CN114047492A - Two-dimensional phased array radar search mode and tracking mode automatic switching scheme - Google Patents
Two-dimensional phased array radar search mode and tracking mode automatic switching scheme Download PDFInfo
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- CN114047492A CN114047492A CN202111323108.0A CN202111323108A CN114047492A CN 114047492 A CN114047492 A CN 114047492A CN 202111323108 A CN202111323108 A CN 202111323108A CN 114047492 A CN114047492 A CN 114047492A
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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
- G01S7/41—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
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Abstract
The invention discloses a two-dimensional phased array radar search mode and tracking mode automatic switching scheme. The scheme is suitable for a two-dimensional phased array radar search and Tracking (TAS) mode. The invention provides a method for realizing the automatic switching of a searching mode and a tracking mode, which can keep certain searching and detecting capability as far as possible under the condition of tracking a plurality of targets, simultaneously realize the data complementation of the searching mode and the tracking mode by utilizing target information detected by a searching beam in the tracking mode, when the track quality of a track in the searching mode is higher than the minimum track quality in the tracking mode, replace the track with the minimum track quality in the tracking mode, namely, the track in the searching mode enters the tracking mode, the track with the minimum track quality in the tracking mode is switched into the searching mode, and simultaneously, when the target loss frequency of the tracking beam reaches the maximum track loss frequency, the tracking is stopped and the searching is switched into, thereby realizing the automatic switching of the searching and tracking modes and having higher engineering application value.
Description
Technical Field
The invention belongs to the field of radar data processing.
Background
The Search And Tracking (TAS) technology mainly utilizes the characteristics of the phased array antenna, such as rapidity And flexibility of beam scanning, agility of beam shape And the like, And distributes Search beams And tracking beams in a time-alternating mode. The allocation of beam resources and time resources belongs to the research focus of the current anti-unmanned aerial vehicle radar. The reasonable distribution of time resources and beam resources can not only enhance the multi-target detection capability, but also improve the tracking capability of multiple targets.
Currently, the switching achievements of the existing search and Tracking (TAS) working mode mainly include: in patent document "implementation method of phased array radar search and tracking working mode" (application number: CN201811076232, publication number: CN109164420), mainly, the method is mainly introduced that the dwell time of tracking wave beams of the phased array radar TAS working mode is reduced, and radar resources are saved; in patent document "resource allocation scheme based on phased array radar search and tracking dual-target optimization" (application number: CN201810057487, publication number: CN108333583), a mathematical optimization model is mainly introduced by dividing a current search area according to current allocation times. However, in the TAS operating mode, information such as target number and track quality should be considered for tracked resource allocation, and the track in the tracking mode can be updated by using the search result in the search mode, so that data complementation between the search mode and the tracking mode is realized.
Disclosure of Invention
The invention provides an automatic switching scheme of a search mode and a tracking mode. When the tracking capacity is saturated, comparing the track quality of the track in the search mode with the minimum track quality in the tracking mode, if the track quality of the track in the search mode is higher than the minimum track quality in the tracking mode, replacing the track with the minimum track quality in the tracking mode, namely, the track in the search mode enters the tracking mode, the track with the minimum track quality in the tracking mode is switched to the search mode, otherwise, the track does not enter the tracking mode, and continuously works in the search mode, thereby realizing the real-time conversion between the search mode and the tracking mode. Secondly, in a tracking mode, firstly judging whether a tracking beam detects a target, if so, directly updating the track, and setting the number of continuous track loss times to zero; if the tracking beam does not detect the target, judging that the searching beam does not detect the target, if the searching beam detects the target and detects the target after the tracking beam, supplementing the target point track into a track queue, setting the continuous track loss times to zero, updating the track, and if not, abandoning the point, and adding one to the continuous track loss times. And finally, judging whether the continuous loss times of the flight path reach the maximum loss times of the flight path, if not, pre-pushing the flight path by one point to update the flight path, otherwise, exiting the tracking mode and entering the searching mode, thereby realizing the real-time conversion of the searching mode and the tracking mode, and comprising the following main steps of:
step 1: initializing parameters, and establishing a reliable track in a search mode;
step 2: calculating and updating the track quality;
and step 3: judging whether the radar tracking capacity is remained, if so, executing step 5, otherwise, executing step 4;
and 4, step 4: comparing the track quality of the track in the search mode with the minimum track quality in the tracking mode, if the track quality of the track in the search mode is higher than the minimum track quality in the tracking mode, replacing the track with the minimum track quality in the tracking mode, namely, the track in the search mode enters the tracking mode, the track with the minimum track quality in the tracking mode is switched into the search mode, otherwise, the track does not enter the tracking mode, and continuously working in the search mode, and executing the step 2;
and 5: allocating beams for tracking;
step 6: judging whether the tracking wave beam detects a target, if so, adding a target point track into a track queue, setting the number of continuous track loss times to zero, executing the step 9, otherwise, executing the step 7;
and 7: judging whether the search beam detects a target, if the search beam detects the target and detects the target after tracking the beam, supplementing the target point track into a track queue, setting the continuous track loss times to zero, executing the step 9, and if not, adding one to the continuous track loss times, and executing the step 8;
and 8: judging whether the continuous track loss times reach the maximum track loss times or not, if not, pre-pushing the track by one point, and executing the step 9, otherwise, exiting tracking, entering a search mode, and executing the step 2;
and step 9: and updating the flight path.
