if yes, entering a step six; otherwise, entering a step III to continuously move the position of the next false target pulse;
Step six, judging whether the number of the current decoys reaches the value of the input decoys m; if yes, calculate the maximum non-blurring distance R' max And maximum disambiguation speed V' max Step seven, entering a step; otherwise, entering a step III;
maximum non-blurring distance R' max And maximum disambiguation speed V' max The formula is:
R′ max ＝V' max ×t
f rmax the maximum repetition frequency value in the multi-frequency detection signal; lambda is the wavelength of the multi-frequency detection signal;
step seven, judging the maximum non-blurring distance R' max And velocity V' max Whether or not it is greater than a set maximum distance range R max And maximum speed range V max If yes, update R max 、V max With a value of R' max And V' max The position information of each false target is reserved; otherwise, save R max And V max Multi-decoy location information under conditions;
maximum distance range R max And maximum speed range V max Setting manually at initial time;
step eight, transmitting a sounding shared signal waveform under each false target position to realize detection and interference of a non-cooperative party;
step nine, judging whether a detection signal of a non-cooperative party is lost in a reconnaissance channel, if not, continuing to carry out the step eight; if yes, entering the next observation period, re-intercepting the detection signal sample of the non-cooperative party, measuring parameters of the detection signal sample, and implementing a new round of detection dry sharing signal design.
The invention has the advantages that:
1) The method for dynamically generating the detection and interference integrated shared signal overcomes the key technical problems of time sequence conflict, pulse overlapping and the like in the lightning integrated field, realizes the matching compatibility of detection, interference and reconnaissance channels in a coherent processing period, is a highly-feasible shared waveform solution, and provides a new thought for the deep fusion design of a future lightning integrated system.
2) According to the method for dynamically generating the detection interference integrated shared signal, a virtual force field algorithm is introduced into the field of detection interference integrated shared signal research, the operation is simple, the convergence speed is high, the real-time obstacle avoidance effect is good, and the self-adaptive processing effect of 'dynamic obstacle avoidance' is achieved;
3) According to the detection interference integrated shared signal dynamic generation method, from the aspects of signal performance and platform application, the designed shared signal pattern is verified, the target detection capability and the deceptive interference capability are considered, the generated digital frequency storage false target interference multidimensional characteristic parameter stability coefficient is high, the false target characteristics are difficult to judge by a non-cooperator, and the deceptive interference effect is good; the method has stronger non-fuzzy ranging speed measuring capability and better signal processing capability, and can realize real-time detection of the uncooperative target with better detection performance in the same signal processing period.
Drawings
FIG. 1 is a timing analysis chart of interference detection of a repeated frequency spread radar signal according to the present invention;
FIG. 2 is a flow chart of a method for dynamically generating a shared signal with integrated detection and interference according to the present invention;
FIG. 3 is a schematic diagram of interaction forces between nodes in a field calculated based on a virtual force field algorithm;
FIG. 4 is a simplified flow diagram of the virtual force field algorithm of the present invention;
FIG. 5 is a schematic diagram of virtual environment rasterization of the present invention;
FIG. 6 is a graph of non-cooperative Fang Leida R-V time-frequency analysis of the present invention versus four different sets of repetition frequency conditions;
FIG. 7 is a plot of R-V detection contour for a non-cooperative radar of the present invention at PRF2=25 kHz;
FIG. 8 is a plot of R-V detection contour for a non-cooperative radar of the present invention at PRF3=33.3 kHz;
FIG. 9 is a time-frequency overview of my radar of the present invention;
FIG. 10 is a partial graph of my detection time frequency according to the present invention;
FIG. 11 is a diagram illustrating the analysis of the distance and speed measurement errors of the integrated system for detecting interference according to the present invention;
FIG. 12 is a timing diagram of an integrated system for detecting interference according to the present invention.
Detailed Description
The invention is explained in further detail below with reference to examples and figures.
Since the last century, advanced science and technology countries, represented by america, have begun to study and discuss radar electronic warfare integration, from the first radar electronic warfare hardware sharing to avionic system software sharing, to radar electronic warfare signal energy sharing, along with the continuous progress of science and technology, the technology related to solving software and hardware has developed and matured. Currently, the contradiction and conflict between detection and interference in time sequence are always main obstacles for realizing signal energy sharing.
