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CN113848557B - Interference identification method for composite detection - Google Patents

Interference identification method for composite detection Download PDF

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CN113848557B
CN113848557B CN202110995737.1A CN202110995737A CN113848557B CN 113848557 B CN113848557 B CN 113848557B CN 202110995737 A CN202110995737 A CN 202110995737A CN 113848557 B CN113848557 B CN 113848557B
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target distance
detection
detection system
laser
sample data
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CN113848557A (en
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查冰婷
周郁
郑震
张合
黄金波
李红霞
顾钒
王成君
徐光博
袁海璐
徐陈又诗
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Nanjing University of Science and Technology
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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • 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
    • G01S13/08—Systems for measuring distance only
    • 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
    • G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
    • 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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses an interference identification method for composite detection, which comprises the steps that firstly, a laser detection system and a radio detection system respectively collect echo signals in m detection periods, and a first target distance and a second target distance are calculated to form a sample data matrix; then, establishing a target distance prediction model by utilizing a gray system theory; then calculating a limit interval of a standardized residual error of the first target distance and the second target distance according to the sample data matrix and the target distance prediction model; calculating predicted values of the first target distance and the second target distance in the subsequent detection period according to the target distance prediction model; and finally judging whether the two detection systems are interfered. The invention reduces the complexity of target distance prediction, realizes the accurate judgment of the working states of different detection systems in the composite detection, and has self-adaptability in the judgment process.

