首页 > 最新文献

Iet Radar Sonar and Navigation最新文献

英文 中文
Statistical Analysis of Performance of Optimisation-Based SAR Autofocus 基于优化的SAR自动对焦性能统计分析
IF 1.5 4区 管理学 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2025-05-10 DOI: 10.1049/rsn2.70030
Patrick Haughey, Mikhail Gilman, Semyon Tsynkov

Transionospheric SAR autofocus is a variational algorithm designed to circumvent the deficiencies of conventional autofocus techniques in correcting the distortions of spaceborne SAR images due to ionospheric turbulence. It has demonstrated superior performance in a variety of computer-simulated imaging scenarios. In the current work, we conduct a systematic statistical analysis of transionospheric SAR autofocus aimed at corroborating its robustness and identifying limitations and sensitivities across a broad range of factors that affect the autofocus performance. We employ the range-compressed domain representation where the target reflectivity, antenna signal, and the phase screen depend only on the azimuthal coordinate. The three main factors included in the study are the levels of turbulent perturbations, clutter, and noise. We use the normalised cross correlation (NCC), integrated sidelobe ratio (ISLR), and peak desynchronisation (PD) as a-posteriori performance metrics. A key objective of the current analysis, beyond assessing the autofocus performance, is to identify the directions of how to further improve the algorithm, in terms of both the quality of focusing and associated computational cost.

电离层SAR自动对焦是一种变分算法,旨在克服传统自动对焦技术在校正星载SAR图像因电离层湍流引起的畸变方面的不足。它在各种计算机模拟成像场景中表现出优越的性能。在当前的工作中,我们对过渡层SAR自动对焦进行了系统的统计分析,旨在证实其鲁棒性,并确定影响自动对焦性能的各种因素的局限性和灵敏度。我们采用距离压缩域表示,其中目标反射率、天线信号和相位屏仅依赖于方位角坐标。研究中包括的三个主要因素是湍流扰动、杂波和噪声的水平。我们使用归一化互相关(NCC)、集成旁瓣比(ISLR)和峰值去同步(PD)作为后验性能指标。除了评估自动对焦性能之外,当前分析的一个关键目标是确定如何在对焦质量和相关计算成本方面进一步改进算法的方向。
{"title":"Statistical Analysis of Performance of Optimisation-Based SAR Autofocus","authors":"Patrick Haughey,&nbsp;Mikhail Gilman,&nbsp;Semyon Tsynkov","doi":"10.1049/rsn2.70030","DOIUrl":"10.1049/rsn2.70030","url":null,"abstract":"<p>Transionospheric SAR autofocus is a variational algorithm designed to circumvent the deficiencies of conventional autofocus techniques in correcting the distortions of spaceborne SAR images due to ionospheric turbulence. It has demonstrated superior performance in a variety of computer-simulated imaging scenarios. In the current work, we conduct a systematic statistical analysis of transionospheric SAR autofocus aimed at corroborating its robustness and identifying limitations and sensitivities across a broad range of factors that affect the autofocus performance. We employ the range-compressed domain representation where the target reflectivity, antenna signal, and the phase screen depend only on the azimuthal coordinate. The three main factors included in the study are the levels of turbulent perturbations, clutter, and noise. We use the normalised cross correlation (NCC), integrated sidelobe ratio (ISLR), and peak desynchronisation (PD) as a-posteriori performance metrics. A key objective of the current analysis, beyond assessing the autofocus performance, is to identify the directions of how to further improve the algorithm, in terms of both the quality of focusing and associated computational cost.</p>","PeriodicalId":50377,"journal":{"name":"Iet Radar Sonar and Navigation","volume":"19 1","pages":""},"PeriodicalIF":1.5,"publicationDate":"2025-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/rsn2.70030","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143932352","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"管理学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Joint Optimal Allocation of Resources for Multiple Jammer Based on Multi-Agent Deep Reinforcement Learning 基于多智能体深度强化学习的多干扰机联合资源优化分配
IF 1.5 4区 管理学 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2025-05-04 DOI: 10.1049/rsn2.70031
Jieling Wang, Yanfei Liu, Chao Li, Zhong Wang, Yali Li

In response to the complex scenario where multiple jammers navigate through a netted radar system (NRS), this study presents an optimised allocation algorithm for cooperative jamming resources, namely the Multi-Agent Jamming Resource Allocation (MJCJRA) algorithm, which is based on multi-agent deep reinforcement learning. Initially, the research develops a target fusion detection probability function and a global performance index optimisation function, which are tailored to the specific jamming and radar detection models of the scenario. Subsequently, the multiple jammers are mapped into a multi-agent system with a greedy strategy employed to generate targeted rewards for the jamming agents, enhancing their learning efficiency and performance. The study culminates in the design of evaluation and mixed-strategy networks for the jamming agents. It utilises an exponential mean shift method for soft updates of the target network, adopts priority experience replay and importance sampling methods, and incorporates reward centring into the loss function for network updates. Experimental findings demonstrate that MJCJRA algorithm significantly surpasses the baseline method, the particle swarm optimisation (PSO), the snow ablation optimiser (SAO), the multi-agent deep deterministic policy gradient (MADDPG) and multi-agent proximal policy optimisation (MAPPO), effectively diminishing the detection capability of NRS.