As shown in FIG. 1, since the timing separation of detection and interference is guaranteed, when the non-cooperative target is known to be at a distance of R km, the echo signal position of the interference sharing signal of detection of the target can be calculated, and the relative time delay is T delay Because the repetition frequency spread signal is the most common signal pattern, it is assumed that, within a certain time frame, the non-cooperator transmits a repetition frequency n spread signal,through relative time delay T delay Then, the method receives a detection signal of the non-cooperative party, transmits a detection interference sharing signal, generates a certain number of false targets, and enters a radar receiver of the non-cooperative party together with a real echo signal; at the same time, the relative time delay T is passed again delay Thereafter, the echo signal of the my probe interference sharing signal is received by the my, as shown in fig. 1 (e). As can be seen by comparing fig. 1 (c) with fig. 1 (e), many overlapping problems occur at many timings:
(1) Timing conflicts. The transmit pulse and the receive echo pulse conflict, that is, the radar transmit and receive timing conflicts;
(2) The pulses overlap. Receiving a probe interference integrated echo signal transmitted by my contradicts receiving a non-cooperative probe signal.
Based on this, the invention designs a method for dynamically generating a shared signal with integrated detection and interference, as shown in fig. 2, comprising the following specific steps:
Step one, setting constraint conditions met by the number m of false targets in an airspace where a real radar target and m non-cooperative radar false targets coexist, so that false target pulses are paved on a non-cooperative radar channel;
observing the non-cooperative radar, collecting detection sample signals, and performing deceptive modulation on the stored non-cooperative radar signal pulse samples in a distance dimension and a speed dimension according to a basic working mode of a digital radio frequency storage interference source. Setting the occurrence position of each detection sample signal as an obstacle area, simultaneously calculating the number m of false targets under the constraint condition, and spreading the false targets as full as possible on a non-cooperative side radar channel;
the number of decoys m satisfies the following conditions:
and M > M
Wherein PRI i For the pulse repetition period of the current non-cooperative radar, τ is the pulse width of a non-cooperative detection signal, n is the number of non-cooperative radar pulses detected and searched by the user, and n radar targets are provided, namely n echo pulses exist in each transmitting pulse; m is the search capability of non-cooperative Fang Leida multi-target and is also the number of signal processing channels; m is the final determined value actively input by the commander and is determined by the repetition frequency and the pulse width; when the repetition frequency of the non-cooperative side signal is higher, the pulse width is wider, and the m value is lower; the wider the pulse width, the higher the value of m. Therefore, in order to optimize the fraudulent interference effect, false targets should be paved as much as possible on the uncooperative radar channel under the condition of meeting large preconditions.
Step two, calculating the resultant force of the ith false target based on a virtual force field algorithmThe ith false target moves to the optimal position in the airspace under the influence of resultant force, so that the true radar target can avoid the false target;
among the existing detection signals, the most common pulse Doppler system signals are utilized, the signal characteristics of the signals such as repetition frequency, pulse width and the like are changed more and more, the signals comprise a plurality of different signal pattern types, and a good interference effect is difficult to achieve by using a conventional interference pattern;
therefore, for such signals, digital frequency storage (DRFM: digital Radio Frequency Memory) forward signal pattern interference patterns or dense spurious target interference patterns are generally adopted in actual equipment, and the interference measures approach real target echoes infinitely so as to achieve the purpose of spurious; therefore, the interference signals take detection signals of non-cooperators as signal samples, and interference modulation is realized in multiple dimensions such as distance dimension, speed dimension, angle dimension and the like by forwarding sample signals so as to achieve the effect of deceptive interference.
The common feature of combining analysis of such detection signals with interference patterns is that they are coherent bursts, which form the basis and possibilities for integrating such signals into the signal waveform for detection and interference. Because the detection interference sharing signal uses the detection signal of the non-cooperative party as the sample signal to be transmitted, the pulse modulation mode of the detection interference sharing signal is consistent with the detection signal of the non-cooperative party, so the detection performance of the detection interference sharing signal has similar detection performance to the detection signal of the received non-cooperative party, in order to be capable of spreading on a radar display screen of the non-cooperative party and occupying a radar signal processing channel, more false target pulse signals need to be transmitted, however, the number of the false targets is increased, the duty ratio of the signals is necessarily increased, the repetition frequency of the detection interference integrated sharing signal is higher than that of the detection signal of the non-cooperative party, the problems of time sequence conflict and pulse overlapping of three channels of detection, detection and interference are caused, and the requirement of the current transmission and reception time sequence control of the traditional beat type can not be met.