Description

Interference identification method for composite detection
Technical Field
The invention relates to an interference identification technology, in particular to an interference identification method for composite detection.
Background
The proximity fuze is used for detonating at a certain distance from the target by virtue of short-range detection of the target so as to realize an optimal fight-against cooperation mode, and the damage effect on the target is improved. Currently, laser detection and radio detection are the most commonly used detection methods for proximity fuses.
The laser detection system utilizes laser beams to detect targets, is little in electromagnetic interference in the working process, has the characteristics of high control precision, small distance error and the like, and is easy to be interfered by natural environments such as cloud, fog and the like.
The radio detection system detects the target by using Doppler effect or frequency modulation continuous wave, can measure the distance and the speed of the target, has the advantages of high distance resolution, high sensitivity and the like, is easily interfered by a battlefield electromagnetic environment, foil strips, ground sea clutter and the like, and especially has worse battlefield environment along with the rapid development of the existing artificial jammers.
Although laser detection and radio detection take anti-interference measures in terms of frequency band, system, working mode, signal processing and the like, a single detection mode has difficulty in obtaining enough detection reliability under complex battlefield interference environments and natural interference environments. Composite detection has become a research hotspot due to its strong anti-interference capability. Compared with single laser detection or radio detection, the laser/radio composite detection fully utilizes the stronger radio interference resistance of the laser detection and the stronger optical interference resistance and natural environment interference resistance of the radio detection, so that the interference resistance of the composite detection is greatly improved. In order to fully utilize the anti-interference performance of laser/radio composite detection, how to perform interference identification on detection information of each system in a battlefield environment is an important problem which needs to be concerned and researched.
According to the document retrieval discovery in the prior art, duan Yabo proposes an interference identification strategy of a frequency modulation continuous wave system laser and radio composite detection system, and at a certain moment, the interference identification strategy takes the difference value |h laser-hradio | between the laser distance h laser and the radio distance h radio, and combines the laser difference frequency signal-to-noise ratio SNR laser and the radio difference frequency signal-to-noise ratio SNR radio to judge. Sigma is a set distance difference threshold, SNR td1 is a signal-to-noise ratio threshold for effective spacing of laser difference frequency signals, and SNR td2 is a signal-to-noise ratio threshold for effective spacing of radio difference frequency signals. When |h laser-hradio | > sigma and SNR laser>SNRtd1, outputting a laser detection result; when |h laser-hradio | > sigma and SNR laser<SNRtd1、SNRradio>SNRtd2, then outputting a radio detection result; outputting a laser detection result when |h laser-hradio | < sigma; when |h laser-hradio | > σ and SNR laser<SNRtd1、SNRradio<SNRtd2, both probing systems are interfered with. The fusion method has the defects that when a single detection system is interfered, if two detection systems are interfered, the distance results of the two detection systems have certain randomness, namely the distance difference value of the two detection systems also has randomness, and the judgment is affected.
The ammunition is generally in a constant speed state when flying at the tail end of the trajectory, and the composite detection system used by the proximity fuse can fully utilize the characteristic of constant speed flight to detect whether each detection system is interfered in real time.
Disclosure of Invention
The invention aims to provide an interference identification method for composite detection, which can effectively detect a target in a complex battlefield interference environment and a natural interference environment, avoid false alarm caused by interference of a certain detection system and improve the detection reliability.
The technical solution for realizing the purpose of the invention is as follows: an interference identification method for composite detection comprises the following steps:
Step 1, performing composite detection on a target by using a laser detection system and a radio detection system, wherein the laser detection system and the radio detection system respectively acquire echo signals in m detection periods, m=4-10, the laser detection system calculates a first target distance, the radio detection system calculates a second target distance, and the first target distance and the second target distance are fused to form a sample data matrix H 0:
Where x (0) is a sample data sequence of a first target distance, y (0) is a sample data sequence of a second target distance, and x i (0) and y i (0) represent the first target distance and the second target distance, i=1, 2, …, m, respectively, calculated from the echo signal of the i-th detection period.
And 2, establishing a target distance prediction model according to the sample data matrix H 0 by utilizing a gray system theory.
And 3, calculating a residual matrix H 3 and a standardized residual matrix H 4 of the sample data according to the sample data matrix H 0 and the target distance prediction model.
Step 4, calculating predicted values of x m+1 (0) and y m+1 (0) through a target distance gray prediction modelAnd/>Similarly, the predicted values of the first target distance and the second target distance in the m+2, … and m+n detection periods can be obtained.
And 5, feeding back the distance information processed in real time to a detection information comprehensive processing module by the laser detection system and the radio detection system, judging whether the laser detection system and the radio detection system are interfered by the detection information comprehensive processing module, and outputting a final detection result.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The method has the advantages of small calculated amount, small number of required samples, and capability of better adapting to the objective condition of fast ammunition flight speed and small sample amount which can be acquired;
(2) According to the method, the ammunition is converted into the linear law of distance information by utilizing the uniform flight state of the ammunition at the tail end of the trajectory, so that the complexity of target distance prediction is greatly reduced, and the accuracy of interference identification is improved;
(3) The limiting interval of the standardized residual error in the invention has self-adaptability, and can be automatically adjusted according to the working state of the detection system, thereby greatly improving the self-adaptability of the detection system;
(4) The two detection systems in the invention work independently in parallel, the fed back distance information is not interfered with each other, and the target distance prediction and state judgment process also has extremely strong independence, so that judgment on various different conditions can be accurately carried out, and misjudgment and missed judgment conditions are avoided.
Drawings
Fig. 1 is a flow chart of an interference identification method for composite detection of the present invention.
Fig. 2 is a control diagram of a laser/radio composite detection system.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, the interference identification method for composite detection according to the present invention includes the following steps:
Step 1, performing composite detection on a target by using a laser detection system and a radio detection system, wherein the laser detection system and the radio detection system respectively acquire echo signals in m detection periods, m=4-10, the laser detection system calculates a first target distance, the radio detection system calculates a second target distance, and the first target distance and the second target distance are fused to form a sample data matrix H 0:
Where x (0) is a sample data sequence of a first target distance, y (0) is a sample data sequence of a second target distance, and x i (0) and y i (0) represent the first target distance and the second target distance, i=1, 2, …, m, respectively, calculated from the echo signal of the i-th detection period.
In connection with fig. 2, the laser detection system and the radio detection system operate in parallel, and simultaneously detect the targets independently. The laser detection system (Xu Xiaobin. Pulse laser fuze short-range circumferential detection technology research [ D ]. Nanjing university of chemical industry, 2017.) comprises an optical module, a laser emission module, a laser receiving module, an A/D sampling module and a laser signal processing module; the optical module comprises a transmitting lens and a receiving lens, the laser transmitting module comprises a laser diode and a driving circuit, and the laser receiving module comprises a photoelectric detector and an amplifying circuit. The radio detection system (several key technologies and applications in the millimeter wave fuze [ D ]. Electronic technology university, 2010.) comprises a transceiver common antenna, a circulator, a VCO, a mixer, a band-pass filter, an a/D sampling module and a radio signal processing module.
The laser detection system adopts pulse laser to detect, and the principle is that the flying speed of light in the atmosphere is kept unchanged in the measuring process, and the first target distance is calculated by transmitting a series of laser pulses with a certain pulse width and measuring the time from the transmission to the arrival of the laser at the photoelectric detector after the laser is reflected by the target.
The radio detection system adopts a triangular linear frequency modulation continuous wave signal for detection, and the principle is that the second target distance is obtained by sampling a difference frequency signal and then obtaining the frequency of an upper sweep frequency section and a lower sweep frequency section of the difference frequency signal by utilizing FFT frequency domain analysis.
Step 2, according to the sample data matrix H 0, a target distance prediction model is established by utilizing a gray system theory, and the specific steps are as follows:
The sample data matrix H 0 is accumulated once to generate a first-order data matrix H 1:
Wherein: x (1) and y (1) are first order data sequences generated by once accumulating sample data sequences corresponding to the first target distance and the second target distance respectively, K represents the sequence number of the parameter generated by one accumulation in the first-order data sequence, and i represents the sequence number of the detection period.
Establishing a whitening differential equation for the first order data sequence:
Wherein a 1 and a 2 correspond to the first and second developed ash numbers, and u 1 and u 2 correspond to the first and second endogenous control ash numbers, respectively.
Recording a first transition matrix A 1＝[a1,u1]T and a second transition matrix A 2＝[a2,u2]T, and solving parameters a 1,a2,u1 and u 2 by using a least square method to obtain a joint transition matrix A:
wherein:
Solving the whitened differential equation to obtain an approximate solution
Wherein,And/>Corresponding to first order predictors of x k+1 (0) and y k+1 (0), respectively.
Order theAnd/>The target distance prediction model is
Step 3, calculating a residual matrix H 3 and a normalized residual matrix H 4 of the sample data according to the sample data matrix H 0 and the target distance prediction model:
where r is the residual of the first target distance, s is the residual of the second target distance, i＝1，2，…，m。
The residual error of the detection system is a non-stationary random process, but approximates a normal distribution. The residual is normalized to form a normalized residual matrix H 4 of the sample data:
where r N represents the normalized residual for the first target distance and s N represents the normalized residual for the second target distance.
The root mean square J RMSx, the mean μ x, and the variance σ x 2 of the normalized residuals of the first target distance, and the root mean square J RMSy, the mean μ y, and the variance σ y 2 of the normalized residuals of the second target distance sample data are calculated.
When the confidence is (1- α), the constraint interval of the normalized residuals for the first target distance and the second target distance can be determined to be [ mu x-zσx 2,μx+zσx 2 ] and [ mu y-zσy 2,μy+zσy 2 ], z is a coefficient related to the confidence level, which can be set in combination with the mathematical statistical theory, α is the significance level, and the sum of the significance level and the confidence is equal to 1.
Step 4, calculating predicted values of x m+1 (0) and y m+1 (0) according to the target distance prediction modelAndSimilarly, the predicted values of the first target distance and the second target distance in the m+2, … and m+n detection periods can be obtained.
And 5, feeding back the distance information processed in real time to a detection information comprehensive processing module by the laser detection system and the radio detection system, judging whether the laser detection system and the radio detection system are interfered or not by the detection information comprehensive processing module, and outputting a final detection result, wherein the specific method comprises the following steps of:
residual values r j and s j of the first target distance and the second target distance are calculated, j > m, and j is a detection period sequence number.
Normalizing the residuals of the first target distance and the second target distance to r Nj and s Nj:
If rNj∈[μx-zσx 2,μx+zσx 2],sNj∈[μy-zσy 2,μy+zσy 2],, the laser detection system and the radio detection system are not interfered;
if r Nj∈[μx-zσx 2,μx+zσx 2, The laser detection system is not interfered and the radio detection system is interfered;
If it is S Nj∈[μy-zσy 2,μy+zσy 2 ], the laser detection system is interfered, and the radio detection system is not interfered;
If it is Both the laser detection system and the radio detection system are disturbed.
If both detection systems are not interfered, outputting detection values of the laser detection systems with higher measurement accuracy; if one detection system is interfered, outputting a detection value which is not interfered; if both detection systems are interfered, no detection value is output and the next detection period is entered.
Compared with other interference identification methods, the method has the advantages that:
(1) The method has the advantages of small calculated amount, small number of required samples, and capability of better adapting to the objective condition of fast ammunition flight speed and small sample amount which can be acquired;
(2) According to the method, the ammunition is converted into the linear law of distance information by utilizing the constant-speed flight state of the ammunition at the tail end of the trajectory, so that the complexity of data prediction is greatly reduced, and the accuracy of judgment is improved;
(3) The limiting interval of the standardized residual error has self-adaptability, can be automatically adjusted according to the working state of the detection system, and greatly improves the self-adaptability of the detection system;
(4) The two detection systems in the invention work independently in parallel, the fed back distance information is not interfered with each other, and the data prediction and state judgment process also has extremely strong independence, so that judgment on various different conditions can be accurately carried out, and misjudgment and missing judgment conditions are avoided.