Drawings
Fig. 1 is a flow diagram of a search plus track two mode switching scheme.
Fig. 2 is a flowchart of data processing in the search mode.
Fig. 3 is a flowchart of switching the search mode to the tracking mode.
Fig. 4 is a flowchart of switching the tracking mode to the search mode.
Fig. 5 is a flow chart of data processing in the tracking mode.
Detailed Description
The invention provides an automatic switching scheme of a search mode and a tracking mode, a flow chart of the scheme is shown in figure 1, and the scheme mainly comprises the following steps:
step 1: initializing parameters, and establishing a reliable flight path in a search mode, wherein a flow chart is shown in a figure 2;
step 2: calculating and updating the track quality;
the track quality calculation formula is as follows:
track quality (signal-to-noise ratio, weight + continuous tracking times, weight + (tracking times/track size) weight
Wherein, the weight of the signal-to-noise ratio is 0.4, the weight of the continuous tracking frequency is 0.4, and the weight of the tracking frequency/flight path size is 0.2.
And calculating the track quality of each track according to the formula, sequencing the track qualities in sequence, and screening the track with the best track quality for tracking until the tracking capacity is saturated.
And step 3: judging whether the radar tracking capacity is remained, if so, executing step 5, otherwise, executing step 4;
and 4, step 4: comparing the track quality of the track in the search mode with the minimum track quality in the tracking mode, if the track quality of the track in the search mode is higher than the minimum track quality in the tracking mode, replacing the track with the minimum track quality in the tracking mode, namely, the track in the search mode enters the tracking mode, the track with the minimum track quality in the tracking mode is switched into the search mode, otherwise, the track does not enter the tracking mode, and continuously working in the search mode, and executing the step 2;
and 5: allocating beams for tracking, and the flow chart is shown in FIG. 3;
the tracking beam pointing direction depends on the actual position or the predicted position of the target, namely the position of the target at the next moment is predicted according to the speed, the distance, the azimuth and the pitching of the target, and then the beam pointing direction is adjusted according to the predicted position of the target to perform target tracking detection.
Step 6: judging whether the tracking wave beam detects a target, if so, setting the continuous track loss frequency to zero, executing the step 9, otherwise, executing the step 7;
and 7: judging whether the search beam detects a target, if the search beam detects the target and detects the target after tracking the beam, supplementing the target point track into a track queue, setting the continuous track loss times to zero, executing the step 9, and if not, adding one to the continuous track loss times, and executing the step 8; (ii) a
And 8: judging whether the continuous track loss times reach the maximum track loss times or not, if not, pre-pushing the track by one point, executing the step 9, otherwise, exiting the tracking, entering a search mode, executing the step 2, and showing a flow chart in figure 4;
and step 9: and updating the flight path, and the flow chart is shown in figure 5.