针对多干扰机在网状雷达系统(NRS)中导航的复杂情况,本研究提出了一种优化的协同干扰资源分配算法,即基于多智能体深度强化学习的多智能体干扰资源分配(MJCJRA)算法。首先,研究开发了目标融合检测概率函数和全局性能指标优化函数,针对场景的特定干扰和雷达检测模型进行了定制。随后,将多个干扰者映射到一个多智能体系统中,并采用贪婪策略对干扰者产生有针对性的奖励,提高了干扰者的学习效率和性能。研究的最终成果是设计了干扰剂的评估和混合策略网络。采用指数均值移位法对目标网络进行软更新,采用优先级经验重放和重要性抽样方法,并将奖励中心法引入网络更新损失函数。实验结果表明,MJCJRA算法显著优于基线方法、粒子群优化(PSO)、积雪消融优化(SAO)、多智能体深度确定性策略梯度(MADDPG)和多智能体近端策略优化(MAPPO),有效降低了NRS的检测能力。
{"title":"Joint Optimal Allocation of Resources for Multiple Jammer Based on Multi-Agent Deep Reinforcement Learning","authors":"Jieling Wang,&nbsp;Yanfei Liu,&nbsp;Chao Li,&nbsp;Zhong Wang,&nbsp;Yali Li","doi":"10.1049/rsn2.70031","DOIUrl":"10.1049/rsn2.70031","url":null,"abstract":"<p>In response to the complex scenario where multiple jammers navigate through a netted radar system (NRS), this study presents an optimised allocation algorithm for cooperative jamming resources, namely the Multi-Agent Jamming Resource Allocation (MJCJRA) algorithm, which is based on multi-agent deep reinforcement learning. Initially, the research develops a target fusion detection probability function and a global performance index optimisation function, which are tailored to the specific jamming and radar detection models of the scenario. Subsequently, the multiple jammers are mapped into a multi-agent system with a greedy strategy employed to generate targeted rewards for the jamming agents, enhancing their learning efficiency and performance. The study culminates in the design of evaluation and mixed-strategy networks for the jamming agents. It utilises an exponential mean shift method for soft updates of the target network, adopts priority experience replay and importance sampling methods, and incorporates reward centring into the loss function for network updates. Experimental findings demonstrate that MJCJRA algorithm significantly surpasses the baseline method, the particle swarm optimisation (PSO), the snow ablation optimiser (SAO), the multi-agent deep deterministic policy gradient (MADDPG) and multi-agent proximal policy optimisation (MAPPO), effectively diminishing the detection capability of NRS.</p>","PeriodicalId":50377,"journal":{"name":"Iet Radar Sonar and Navigation","volume":"19 1","pages":""},"PeriodicalIF":1.5,"publicationDate":"2025-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/rsn2.70031","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143905140","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"管理学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Dynamic RCS Simulation Using Active Frequency Selective Surface 基于主动频率选择曲面的动态RCS仿真
IF 1.5 4区 管理学 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2025-05-04 DOI: 10.1049/rsn2.70027
Dejun Feng, Yumeng Fang, Yameng Kong, Junjie Wang, Liwei Chen

In the experimental test of the radar system, it is extremely important to build a realistic experimental environment for electromagnetic target testing, which is often realised by the radar target simulation technology. Corner reflectors often simulate radar RCS features by the spatial arrangement; however, their electromagnetic characteristics are solidified and the RCS features differ from those of real targets. This paper proposes a target RCS simulation method based on AFSS echo power modulation. The core idea is to use AFSS reflection modulation to dynamically regulate the target power information to achieve flexible and fast control of the target radar RCS characteristics. Based on the AFSS echo power modulation model, the theoretical relationship between the modulation parameters and the RCS value is deduced, and the duty cycle of the scattering state control signal is used as an adjustable variable to realise the simulation of the dynamic RCS sequence of the mid-range target. The RCS simulation experiment is carried out based on the target measured data, and the simulation effect is analysed in terms of statistical characteristics and similarity coefficients. The simulation results show that the statistical characteristics of the simulated RCS sequence and the target RCS sequence are very close to each other with the mean value and standard deviation within 1 dBsm and the extreme value and extreme deviation within 3 dBsm. The method is of great significance in the field of radar system tests and electronic protection.