The detection interference integrated signal of the virtual force field algorithm takes a detection signal of a non-cooperative party as a signal sample, and has the characteristics of narrow pulse width, high repetition frequency and the like similar to the pulse of the non-cooperative party; meanwhile, in order to solve the conflict of the detection interference sharing signal and the echo signal as well as the detection signal in the time domain, the invention introduces a virtual force field algorithm, utilizes the advantages of simple operation, high convergence speed, capability of realizing real-time obstacle avoidance and the like of the algorithm to optimize the multi-dimensional parameter characteristics of the false target of the detection interference sharing signal, finally enables the detection interference sharing signal based on the virtual force field algorithm to effectively isolate the detection, the interference and the detection in time sequence, and presents a good deceptive effect on a non-cooperative side radar receiver, and the echo signal has extremely high non-fuzzy ranging capability and pulse accumulation effect after being processed by the relevant signals of the self-detection interference integrated system, presents better detection performance, and can effectively implement detection and interference on a non-cooperative side.
In order to solve the problems of time sequence conflict and pulse overlap, a virtual force field algorithm is introduced, and the dynamic obstacle on a receiving and transmitting time sequence can be effectively avoided and the problem of pulse overlap can be effectively solved by applying the virtual force field algorithm to the design of the detection interference shared signal.
The basic idea of the virtual force field is to consider a false target set up in space as a node and also as a particle, the false target can be regarded as virtual point charges in space, and repulsive force from other virtual charges can act between the nodes, so that the nodes can repel each other and separate from each other, thereby achieving the obstacle avoidance effect, and no position conflict exists between the nodes, namely the separation of positions between the false targets in space is realized.
As shown in fig. 3, the origin position in the spatial coordinate system is the true target position, and within this airspace range, a certain number of decoys are arranged in the airspace, and each decoy has relative distance, speed and angle spoofing effects. The method comprises the following steps:
first, for the ith false target node, a triplet < P is introduced i ,L,F i The position, the stress and the direction of the node are represented;
P i ＝(x i ,y i ,z i ) Is the space rectangular coordinate of the ith node; l represents the maximum induction range of repulsive force between nodes, namely when the space distance between the nodes exceeds the range, the repulsive force between the nodes does not exist;F i ＝(F xi ,F yi ,F zi ) Respectively represent the stress F i Projection components in the X-axis, Y-axis, Z-axis directions.
Then, for the ith node, calculating the distance between the ith node and the adjacent node by using the space position coordinates, and calculating a repulsive force model between the ith node by using the distance between the ith node and the adjacent node And obtaining resultant force of the nodes after further conversion:
according to the conversion relation between rectangular coordinate system and polar coordinate system, the node P can be deduced i ＝(x i ,y i ,z i ) Corresponding space polar coordinate Q i Is (alpha) i ,β i ,ρ 0i ) And P is i And Q is equal to i The relationship of (2) is as follows:
therefore, node P i And node P j Spatial distance D between ij Can be expressed as:
wherein I 2 Representing a 2-norm, also known as the euclidean norm.
Suppose node P j P node P i Repulsion model of (2)The formula is as follows:
F cr representing the repulsive force coefficient (F cr ＝1)；θ ij (α ij ,β ij ) Respectively represent P i And P j Relative azimuth and pitch angle in space, ψ i For node P i A set of neighbor nodes within L range.
The formula is further converted into:
ith node P i Is of the total force of (2)Namely vector sum of repulsive forces of k nodes existing in the L maximum induction range at the spatial position, and resultant force model +.>The expression is as follows:
resultant forceFor node P i The repulsive force vector sum of k nodes existing in the maximum induction range L is received at the space position;
in designing a decoy spatial location model for detecting interference-sharing signals, node P i Force of receptionTo find the best position in the spatial motion to avoid the obstacle, and when all nodes reach equilibrium, the motion of the spatial decoy node is stopped and the position is confirmed.