Claims (6)
1. A two-dimensional phased array radar search mode and tracking mode automatic switching scheme is characterized in that the method comprises the following steps:
step 1: initializing parameters, and establishing a reliable track in a search mode;
step 2: calculating and updating the track quality;
and step 3: judging whether the radar tracking capacity is remained, if so, executing step 5, otherwise, executing step 4;
and 4, step 4: comparing the track quality of the track in the search mode with the minimum track quality in the tracking mode, if the track quality of the track in the search mode is higher than the minimum track quality in the tracking mode, replacing the track with the minimum track quality in the tracking mode, namely, the track in the search mode enters the tracking mode, the track with the minimum track quality in the tracking mode is switched into the search mode, otherwise, the track does not enter the tracking mode, and continuously working in the search mode, and executing the step 2;
and 5: allocating beams for tracking;
step 6: judging whether the tracking wave beam detects a target, if so, adding a target point track into a track queue, setting the number of continuous track loss times to zero, executing the step 9, otherwise, executing the step 7;
and 7: judging whether the search beam detects a target, if the search beam detects the target and detects the target after tracking the beam, supplementing the target point track into a track queue, setting the continuous track loss times to zero, executing the step 9, and if not, adding one to the continuous track loss times, and executing the step 8;
and 8: judging whether the continuous track loss times reach the maximum track loss times or not, if not, pre-pushing the track by one point, and executing the step 9, otherwise, exiting tracking, entering a search mode, and executing the step 2;
and step 9: and updating the flight path.
2. The scheme for automatically switching the search mode and the tracking mode of the two-dimensional phased array radar according to claim 1, wherein in the step 2, the calculation formula of the track quality is as follows:
track quality (signal-to-noise ratio, weight + continuous tracking times, weight + (tracking times/track size) weight
In the invention, the weight of the signal-to-noise ratio is 0.4, the weight of the continuous tracking times is 0.4, and the weight of the tracking times/flight path size is 0.2; calculating the track quality of each track according to the formula, sequencing the track quality in sequence, screening the track with the best track quality for tracking until the tracking capacity is saturated; the upper limit of the tracking capacity set by the method is n, namely n targets can be tracked simultaneously, and the time resource and the beam resource of the radar can be more reasonably distributed by setting the tracking capacity, namely the radar still has the capability of continuously detecting new targets under the condition of tracking a plurality of targets as much as possible.
3. The scheme for automatically switching the search mode and the tracking mode of the two-dimensional phased array radar according to claim 1, wherein in the step 4, the track quality of the track in the search mode is compared with the minimum track quality in the tracking mode, if the track quality of the track in the search mode is higher than the minimum track quality in the tracking mode, the track with the minimum track quality in the tracking mode is replaced, namely the track in the search mode enters the tracking mode, the track with the minimum track quality in the tracking mode is switched to the search mode, otherwise, the track does not enter the tracking mode, and the track continues to work in the search mode, so that the search mode and the tracking mode are switched in real time.
4. The scheme for automatically switching the search mode and the tracking mode of the two-dimensional phased array radar according to claim 1 is characterized in that in the step 5, beams are allocated for tracking, the strategy of beam tracking is to predict the position of a target at the next moment according to the speed, the distance, the direction and the pitching of the target, and the beam pointing direction is adjusted according to the predicted position of the target, so that the target is tracked and detected.
5. The scheme for automatically switching the search mode and the tracking mode of the two-dimensional phased array radar according to claim 1 is characterized in that in the steps 6 and 7, in the tracking mode, whether a target is detected by a tracking beam is judged, if the target is detected, track updating is directly carried out, and meanwhile, the number of continuous track loss times is set to zero; if the tracking beam does not detect the target, judging that the searching beam does not detect the target, if the searching beam detects the target and detects the target after tracking the beam, supplementing the target point track into a track queue, setting the number of continuous track loss times to zero, and updating the track; otherwise, this point is discarded and the number of consecutive losses of track is increased by one, which has the advantage of making full use of the detection of the search mode.
6. The scheme for automatically switching the search mode and the tracking mode of the two-dimensional phased array radar according to claim 1 is characterized in that in the step 8, whether the continuous loss times of the flight path reach the maximum loss times of the flight path or not is judged, if the continuous loss times of the flight path do not reach the maximum loss times of the flight path, the flight path is advanced by one point to update the flight path, otherwise, the two-dimensional phased array radar exits from the tracking mode and enters into the search mode, and therefore the real-time switching between the search mode and the tracking mode is achieved.
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| CN115549744A (en) * | 2022-11-29 | 2022-12-30 | 中国电子科技集团公司第十研究所 | Phased array antenna self-tracking system and online switching method of digital self-tracking loop |
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Application publication date: 20220215 |