在雷达系统的实验测试中,建立一个真实的电磁目标测试实验环境是非常重要的,这通常是通过雷达目标仿真技术来实现的。角反射器通常通过空间布置来模拟雷达RCS特征;然而,它们的电磁特性是固化的,RCS特征与真实目标不同。提出了一种基于AFSS回波功率调制的目标RCS仿真方法。其核心思想是利用AFSS反射调制对目标功率信息进行动态调节,实现对目标雷达RCS特性的灵活快速控制。基于AFSS回波功率调制模型,推导了调制参数与RCS值之间的理论关系,并以散射状态控制信号占空比作为可调变量,实现了中程目标动态RCS序列的仿真。基于目标实测数据进行了RCS仿真实验,并从统计特性和相似系数两方面分析了仿真效果。仿真结果表明,模拟RCS序列的统计特性与目标RCS序列非常接近,平均值和标准差在1 dBsm以内,极值和极值偏差在3 dBsm以内。该方法在雷达系统测试和电子防护领域具有重要意义。
{"title":"Dynamic RCS Simulation Using Active Frequency Selective Surface","authors":"Dejun Feng,&nbsp;Yumeng Fang,&nbsp;Yameng Kong,&nbsp;Junjie Wang,&nbsp;Liwei Chen","doi":"10.1049/rsn2.70027","DOIUrl":"10.1049/rsn2.70027","url":null,"abstract":"<p>In the experimental test of the radar system, it is extremely important to build a realistic experimental environment for electromagnetic target testing, which is often realised by the radar target simulation technology. Corner reflectors often simulate radar RCS features by the spatial arrangement; however, their electromagnetic characteristics are solidified and the RCS features differ from those of real targets. This paper proposes a target RCS simulation method based on AFSS echo power modulation. The core idea is to use AFSS reflection modulation to dynamically regulate the target power information to achieve flexible and fast control of the target radar RCS characteristics. Based on the AFSS echo power modulation model, the theoretical relationship between the modulation parameters and the RCS value is deduced, and the duty cycle of the scattering state control signal is used as an adjustable variable to realise the simulation of the dynamic RCS sequence of the mid-range target. The RCS simulation experiment is carried out based on the target measured data, and the simulation effect is analysed in terms of statistical characteristics and similarity coefficients. The simulation results show that the statistical characteristics of the simulated RCS sequence and the target RCS sequence are very close to each other with the mean value and standard deviation within 1 dBsm and the extreme value and extreme deviation within 3 dBsm. The method is of great significance in the field of radar system tests and electronic protection.</p>","PeriodicalId":50377,"journal":{"name":"Iet Radar Sonar and Navigation","volume":"19 1","pages":""},"PeriodicalIF":1.5,"publicationDate":"2025-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/rsn2.70027","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143905138","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"管理学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Design of Spectrally Compatible Waveforms With Low Auto- and Cross-Correlation-Weighted Integrated Sidelobe Levels 具有低自相关和互相关加权集成旁瓣电平的频谱兼容波形设计
IF 1.5 4区 管理学 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2025-05-04 DOI: 10.1049/rsn2.70024
Zhaobo Jia, Lei Yu, Yinsheng Wei

Low-correlation sidelobes are critical for spectrally compatible waveforms in multiple-input multiple-output (MIMO) radar systems. This study presents a novel algorithm for designing spectrally compatible waveforms for MIMO radar with low auto- and cross-correlation sidelobes to enhance weak target detection capability. We adopt the minimum auto- and cross-correlation-weighted integrated sidelobe level (ACWISL) as the objective function. Under spectral and constant modulus constraints, we formulate a nondeterministic polynomial time (NP)-hard problem. To solve this problem, we combine the block successive upper-bound minimisation (BSUM) and majorisation-minimisation (MM) algorithms to develop the BSUM-MM algorithm. The original problem is decomposed into several independent subproblems, which are iteratively solved using the MM algorithm. We also employ the fast Fourier transform (FFT) to significantly accelerate the calculation. Simulation results demonstrate that the proposed algorithm is superior in terms of computational efficiency and sidelobe performance.

在多输入多输出(MIMO)雷达系统中,低相关旁瓣是实现波形频谱兼容的关键。本文提出了一种设计低自相关和互相关副瓣MIMO雷达频谱兼容波形的新算法,以提高雷达对弱目标的探测能力。采用最小自相关加权综合旁瓣电平(ACWISL)作为目标函数。在谱约束和常模约束下,我们构造了一个不确定多项式时间(NP)难题。为了解决这一问题,我们将块连续上界最小化(BSUM)和最大-最小化(MM)算法结合起来,开发了BSUM-MM算法。将原问题分解为若干独立的子问题,采用MM算法迭代求解。我们还采用快速傅里叶变换(FFT)来显著加快计算速度。仿真结果表明,该算法在计算效率和旁瓣性能方面都有较好的表现。
{"title":"Design of Spectrally Compatible Waveforms With Low Auto- and Cross-Correlation-Weighted Integrated Sidelobe Levels","authors":"Zhaobo Jia,&nbsp;Lei Yu,&nbsp;Yinsheng Wei","doi":"10.1049/rsn2.70024","DOIUrl":"10.1049/rsn2.70024","url":null,"abstract":"<p>Low-correlation sidelobes are critical for spectrally compatible waveforms in multiple-input multiple-output (MIMO) radar systems. This study presents a novel algorithm for designing spectrally compatible waveforms for MIMO radar with low auto- and cross-correlation sidelobes to enhance weak target detection capability. We adopt the minimum auto- and cross-correlation-weighted integrated sidelobe level (ACWISL) as the objective function. Under spectral and constant modulus constraints, we formulate a nondeterministic polynomial time (NP)-hard problem. To solve this problem, we combine the block successive upper-bound minimisation (BSUM) and majorisation-minimisation (MM) algorithms to develop the BSUM-MM algorithm. The original problem is decomposed into several independent subproblems, which are iteratively solved using the MM algorithm. We also employ the fast Fourier transform (FFT) to significantly accelerate the calculation. Simulation results demonstrate that the proposed algorithm is superior in terms of computational efficiency and sidelobe performance.</p>","PeriodicalId":50377,"journal":{"name":"Iet Radar Sonar and Navigation","volume":"19 1","pages":""},"PeriodicalIF":1.5,"publicationDate":"2025-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/rsn2.70024","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143905139","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"管理学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Long-Tailed Distributed Radar Emitter Signal Automatic Modulation Recognition Based on Decoupled Training 基于解耦训练的长尾分布式雷达发射机信号自动调制识别
IF 1.5 4区 管理学 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2025-04-30 DOI: 10.1049/rsn2.70026
Gangyin Sun, Shiwen Chen, Li Zhang, Chaopeng Wu, Haikun Fang