Step three, utilizing resultant forceCalculating the stepping quantity delta x of the ith decoy node, and moving each decoy position according to the stepping quantity delta x to determineEnsuring that the updated decoys remain within the pulse repetition interval (Pulse Repetition Interval, PRI);
step delta x follows the forceIs varied by the variation of the magnitude of (2) resultant force +.>The larger the stepping amount deltax is, and the calculation formula is as follows:
where k represents the rejection coefficient and is a fixed value.
The update formula of the false target position is: x is x i' ＝x i +Δx；
x i' The position after the i-th false target moves;
step four, calculating the position of the echo signal corresponding to the detection interference sharing signal by using the position of the current false target after moving;
a simple flow diagram of the related design of the waveform of the detected interference sharing signal based on the virtual force field algorithm is shown in fig. 4, wherein the environment rasterization module realizes the functions of quantifying, datamation and visualization of the virtual space environment; the target parameter optimization module applies a virtual force field algorithm to update and iterate data of false target parameters, so as to realize the optimization design of multiple false target parameters; the data output module is used for realizing data storage of the optimized optimal result and transmitting the detection interference sharing signal waveform in the optimal state; the verification module realizes real-time verification of the decoy parameters according to dynamic implementation of the non-cooperators, improves the high fidelity of the decoy parameters and ensures the deceptive effect.
As shown in FIG. 5, the maximum spatial range of the environment is set as S based on the virtual force field algorithm max ，S max Depending on the pulse repetition frequency of the non-cooperative detection signal (Pulse Repetition Frequency,PRF); setting the width of a single grid as r, and determining the maximum resolution of a non-cooperative party, namely, depending on the pulse width of a detection signal, since a single aircraft can only generate one pulse signal in each time sequence when radiating a false target in space, namely, only one false target can be generated; thus, the grid scale within the virtual environment is a plane body with width of r, i.e. the total number of grids is S max R, each grid g i Constitutes a big environment G, G= { G i |g i =0or 1}, when g i When 0, the current grid is a free area, and the false target pulse can be set or transferred to the area; when g i If 1 indicates that the current grid is an obstacle region, the false target pulse is set to avoid the region.
Therefore, when the non-cooperative target is known to be at the distance of Rkm, the echo signal position of the detection interference sharing signal is calculated, and the distance corresponding to the relative time delay is x r Binding the shared signal transmitting pulse and the echo pulse set by the user, and when g xi (representing node P i Grid position corresponding to x-axis distance) of 1) is 1, binding g xi +g xr Also 1.
The position of the echo signal corresponding to the real radar target detection interference sharing signal is:
X ri' ＝x i' +x r
step five, judging whether the position of the current false target after moving conflicts with the position of the corresponding echo signal; if yes, entering a step six; otherwise, entering a step three to continuously move the position of the next false target;
step six, judging whether the number of the current decoys reaches the value of the input decoys m; if yes, calculate the maximum non-blurring distance R' max And maximum disambiguation speed V' max Step seven, entering a step; otherwise, entering a step III;
when the number of decoys is m, the position optimization of the decoys of the present round is jumped out, the exact position of each decoy is recorded, and the relative distance delta X between adjacent decoys on the X axis is calculated i The current integration can be obtainedRepetition frequency PRF of signals ei ；
Maximum non-blurring distance R' max And maximum disambiguation speed V' max The formula is:
R′ max ＝V' max ×t
f rmax the maximum repetition frequency value in the multi-frequency detection signal; lambda is the wavelength of the multi-frequency detection signal;
step seven, judging the maximum non-blurring distance R' max And velocity V' max Whether or not it is greater than a set maximum distance range R max And maximum speed range V max If yes, update R max 、V max With a value of R' max And V' max The position information of each false target is reserved; otherwise, save R max And V max Multi-decoy location information under conditions;
maximum distance range R max And maximum speed range V max Setting manually at initial time;
step eight, transmitting a sounding shared signal waveform under each false target position, and implementing detection and interference on a non-cooperative party;
step nine, judging whether a detection signal of a non-cooperative party is lost in a reconnaissance channel, if not, continuing to carry out the step eight; if yes, entering the next observation period, re-intercepting the detection signal sample of the non-cooperative party, measuring parameters of the detection signal sample, and implementing a new round of detection dry sharing signal design.