Claims (3)

1. An interference identification method for composite detection is characterized by comprising the following steps:
Step 1, performing composite detection on a target by using a laser detection system and a radio detection system, wherein the laser detection system and the radio detection system respectively acquire echo signals in m detection periods, m=4-10, the laser detection system calculates a first target distance, the radio detection system calculates a second target distance, and the first target distance and the second target distance are fused to form a sample data matrix H 0:
Wherein x (0) is a sample data sequence of a first target distance, y (0) is a sample data sequence of a second target distance, and x i (0) and y i (0) respectively represent the first target distance and the second target distance calculated according to the echo signal of the ith detection period, i=1, 2, …, m;
step 2, according to the sample data matrix H 0, a target distance prediction model is established by utilizing a gray system theory, and the specific steps are as follows:
The sample data matrix H 0 is accumulated once to generate a first-order data matrix H 1:
Wherein: x (1) and y (1) are first order data sequences generated by once accumulating sample data sequences corresponding to the first target distance and the second target distance respectively, K represents the sequence number of the parameter generated by one-time accumulation in the first-order data sequence, and i represents the sequence number of the detection period;
Establishing a whitening differential equation for the first order data sequence:
Wherein a 1 and a 2 correspond to the first developed ash number and the second developed ash number, and u 1 and u 2 correspond to the first endogenous control ash number and the second endogenous control ash number, respectively;
Recording a first transition matrix A 1＝[a1,u1]T and a second transition matrix A 2＝[a2,u2]T, and solving parameters a 1,a2,u1 and u 2 by using a least square method to obtain a joint transition matrix A:
wherein:
Solving the whitened differential equation to obtain an approximate solution
Wherein,And/>First order predictors corresponding to x k+1 (0) and y k+1 (0), respectively;
Order the And/>The target distance prediction model is
Step 3, calculating a residual matrix H 3 and a standardized residual matrix H 4 of the sample data according to the sample data matrix H 0 and the target distance prediction model;
Step 4, calculating predicted values of x m+1 (0) and y m+1 (0) through a target distance prediction model And/>Similarly, the predicted values of the first target distance and the second target distance in the m+2, … and m+n detection periods are obtained;
and 5, feeding back the distance information processed in real time to a detection information comprehensive processing module by the laser detection system and the radio detection system, judging whether the laser detection system and the radio detection system are interfered by the detection information comprehensive processing module, and outputting a final detection result.
2. The interference identification method for composite detection according to claim 1, wherein:
Step 3, calculating a residual matrix H 3 and a normalized residual matrix H 4 of the sample data according to the sample data matrix H 0 and the target distance prediction model:
where r is the residual of the first target distance, s is the residual of the second target distance,
The residual error of the detection system is a non-stationary random process, but approximates a normal distribution; the residual is normalized to form a normalized residual matrix H 4 of the sample data:
wherein r N represents the normalized residual of the first target distance, and s N represents the normalized residual of the second target distance;
The root mean square J RMSx, the mean μ x, and the variance σ x 2 of the normalized residuals of the first target distance are calculated, and the root mean square J RMSy, the mean μ y, and the variance σ y 2 of the normalized residuals of the second target distance sample data are calculated:
When the confidence is (1- α), the constraint interval of the normalized residuals of the first target distance and the second target distance is determined to be [ mu x-zσx 2,μx+zσx 2 ] and [ mu y-zσy 2,μy+zσy 2 ], z is a coefficient related to the confidence level, α is the significance level, and the sum of the confidence levels is equal to 1.
3. The interference identification method for composite detection according to claim 2, wherein: in step 5, the laser detection system and the radio detection system feed back the distance information processed in real time to the detection information comprehensive processing module, and the detection information comprehensive processing module judges whether the laser detection system and the radio detection system are interfered or not and outputs a final detection result, specifically as follows:
Calculating residual values r j and s j of the first target distance and the second target distance, wherein j > m and j are detection period serial numbers:
normalizing the residuals of the first target distance and the second target distance to r Nj and s Nj:
If rNj∈[μx-zσx 2,μx+zσx 2],sNj∈[μy-zσy 2,μy+zσy 2],, the laser detection system and the radio detection system are not interfered;
If r Nj∈[μx-zσx 2,μx+zσx 2, The laser detection system is not interfered and the radio detection system is interfered;
If it is S Nj∈[μy-zσy 2,μy+zσy 2 ], the laser detection system is interfered, and the radio detection system is not interfered;
If it is The laser detection system and the radio detection system are both disturbed;
If both detection systems are not interfered, outputting detection values of the laser detection systems with higher measurement accuracy; if one detection system is interfered, outputting a detection value which is not interfered; if both detection systems are interfered, no detection value is output and the next detection period is entered.
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WO2017177967A1 (en) * 2016-04-15 2017-10-19 清华大学深圳研究生院 Underwater detection system and underwater detection method
CN111273307A (en) * 2020-01-17 2020-06-12 中国科学院上海技术物理研究所 High-precision chirped laser coherent fusion distance measurement method based on Kalman filtering algorithm

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