The existing radar emitter modulation recognition methods typically assume that the data distribution across different types is balanced. But in reality, the number of signals of various kinds often follows a long-tail distribution, leading to model overfitting for the head classes and underfitting for the tail classes. As a result, the overall recognition performance of models under such data imbalances is suboptimal. A long-tail distribution automatic modulation recognition method based on decoupled training is proposed to address this issue. Based on the ResNeXt network, the proposed method decouples the model training process into two stages: a feature extraction phase under the imbalanced dataset and the classifier learning stage under a balanced dataset. The classifier boundary is fine-tuned by τ $tau $-normalization method. Compared to existing radar emitter modulation recognition frameworks, the proposed method achieves an overall recognition accuracy of 86.8% when the data imbalance factor is 0.01, surpassing the baseline model by 5%, and improves the performance of radar emitters modulation recognition in the real environment.

现有的雷达发射极调制识别方法通常假设不同类型的数据分布是平衡的。但在现实中,各种信号的数量往往遵循长尾分布,导致模型对头部类过拟合,对尾部类欠拟合。因此,在这种数据不平衡的情况下,模型的整体识别性能是次优的。针对这一问题,提出了一种基于解耦训练的长尾分布自动调制识别方法。该方法基于ResNeXt网络,将模型训练过程解耦为两个阶段:不平衡数据集下的特征提取阶段和平衡数据集下的分类器学习阶段。分类器边界采用τ $tau $ -归一化方法进行微调。与现有雷达发射机调制识别框架相比,当数据不平衡系数为0.01时,该方法的总体识别准确率达到86.8%,比基线模型高出5%,提高了雷达发射机调制识别在真实环境中的性能。
{"title":"Long-Tailed Distributed Radar Emitter Signal Automatic Modulation Recognition Based on Decoupled Training","authors":"Gangyin Sun,&nbsp;Shiwen Chen,&nbsp;Li Zhang,&nbsp;Chaopeng Wu,&nbsp;Haikun Fang","doi":"10.1049/rsn2.70026","DOIUrl":"10.1049/rsn2.70026","url":null,"abstract":"<p>The existing radar emitter modulation recognition methods typically assume that the data distribution across different types is balanced. But in reality, the number of signals of various kinds often follows a long-tail distribution, leading to model overfitting for the head classes and underfitting for the tail classes. As a result, the overall recognition performance of models under such data imbalances is suboptimal. A long-tail distribution automatic modulation recognition method based on decoupled training is proposed to address this issue. Based on the ResNeXt network, the proposed method decouples the model training process into two stages: a feature extraction phase under the imbalanced dataset and the classifier learning stage under a balanced dataset. The classifier boundary is fine-tuned by <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mi>τ</mi>\u0000 </mrow>\u0000 <annotation> $tau $</annotation>\u0000 </semantics></math>-normalization method. Compared to existing radar emitter modulation recognition frameworks, the proposed method achieves an overall recognition accuracy of 86.8% when the data imbalance factor is 0.01, surpassing the baseline model by 5%, and improves the performance of radar emitters modulation recognition in the real environment.</p>","PeriodicalId":50377,"journal":{"name":"Iet Radar Sonar and Navigation","volume":"19 1","pages":""},"PeriodicalIF":1.5,"publicationDate":"2025-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/rsn2.70026","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143892921","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"管理学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Guest Editorial: Selected Papers From Radar 2023—Dreaming the Radar Future 嘉宾评论:雷达2023(悉尼,澳大利亚)论文选集
IF 1.5 4区 管理学 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2025-04-28 DOI: 10.1049/rsn2.70023
Brian W.-H. Ng, Elias Aboutanios, Luke Rosenberg, Marco Martorella
<p>It is our great pleasure to introduce a series of extended papers from the 2023 IEEE International Radar Conference (RADAR 2023), 6–10 November 2023, held in Sydney, Australia. The conference theme was Dreaming the Radar Future. Befitting this theme, the conference received a diverse range of contributions from leading international researchers. A total of 200 full papers were published in the proceedings of RADAR 2023. A selection of authors from the best papers, including the winners and finalists of the best paper and best student paper competitions, were invited to submit extended journal papers for this special issue. The extended papers were required to contain at least 40% new material compared with the conference submissions and were subjected to a separate peer-review process, conducted with the same rigour as regular issues of <i>IET Radar</i>, <i>Sonar & Navigation</i>.</p><p>This special issue contains 8 papers, across a wide range of application areas. These include space domain awareness, distributed radar sensor networks, flying target detection from SAR images, clutter processing, drone characterisation, track confirmation, polarimetry for target imaging and over the horizon radar.</p><p>Achieving synchronisation presents a major challenge for the deployment of distributed network of radars. Addressing this problem can unleash the vast potential of the sensor network. Kenney et al. [<span>1</span>] present a decentralised technique for attaining frequency, time and phase synchronisation across a distributed network. The presented approach builds on a previously published method for correcting phase and clock bias, and has the advantage of not requiring RF hardware upgrades. A comprehensive theoretical analysis is presented in this paper, along with simulations, that show the proposed technique approaches the theoretical performance limit. A beamforming scenario is used to illustrate how the proposed technique can be implemented to solve a practical problem.