The invention displays the characteristics of the sounding shared signal with the capability of sounding and interference, realizes true sounding compatibility, applies the improved virtual force field algorithm to the field of false target multidimensional feature optimization, and achieves the effect of dynamic obstacle avoidance.
Examples:
through the prior knowledge collection in the earlier stage and the basis that the aircraft detection in the near distance is superior to the reconnaissance performance, the approximate position of the noncompliant party away from the my is known, and when the noncompliant party radar pulse signal is received, the working mode of the noncompliant party radar, including PDW, intra-pulse characteristics and other information, can be judged according to the noncompliant party detection sample signal collected in the observation period.
Because the shared signal uses the pulse signal of the non-cooperative party as a reference and adopts the copy-transfer type multi-false target deceptive interference, the experiment is established on the basis that the radar signal of the non-cooperative party can be effectively intercepted, the PDW and the intra-pulse characteristics of the pulse of the non-cooperative party can be effectively measured, the detection performance and the interference performance of the detection interference shared signal based on the virtual force field algorithm are verified through experimental simulation, and the effectiveness of the detection interference shared signal timing problem based on the virtual force field algorithm is analyzed.
The experimental background is set in a fighter lightning integrated system, experimental simulation is carried out based on an MATLAB simulation platform under the condition that the application scene is air-air close-range countermeasure, and the following parameters are set for detection signals of non-cooperators: the initial frequency of the linear frequency modulation signal in the baseband pulse is 5MHz, the frequency modulation bandwidth is 5MHz, the local oscillation center frequency is 10GHz, the signal pulse width is 1us, and the two parties fly in the space range of 21km from each other at the speeds of 250m/s and 300 m/s. Under the background of the simulation experiment, the uncooperative party adopts the typical multi-spread medium-heavy frequency signal to detect the my, and the interference detection sharing signal based on the virtual force field algorithm provided by the invention is adopted to detect and interfere the uncooperative party.
The shared signal uses the detection signal of the non-cooperative party as a signal sample to carry out replication and forwarding, so that the fuzzy function of the detection interference shared signal is consistent with the detection signal of the non-cooperative party. Because the detection interference integrated shared signal based on the virtual force field algorithm belongs to the coherent pulse train signal type, the high and low of the repetition frequency directly influences the number of false targets, and the interference effect is also influenced. Therefore, in order to verify the influence of the repetition frequency variation on the deceptive interference effect of the shared signal, the experiment establishes a radar view angle of a non-cooperative party by adopting a MATLAB simulation platform, and sets four groups of repetition frequency signals as examples, namely PRF respectively 1 ＝5kHz、PRF 2 ＝25kHz、PRF 3 =33.3 kHz and PRF 4 =50 kHz, representing low, medium, and high repetition frequency signals, the number of pulses in each set of coherent processing intervals (Coherent Processing Interval, CPI) is 64, and the interference performance of the shared signal is analyzed by the interference situation to the non-cooperative radar.
As shown in fig. 6, the time-frequency analysis chart after the non-cooperative radar receives the echo signal and performs signal processing on the space target and the corresponding R-V detection three-dimensional chart under the condition that four groups of detection interference sharing signals with different repetition frequencies are transmitted. As can be seen from the non-cooperative Fang Leida R-V time-frequency analysis chart, after receiving the target echo and the detection interference sharing signal emitted by the me, the non-cooperative radar displays a plurality of false target information on the radar screen, but because the echo signals of the true/false targets have extremely high similarity, it is difficult to identify which is true and which is false from the targets, the purpose of spurious to the non-cooperative radar is achieved, and the better fraudulent interference effect is achieved.
By comparing the non-cooperative Fang Leida R-V time-frequency analysis diagrams under four groups of different repetition frequency conditions, the number of false targets is reduced along with the increase of the repetition frequency, and the effective separation of the detection, detection and trunk three-way channels on the time sequence is ensured, so that the performances of active detection, passive detection, interference and the like are ensured. Therefore, the higher the repetition frequency of the detection sample signal of the non-cooperator is, the less time sequences can be utilized in the interference channel of the my detection interference integrated system, and the number of false targets is reduced. Although the number is reduced, the deceptive effect of the echo approaching the true target is not weakened, and a better deceptive interference effect can be still achieved, so that the true target and the false target cannot be judged correctly.