</p><p>Tracking evasive targets present a great challenge to modern radar systems, particularly for radar resource management. This problem is highly complex, with multiple agents affecting many scenarios. Dolinger et al. [<span>2</span>] present an approach to this problem with reinforcement learning set within a game theoretic context. Three game theory strategies are implemented and tested in a simulated radar environment, with the performance compared against heuristic methods. The results show that collaborative methods achieve greater performance, and that finer nuances in the performance that point towards future research directions.</p><p>Howard and Nguyen [<span>3</span>] present a collection of techniques for manipulating the radar ambiguity function for over the horizon radar. They present a novel characterisation of the ambiguity function in terms of twisted convolutions and show how it can be transformed by an area preserving linear transformation of the dela
海事雷达探测方案通常需要了解底层杂波和噪声的协方差矩阵,通常需要对其进行估计。在实际场景中,可用的数据可能不足以估计整个矩阵,因此需要降秩方法。Gray等人使用多级韦纳滤波器,提出了一种基于最小描述长度法的估计阶段数的算法。通过仿真验证了该算法在估计秩和增强目标检测方面的有效性。近年来,随着近空间空间物体的大量出现,对近空间空间物体的有效感知得到了广泛的应用。低地球轨道(LEO)上的物体高度足够低,被动雷达可以使用地面照明灯探测它们,从而产生经济有效的解决方案。Jędrzejewski等。[8]使用这种方法与LOFAR(低频阵列)射电望远镜作为监视接收器。使用廉价的软件定义无线电捕获多个参考信号,从而实现对LEO物体的多双基地测量。这些测量相结合,以实现三维定位。实际测量结果证实了该方法的可行性,并进行了额外的模拟,提供了位置精度的估计。本期特刊中的论文是雷达应用的精彩展示。我们相信这是一个有用的收集,经验丰富的和新的研究人员一样,它不仅提供了一个国家的最先进的描述,但也可能启发优秀的新研究方向的雷达的未来。我很荣幸应邀编辑这期特刊。我们要感谢所有贡献者和IET RSN工作人员的耐心支持。作者声明无利益冲突。
{"title":"Guest Editorial: Selected Papers From Radar 2023—Dreaming the Radar Future","authors":"Brian W.-H. Ng,&nbsp;Elias Aboutanios,&nbsp;Luke Rosenberg,&nbsp;Marco Martorella","doi":"10.1049/rsn2.70023","DOIUrl":"10.1049/rsn2.70023","url":null,"abstract":"&lt;p&gt;It is our great pleasure to introduce a series of extended papers from the 2023 IEEE International Radar Conference (RADAR 2023), 6–10 November 2023, held in Sydney, Australia. The conference theme was Dreaming the Radar Future. Befitting this theme, the conference received a diverse range of contributions from leading international researchers. A total of 200 full papers were published in the proceedings of RADAR 2023. A selection of authors from the best papers, including the winners and finalists of the best paper and best student paper competitions, were invited to submit extended journal papers for this special issue. The extended papers were required to contain at least 40% new material compared with the conference submissions and were subjected to a separate peer-review process, conducted with the same rigour as regular issues of &lt;i&gt;IET Radar&lt;/i&gt;, &lt;i&gt;Sonar &amp; Navigation&lt;/i&gt;.&lt;/p&gt;&lt;p&gt;This special issue contains 8 papers, across a wide range of application areas. These include space domain awareness, distributed radar sensor networks, flying target detection from SAR images, clutter processing, drone characterisation, track confirmation, polarimetry for target imaging and over the horizon radar.&lt;/p&gt;&lt;p&gt;Achieving synchronisation presents a major challenge for the deployment of distributed network of radars. Addressing this problem can unleash the vast potential of the sensor network. Kenney et al. [&lt;span&gt;1&lt;/span&gt;] present a decentralised technique for attaining frequency, time and phase synchronisation across a distributed network. The presented approach builds on a previously published method for correcting phase and clock bias, and has the advantage of not requiring RF hardware upgrades. A comprehensive theoretical analysis is presented in this paper, along with simulations, that show the proposed technique approaches the theoretical performance limit. A beamforming scenario is used to illustrate how the proposed technique can be implemented to solve a practical problem.&lt;/p&gt;&lt;p&gt;Tracking evasive targets present a great challenge to modern radar systems, particularly for radar resource management. This problem is highly complex, with multiple agents affecting many scenarios. Dolinger et al. [&lt;span&gt;2&lt;/span&gt;] present an approach to this problem with reinforcement learning set within a game theoretic context. Three game theory strategies are implemented and tested in a simulated radar environment, with the performance compared against heuristic methods. The results show that collaborative methods achieve greater performance, and that finer nuances in the performance that point towards future research directions.&lt;/p&gt;&lt;p&gt;Howard and Nguyen [&lt;span&gt;3&lt;/span&gt;] present a collection of techniques for manipulating the radar ambiguity function for over the horizon radar. They present a novel characterisation of the ambiguity function in terms of twisted convolutions and show how it can be transformed by an area preserving linear transformation of the dela","PeriodicalId":50377,"journal":{"name":"Iet Radar Sonar and Navigation","volume":"19 1","pages":""},"PeriodicalIF":1.5,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/rsn2.70023","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143880164","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"管理学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Fusion of HRRP Time-Frequency Analysis and Multi-Scale Features for Convolutional Neural Network-Based Target Recognition 融合HRRP时频分析和多尺度特征的卷积神经网络目标识别
IF 1.5 4区 管理学 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2025-04-22 DOI: 10.1049/rsn2.70019
Xiaohui Wei, Zhulin Zong

For radar target recognition in high-resolution range profiles (HRRP) under low signal-to-noise ratio (SNR) conditions, traditional methods typically involve denoising followed by recognition. However, these methods struggle with complex noise. To enhance HRRP information extraction, this paper proposes an integrated approach combining noise reduction and recognition. First, the short-time Fourier transform (STFT) is improved with a complex Gaussian window to enhance time-frequency resolution. Then, multi-scale analysis is applied by introducing scale values to better capture detailed target features. Differential operations are used to highlight scattering points and edges, improving recognition accuracy. A convolutional neural network (CNN) is employed to extract multi-level features for target recognition. Experimental results on a simulated HRRP dataset from the U.S. Air Force Research Laboratory (AFRL) demonstrate the proposed method's superior performance. It outperforms traditional methods in both accuracy and robustness, offering stronger noise resistance and better utilisation of HRRP's rich features, providing an effective solution for radar target recognition tasks.

对于低信噪比条件下的高分辨率距离像(HRRP)雷达目标识别,传统方法通常是先去噪再识别。然而,这些方法与复杂的噪声作斗争。为了提高HRRP信息的提取效率,本文提出了一种降噪与识别相结合的综合方法。首先,利用复高斯窗对短时傅里叶变换(STFT)进行改进,提高时频分辨率;然后,通过引入尺度值,应用多尺度分析,更好地捕捉目标的细节特征;利用差分运算突出散射点和边缘,提高识别精度。采用卷积神经网络(CNN)提取多层次特征进行目标识别。在美国空军研究实验室(AFRL)的模拟HRRP数据集上的实验结果证明了该方法的优越性能。该方法在精度和鲁棒性上均优于传统方法,具有更强的抗噪能力和更好地利用HRRP的丰富特性,为雷达目标识别任务提供了有效的解决方案。
{"title":"Fusion of HRRP Time-Frequency Analysis and Multi-Scale Features for Convolutional Neural Network-Based Target Recognition","authors":"Xiaohui Wei,&nbsp;Zhulin Zong","doi":"10.1049/rsn2.70019","DOIUrl":"10.1049/rsn2.70019","url":null,"abstract":"<p>For radar target recognition in high-resolution range profiles (HRRP) under low signal-to-noise ratio (SNR) conditions, traditional methods typically involve denoising followed by recognition. However, these methods struggle with complex noise. To enhance HRRP information extraction, this paper proposes an integrated approach combining noise reduction and recognition. First, the short-time Fourier transform (STFT) is improved with a complex Gaussian window to enhance time-frequency resolution. Then, multi-scale analysis is applied by introducing scale values to better capture detailed target features. Differential operations are used to highlight scattering points and edges, improving recognition accuracy. A convolutional neural network (CNN) is employed to extract multi-level features for target recognition. Experimental results on a simulated HRRP dataset from the U.S. Air Force Research Laboratory (AFRL) demonstrate the proposed method's superior performance. It outperforms traditional methods in both accuracy and robustness, offering stronger noise resistance and better utilisation of HRRP's rich features, providing an effective solution for radar target recognition tasks.</p>","PeriodicalId":50377,"journal":{"name":"Iet Radar Sonar and Navigation","volume":"19 1","pages":""},"PeriodicalIF":1.5,"publicationDate":"2025-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/rsn2.70019","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143861544","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"管理学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Power and Waveform Resource Allocation Method of LPI Netted Radar for Target Search and Tracking LPI网雷达目标搜索与跟踪功率与波形资源分配方法
IF 1.5 4区 管理学 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2025-04-19 DOI: 10.1049/rsn2.70022
Longhao Xie, Wenxing Ren, Ziyang Cheng, Ming Li, Huiyong Li

A joint power and waveform resource allocation algorithm is proposed for netted radar integrated search and tracking tasks with low probability of intercept. For the search and tracking performance, the detection probability and the posterior Cramér-Rao lower bound of the target are adopted separately. The optimization problem of joint resource allocation is solved by controlling the radar node selection, power allocation, waveform selection, and pulse duration, to minimise the total power of the netted radar while meeting the search and tracking performance for a given target. The intelligent optimization methods are used to solve the problem, and the effectiveness of the proposed method is verified by simulation.