When the detection and interference integrated shared signal is implemented, the number of decoys manufactured in each group of CPI needs to be kept consistent as much as possible, and the speed and distance information of each decoy needs to be correlated. Therefore, when the uncooperative party detects my by adopting a multi-frequency signal, taking two sets of CPIs as examples, the heavy frequencies are respectively 25kHz and 33.3kHz, and the number of CPI pulses in each set is 64, the interference characteristic of the integrated shared signal of analysis and detection interference is further verified.
TABLE 1 multiple frequency defuzzification results
/>
As shown in fig. 7, the time-frequency analysis chart is a set of time-frequency analysis charts after the non-cooperative radar receives the echo signal and performs signal processing on the space target under the condition that the repetition frequency is 25kHz and the SNR is different, but the signal detection effect is reduced with the reduction of the signal-to-noise ratio;
when the repetition frequency is 33.3kHz, as shown in fig. 8, after the non-cooperative party deblurs the multi-spread signal by adopting an alignment method (remainder theorem), a corresponding target distance speed value can be obtained, as shown in table 1, according to the graph analysis, after the my detection interference sharing signal enters the radar receiver together with the non-cooperative party detection echo signal, the power value can be reduced together with the reduction of the SNR, although the non-cooperative party adopts the multi-frequency deblurring method, the non-cooperative party still cannot distinguish the false target signal from the real echo signal, a high-fidelity deceptive interference is caused to the non-cooperative party, the key decision of the pilot of the non-cooperative party is influenced, the best attack opportunity is missed, and a precondition is provided for the my attack target.
Since the blurring function of the detection interference sharing signal is determined by the blurring function of the non-cooperative detection pulse signal, it is insufficient from the viewpoint of the blurring function to analyze the advantage of the detection performance of the detection interference sharing signal. Therefore, the section carries out signal sorting and identification on the echo signals of the detection interference sharing signals by establishing the detection interference integrated system, and finally analyzes and discusses the distance and speed measurement errors of the targets of the non-cooperative party after signal processing such as signal reconstruction and pulse accumulation, and analyzes and demonstrates the detection advantages and the signal processing advantages of the detection interference sharing signals of the my side.
In order to verify the maximum non-fuzzy speed measurement and distance measurement advantages of the detection interference sharing signal, after the echo signal of the sharing signal is reconstructed, the target signal is subjected to relevant signal processing such as distance measurement and speed measurement, time-frequency analysis and the like, and the detection advantages of the detection interference sharing signal are analyzed by comparing the maximum non-fuzzy distance measurement and speed measurement capabilities of the two parties of the friend and foe.
As shown in FIG. 9, as the known non-cooperative party adopts multi-spread medium-heavy frequency signals, and the maximum non-fuzzy ranging of the non-cooperative party is obtained to be 18km, and the maximum non-fuzzy ranging is obtained to be 500m/s; the detection interference sharing signal adopted by the user has the attribute of multi-frequency detection and multi-false target interference after being optimized by the virtual force field algorithm, so that the maximum non-fuzzy distance of the detection interference sharing signal of the user can be effectively obtained to be 126km, and the maximum non-fuzzy speed is far greater than the maximum non-fuzzy speed of a non-cooperative party. Because both the enemy and the me adopt medium-high repetition frequency signals, no ambiguity exists in speed measurement, but the method has great advantages in ranging.
As shown in fig. 10, a set of comparison graphs is shown in which the detection range of the distance and speed information is adjusted to the target region under different SNR conditions, and it is known that a moving target with a relative speed of approximately 550m/s exists in a space range with a distance of 21km after parameter measurement. Therefore, the multi-frequency detection interference sharing signal with the optimal multi-false target multi-dimensional characteristic parameters is obtained after the virtual force field algorithm, the maximum non-blurring distance and the maximum non-blurring speed are higher than those of the detection signal of the non-cooperative party, and the non-blurring detection can be implemented on the targets with farther distances and higher speeds.