针对拦截概率较低的网状雷达综合搜索和跟踪任务,提出了一种联合功率和波形资源分配算法。对于搜索和跟踪性能,分别采用目标的探测概率和后验 Cramér-Rao 下限。通过控制雷达节点选择、功率分配、波形选择和脉冲持续时间,解决联合资源分配的优化问题,在满足给定目标搜索和跟踪性能的同时,使网状雷达的总功率最小。采用智能优化方法解决该问题,并通过仿真验证了所提方法的有效性。
{"title":"Power and Waveform Resource Allocation Method of LPI Netted Radar for Target Search and Tracking","authors":"Longhao Xie,&nbsp;Wenxing Ren,&nbsp;Ziyang Cheng,&nbsp;Ming Li,&nbsp;Huiyong Li","doi":"10.1049/rsn2.70022","DOIUrl":"10.1049/rsn2.70022","url":null,"abstract":"<p>A joint power and waveform resource allocation algorithm is proposed for netted radar integrated search and tracking tasks with low probability of intercept. For the search and tracking performance, the detection probability and the posterior Cramér-Rao lower bound of the target are adopted separately. The optimization problem of joint resource allocation is solved by controlling the radar node selection, power allocation, waveform selection, and pulse duration, to minimise the total power of the netted radar while meeting the search and tracking performance for a given target. The intelligent optimization methods are used to solve the problem, and the effectiveness of the proposed method is verified by simulation.</p>","PeriodicalId":50377,"journal":{"name":"Iet Radar Sonar and Navigation","volume":"19 1","pages":""},"PeriodicalIF":1.5,"publicationDate":"2025-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/rsn2.70022","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143850985","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"管理学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
An Alternative Approach for Pseudorange Variance Estimation Under Scintillation Environments Using Markov-Rao-Blackwellized Particle Filtering 闪烁环境下一种基于马尔可夫- rao -黑威尔化粒子滤波的伪方差估计方法
IF 1.5 4区 管理学 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2025-04-14 DOI: 10.1049/rsn2.70017
Paulo Silva, Marcelo G. S. Bruno, Victor di Santis, Alison Moraes, Jonas Sousasantos, Leonardo Marini-Pereira

Ionospheric scintillations, arising from variations in phase/amplitude of radio signals traversing the ionosphere, pose significant challenges to Global Navigation Satellite System (GNSS) positioning, particularly in low-latitude regions. This paper proposes a Rao-Blackwellized Particle Filter (RBPF) integrated with a Markov chain model to comprehensively characterise and mitigate the impact of ionospheric scintillation on GNSS positioning. Unlike traditional methods, the Markov-RBPF framework offers enhanced versatility in assessing scintillation dynamics both spatially and temporally, allowing for precise modelling of scintillation evolution over varying nighttime hours and months of the year. Through simulations, the authors demonstrate the superior performance of the proposed Markov-RBPF compared to conventional Extended Kalman Filters (EKF), with position root-mean-square errors below 2 m in a scenario of strong scintillation events in October 2014. This showcases its robustness and versatility in improving GNSS positioning accuracy amidst challenging ionospheric conditions.

电离层闪烁是由穿越电离层的无线电信号的相位/振幅变化引起的,对全球导航卫星系统(GNSS)的定位构成了重大挑战,特别是在低纬度地区。为了全面表征和减轻电离层闪烁对GNSS定位的影响,提出了一种结合马尔可夫链模型的Rao-Blackwellized Particle Filter (RBPF)。与传统方法不同,Markov-RBPF框架在评估空间和时间上的闪烁动力学方面提供了增强的多功能性,允许在不同的夜间时间和一年中不同的月份对闪烁演化进行精确建模。通过仿真,作者证明了所提出的Markov-RBPF与传统的扩展卡尔曼滤波器(EKF)相比具有优越的性能,在2014年10月的强闪烁事件场景中,位置均方根误差小于2 m。这显示了其在具有挑战性的电离层条件下提高GNSS定位精度的鲁棒性和多功能性。
{"title":"An Alternative Approach for Pseudorange Variance Estimation Under Scintillation Environments Using Markov-Rao-Blackwellized Particle Filtering","authors":"Paulo Silva,&nbsp;Marcelo G. S. Bruno,&nbsp;Victor di Santis,&nbsp;Alison Moraes,&nbsp;Jonas Sousasantos,&nbsp;Leonardo Marini-Pereira","doi":"10.1049/rsn2.70017","DOIUrl":"10.1049/rsn2.70017","url":null,"abstract":"<p>Ionospheric scintillations, arising from variations in phase/amplitude of radio signals traversing the ionosphere, pose significant challenges to Global Navigation Satellite System (GNSS) positioning, particularly in low-latitude regions. This paper proposes a Rao-Blackwellized Particle Filter (RBPF) integrated with a Markov chain model to comprehensively characterise and mitigate the impact of ionospheric scintillation on GNSS positioning. Unlike traditional methods, the Markov-RBPF framework offers enhanced versatility in assessing scintillation dynamics both spatially and temporally, allowing for precise modelling of scintillation evolution over varying nighttime hours and months of the year. Through simulations, the authors demonstrate the superior performance of the proposed Markov-RBPF compared to conventional Extended Kalman Filters (EKF), with position root-mean-square errors below 2 m in a scenario of strong scintillation events in October 2014. This showcases its robustness and versatility in improving GNSS positioning accuracy amidst challenging ionospheric conditions.</p>","PeriodicalId":50377,"journal":{"name":"Iet Radar Sonar and Navigation","volume":"19 1","pages":""},"PeriodicalIF":1.5,"publicationDate":"2025-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/rsn2.70017","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143831316","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"管理学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Polarimetry for Sparse Multistatic 3D SAR 稀疏多静态三维SAR的偏振测量
IF 1.5 4区 管理学 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2025-04-10 DOI: 10.1049/rsn2.70020
Richard Welsh, Daniel Andre, Mark Finnis

There is significant interest in multistatic SAR image formation, due to the increased development of satellite constellations and UAV swarms for remote sensing applications. The exploitation of the finer resolution and wider coverage of these geometries has been shown to reduce the often-impractical data collection requirements of 3D SAR imagery; this offers advantages such as improved target identification and the removal of layover artefacts. This paper presents a novel polarimetric generalisation of the SSARVI algorithm, which was previously developed to exploit sparse aperture multistatic collections for 3D SAR image formation. The new algorithm presented here, named the PolSSARVI algorithm, combines polarimetrically weighted interferograms for determining the 3D scatterer locations from sparse aperture polarimetric collections. The bistatic generalised Huynen fork polarimetric parameters are then determined for the multistatic PolSSARVI 3D SAR renderings. This new approach was tested on both simulated and experimental data. Experimental imagery was formed using measurements from the Cranfield GBSAR laboratory.