The detection interference sharing signal takes deceptive interference as an effect, adopts a detection signal of a non-cooperative party as a sample signal, achieves the purpose of spurious through infinitely approaching to a real echo signal, but the sample signal received by a front-end receiver cannot keep consistent with an original sample, and has the phenomena of signal distortion, parameter mismatch and the like, so that the detection performance of the detection interference sharing signal is slightly inferior to that of the sample signal in this aspect, but the detection interference sharing signal is detected by multiple spurious targets with higher repetition frequency because of the emission of the multiple spurious targets, and therefore, the detection interference sharing signal has more pulse accumulation numbers and signal processing advantages. Therefore, in order to further verify the detection performance and signal processing advantage of the detection interference sharing signal, the influence of the pulse accumulation number on the distance measurement and speed measurement error is discussed by adopting the pulse accumulation number as an independent variable and the distance measurement error and speed measurement error as a dependent variable.
As can be seen from fig. 11, the distance measurement is almost zero error due to the chirped signal used in the pulse; the speed measurement is also gradually reduced along with the increase of the pulse accumulation number. When a non-cooperator receives and accumulates a pulse echo, the self can receive and accumulate a plurality of pulse echo signals in the same PRI, and as the number of pulse accumulation increases, the signal-to-noise ratio of the echo signals is increased by a higher multiple, and the distance and speed measurement errors are obviously reduced (the speed measurement errors can be reduced to 4 m/s), so that the pulse accumulation brings signal processing advantages. Therefore, through analysis, the detection interference sharing signal can compensate the distortion problem of the detection signal of the received sample by the advantages of pulse accumulation and signal processing, and can have better deceptive interference characteristics.
As shown in fig. 12, it can be clearly seen from the figure that the detection interference integrated system after the algorithm adaptive processing can automatically switch the detection, interference and detection channels, and signals in the three channels are not interfered with each other in time sequence and are not affected by each other.
When the repetition frequency of the signal of the non-cooperative party is changed, as shown in fig. 12 (b), the signal is not received after the scout channel is opened, and the signal overlapping and timing conflict problems occur between the interference channel and the detection channel. In this case, the my detection interference integrated system quiets for one period, receives the non-cooperative detection signal as a sample signal of the my transmitted detection interference sharing signal, and performs optimization processing on the decoy multi-dimensional characteristics of the detection interference sharing signal again by adopting a virtual force field algorithm, as shown in fig. 12 (c), after receiving the non-cooperative detection sample signal and performing algorithm optimization, the transmission of a new detection interference sharing signal can continuously perform detection and interference on the non-cooperative. The algorithm can keep the original false target information as much as possible, so that when the non-cooperator performs defuzzification, the false target on the my side cannot be filtered through the information such as a time chart or distance association, and the deceptive effect of detecting the interference sharing signal is greatly enhanced. The target is filtered, so that the deceptive effect of detecting the interference sharing signal is greatly enhanced.
According to the experimental data analysis, the detection interference sharing signal after the multi-dimensional characteristic optimization of the false target through the virtual force field algorithm has high-fidelity false target deceptive interference, meanwhile, through the relevant signal processing such as signal sorting, recognition, signal reconstruction and pulse accumulation of the echo signal through the detection interference integrated system, the detection interference sharing signal has better maximum non-fuzzy distance and maximum non-fuzzy speed threshold than the detection effect of a non-cooperative party, the maximum non-fuzzy distance can reach 126km, the non-fuzzy speed measurement can reach 1000m/s, and the distance and speed measurement of the target can be realized with higher gain. Because the intra-pulse modulation adopted by the invention is a linear frequency modulation signal, the detection advantage of the detection interference sharing signal is mainly represented by that the distance measurement error is almost approximately 0, the speed measurement error is accumulated along with the continuous pulse, and the final speed measurement error is kept at about 4 m/s; and effectively solves the obstacles such as timing sequence conflict, pulse overlapping and the like of the detection, trunk detection and three-channel detection, and provides powerful support for realizing a detection interference integrated system in the future.
Claims (4)
1. A dynamic generation method of a detection interference integrated shared signal is characterized by comprising the following specific steps:
Step one, setting constraint conditions met by the number m of false targets in an airspace where a real radar target and m non-cooperative radar false targets coexist, so that the false targets are paved with non-cooperative radar channels;
step two, calculating the resultant force of the ith false target based on a virtual force field algorithmThe ith false target moves to the optimal position in the airspace under the influence of resultant force, so that the true radar target can avoid the false target pulse;
the method comprises the following steps:
firstly, each radar pulse is respectively used as a node, and aiming at the ith false target node, a triplet < P is introduced i ,L,F i The position, the stress and the direction of the node are represented;
P i ＝(x i ,y i ,z i ) Is the space rectangular coordinate of the ith node; l represents the maximum induction range of repulsive force between nodes;
F i ＝(F xi ,F yi ,F zi ) Respectively represent the stress F i Projection components in the X-axis, Y-axis and Z-axis directions;
then, for the ith node, calculating the distance between the ith node and the adjacent node by using the space position coordinates, and calculating a repulsive force model between the ith node by using the distance between the ith node and the adjacent nodeAnd obtaining resultant force of the nodes after further conversion:
ith node P i Is of the total force of (2)The calculation formula is as follows:
resultant forceFor node P i The repulsive force vector sum of k nodes existing in the maximum induction range L is received at the space position; node P i At the resultant force +.>Under the action of the motion, each node is stressed by the corresponding force, and when all nodes move to the balance position, the optimal position is obtained, so that the real radar target can avoid all false targets;
step three, utilizing resultant forceCalculating the stepping quantity delta x of the ith false target node, and moving the position of each false target according to the stepping quantity delta x to ensure that the updated false target is still within the range of the pulse repetition interval PRI;
the calculation formula of the stepping quantity deltax is as follows:
wherein k represents a rejection coefficient and is a fixed value;
the update formula of the false target position is: x is x i' ＝x i +Δx；
x i' The position after the i-th false target moves;
step four, calculating the position of the echo signal corresponding to the detection interference sharing signal by using the position of the current false target after moving;
step five, judging whether the position of the current false target after moving conflicts with the position of the corresponding echo signal; if yes, entering a step six; otherwise, entering a step III to continuously move the position of the next false target pulse;
step six, judging whether the number of the current decoys reaches the value of the input decoys m; if yes, calculate the maximum non-blurring distance R' max And maximum disambiguation speed V' max Step seven, entering a step; otherwise, entering a step III;
Maximum non-blurring distance R' max And maximum disambiguation speed V' max The formula is:
R′ max ＝V' max ×t
f rmax the maximum repetition frequency value in the multi-frequency detection signal; lambda is the wavelength of the multi-frequency detection signal;
step seven, judging the maximum non-blurring distance R' max And velocity V' max Whether or not it is greater than a set maximum distance range R max And maximum speed range V max If yes, update R max 、V max With a value of R' max And V' max The position information of each false target is reserved; otherwise, save R max And V max Multi-decoy location information under conditions;
step eight, transmitting a sounding shared signal waveform under each false target position to realize detection and interference of a non-cooperative party;
step nine, judging whether a detection signal of a non-cooperative party is lost in a reconnaissance channel, if not, continuing to carry out the step eight; if yes, entering the next observation period, re-intercepting the detection signal sample of the non-cooperative party, measuring parameters of the detection signal sample, and implementing a new round of detection dry sharing signal design.
2. The method for dynamically generating the integrated shared signal for interference detection of claim 1, wherein the number m of decoys in the first step satisfies the following condition:
and M > M
Wherein PRI i For the pulse repetition period of the current non-cooperative radar, τ is the pulse width of the non-cooperative detection signal, and n is the number of the detected non-cooperative radar pulse signals; m is the number of non-cooperative side radar signal processing channels, M is the final determined value of the number of false targets, and is determined by repetition frequency and pulse width.
3. The method for dynamically generating the integrated shared signal for interference detection of claim 1, wherein the fourth step is specifically:
first, the maximum range of the airspace is set to S max Performing grid division, and setting the width of a single grid as r;
each grid characterization quantity g i When 0, the current grid is a free area, and the false target pulse can be set or transferred to the area; when g i When the pulse is 1, the current grid is an obstacle area, and the false target pulse needs to avoid the area;
when the ith false target is distant from the real radar target pulse R km, the distance of the corresponding movement of the relative time delay is x r The position of the echo signal corresponding to the detected interference sharing signal is:
X ri' ＝x i' +x r 。
4. the method for dynamically generating the integrated shared signal for interference detection of claim 1, wherein the step seven specifically comprises: maximum distance range R max And maximum speed range V max And (5) initial manual setting.
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