由于卫星星座和用于遥感应用的无人机群的发展增加,对多静态SAR图像形成有很大的兴趣。利用这些几何形状的更精细的分辨率和更广泛的覆盖范围已被证明可以减少3D SAR图像通常不切实际的数据收集要求;这提供了诸如改进目标识别和去除中途停留伪影等优点。本文提出了一种新的SSARVI算法的偏振推广,该算法以前是为了利用稀疏孔径多静态集合进行三维SAR图像生成而开发的。本文提出的新算法PolSSARVI算法结合偏振加权干涉图,从稀疏孔径偏振集中确定3D散射体位置。然后为多静态PolSSARVI 3D SAR效果图确定双基地广义惠嫩叉偏振参数。该方法在模拟数据和实验数据上进行了验证。实验图像是利用克兰菲尔德GBSAR实验室的测量数据形成的。
{"title":"Polarimetry for Sparse Multistatic 3D SAR","authors":"Richard Welsh,&nbsp;Daniel Andre,&nbsp;Mark Finnis","doi":"10.1049/rsn2.70020","DOIUrl":"10.1049/rsn2.70020","url":null,"abstract":"<p>There is significant interest in multistatic SAR image formation, due to the increased development of satellite constellations and UAV swarms for remote sensing applications. The exploitation of the finer resolution and wider coverage of these geometries has been shown to reduce the often-impractical data collection requirements of 3D SAR imagery; this offers advantages such as improved target identification and the removal of layover artefacts. This paper presents a novel polarimetric generalisation of the SSARVI algorithm, which was previously developed to exploit sparse aperture multistatic collections for 3D SAR image formation. The new algorithm presented here, named the PolSSARVI algorithm, combines polarimetrically weighted interferograms for determining the 3D scatterer locations from sparse aperture polarimetric collections. The bistatic generalised Huynen fork polarimetric parameters are then determined for the multistatic PolSSARVI 3D SAR renderings. This new approach was tested on both simulated and experimental data. Experimental imagery was formed using measurements from the Cranfield GBSAR laboratory.</p>","PeriodicalId":50377,"journal":{"name":"Iet Radar Sonar and Navigation","volume":"19 1","pages":""},"PeriodicalIF":1.5,"publicationDate":"2025-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/rsn2.70020","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143818409","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"管理学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
期刊
Iet Radar Sonar and Navigation
全部 Acc. Chem. Res. ACS Applied Bio Materials ACS Appl. Electron. Mater. ACS Appl. Energy Mater. ACS Appl. Mater. Interfaces ACS Appl. Nano Mater. ACS Appl. Polym. Mater. ACS BIOMATER-SCI ENG ACS Catal. ACS Cent. Sci. ACS Chem. Biol. ACS Chemical Health & Safety ACS Chem. Neurosci. ACS Comb. Sci. ACS Earth Space Chem. ACS Energy Lett. ACS Infect. Dis. ACS Macro Lett. ACS Mater. Lett. ACS Med. Chem. Lett. ACS Nano ACS Omega ACS Photonics ACS Sens. ACS Sustainable Chem. Eng. ACS Synth. Biol. Anal. Chem. BIOCHEMISTRY-US Bioconjugate Chem. BIOMACROMOLECULES Chem. Res. Toxicol. Chem. Rev. Chem. Mater. CRYST GROWTH DES ENERG FUEL Environ. Sci. Technol. Environ. Sci. Technol. Lett. Eur. J. Inorg. Chem. IND ENG CHEM RES Inorg. Chem. J. Agric. Food. Chem. J. Chem. Eng. Data J. Chem. Educ. J. Chem. Inf. Model. J. Chem. Theory Comput. J. Med. Chem. J. Nat. Prod. J PROTEOME RES J. Am. Chem. Soc. LANGMUIR MACROMOLECULES Mol. Pharmaceutics Nano Lett. Org. Lett. ORG PROCESS RES DEV ORGANOMETALLICS J. Org. Chem. J. Phys. Chem. J. Phys. Chem. A J. Phys. Chem. B J. Phys. Chem. C J. Phys. Chem. Lett. Analyst Anal. Methods Biomater. Sci. Catal. Sci. Technol. Chem. Commun. Chem. Soc. Rev. CHEM EDUC RES PRACT CRYSTENGCOMM Dalton Trans. Energy Environ. Sci. ENVIRON SCI-NANO ENVIRON SCI-PROC IMP ENVIRON SCI-WAT RES Faraday Discuss. Food Funct. Green Chem. Inorg. Chem. Front. Integr. Biol. J. Anal. At. Spectrom. J. Mater. Chem. A J. Mater. Chem. B J. Mater. Chem. C Lab Chip Mater. Chem. Front. Mater. Horiz. MEDCHEMCOMM Metallomics Mol. Biosyst. Mol. Syst. Des. Eng. Nanoscale Nanoscale Horiz. Nat. Prod. Rep. New J. Chem. Org. Biomol. Chem. Org. Chem. Front. PHOTOCH PHOTOBIO SCI PCCP Polym. Chem.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1