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CN-115792844-B - Method and system for selecting radar track withdrawal small search wave position

CN115792844BCN 115792844 BCN115792844 BCN 115792844BCN-115792844-B

Abstract

The invention provides a method and a system for selecting a radar track withdrawal small search wave position, comprising the steps of calculating the wave position of the radar track withdrawal position; the method comprises the steps of acquiring the surrounding wave position of the wave position, calculating the vertical line according to the target extrapolation position and the target heading, and calculating the wave position required to be searched by the radar track canceling small search according to the target heading, the vertical line and the surrounding wave position. According to the method for calculating the surrounding wave position of the target, the wave position of the small search is reduced, and then the wave position of the small search is further reduced according to the target heading, so that resources are saved. The small wave position searching mode is adopted to improve the stability of target tracking.

Inventors

  • CHEN HONGKUN
  • LI ZHENGHANG
  • YANG TING
  • DONG HU
  • ZHANG XIAO

Assignees

  • 中国兵器装备集团上海电控研究所

Dates

Publication Date
20260508
Application Date
20221027

Claims (6)

  1. 1. The method for selecting the radar track withdrawal small search wave position is characterized by comprising the following steps of: S1, calculating a wave position of a radar track withdrawal position; S2, acquiring surrounding wave positions of the wave positions; s3, calculating a vertical line according to the target extrapolation position and the target heading; s4, calculating a wave position to be searched for the radar track cancellation small search according to the target course, the vertical line and the surrounding wave position; s5, performing target tracking according to the calculated wave position; the step S4 includes: and S4.1, writing the vertical equation into a general formula, wherein the calculation formula is as follows: s4.2, calculating all wave positions in the set of surrounding wave positions, so as to obtain wave positions needing searching for the radar track cancellation small search; The step S4.2 includes: step S4.2.1, calculate and record when When the vertical line equation is smaller than or equal to 0 wave position; step S4.2.2, calculate and record when When the vertical line equation is greater than or equal to 0 wave position; Step S4.2.3. Calculate and record, In the time-course of which the first and second contact surfaces, Wave position of (b) , When (1) In the time-course of which the first and second contact surfaces, Wave position of (b) In the time-course of which the first and second contact surfaces, ; Step S4.2.4, calculating and recording wave positions with the distance from the center of the wave position to the vertical line being less than or equal to BW, wherein the calculation formula is as follows: Wherein, the Representing the beam width of the wave position, The angle of the target course is indicated, Representing the azimuth of the target track withdrawal position, Representing the target track withdrawal position pitch angle, Representing the calculated azimuth of the center of the wave position, Representing the calculated wave level center pitch angle.
  2. 2. The method for selecting a radar track withdrawal wavelet bit according to claim 1, wherein said step S1 comprises: step S1.1 recording wave position satisfying the following formula : Wherein the target track withdrawal location , The position of the wave position is indicated, Representing the azimuth of the target track withdrawal position, Representing pitch angle of target track withdrawal position and wave position , Representing the number of rows of wave bits, The number of wave bit columns is represented, Representing the azimuth of the wave position, Representing the pitch angle of the wave position, Representing the beamwidth of the wave bits; Step S1.2, according to the wave position recorded in the step S1.1, calculating the wave position where the radar track withdrawal position is located, wherein the calculation formula is as follows: Wherein, the Representing the wave position coordinates of the radar track withdrawal position, The line number in which the wave position is located is indicated, Respectively represent the column numbers where the wave positions are located, () Representing taking the smallest function.
  3. 3. The method for selecting a radar track withdrawal wavelet bit according to claim 1, wherein said step S3 comprises: s3.1, judging the angle of a target route; And S3.2, calculating a vertical equation according to the angle as follows: Wherein, the Representing the pitch angle of the light, Indicating the azimuth angle of the beam, Representing the angle of the target course when =0° Or When the equation of the vertical line is 180 DEG, the equation of the vertical line is When (1) =90° Or When=270°, the vertical equation is , Representing the azimuth of the target track withdrawal position, Representing the target track withdrawal position pitch angle.
  4. 4.A radar track withdrawal wavelet bit selection system, comprising: the module M1 is used for calculating a wave position where the radar track withdrawal position is located; the module M2 is used for acquiring the surrounding wave position of the wave position; The module M3 calculates a vertical line according to the target extrapolation position and the target heading; the module M4 calculates the wave position to be searched for the radar track cancellation small search according to the target course, the vertical line and the surrounding wave position; the module M5 is used for carrying out target tracking according to the calculated wave position; The module M4 includes: And (4) writing the vertical equation into a general formula, wherein the calculation formula is as follows: calculating all wave positions in the set of surrounding wave positions to obtain wave positions needing searching for the radar track cancellation small search; the module M4.2 comprises: module M4.2.1 calculates and records when When the vertical line equation is smaller than or equal to 0 wave position; Module M4.2.2 calculates and records when When the vertical line equation is greater than or equal to 0 wave position; a module M4.2.3 calculates and records the calculation result, In the time-course of which the first and second contact surfaces, Wave position of (b) , When (1) In the time-course of which the first and second contact surfaces, Wave position of (b) In the time-course of which the first and second contact surfaces, ; And a module M4.2.4, calculating and recording wave positions with the distance from the center of the wave position to the vertical line being less than or equal to BW, wherein the calculation formula is as follows: Wherein, the Representing the beam width of the wave position, The angle of the target course is indicated, Representing the azimuth of the target track withdrawal position, Representing the target track withdrawal position pitch angle, Representing the calculated azimuth of the center of the wave position, Representing the calculated wave level center pitch angle.
  5. 5. The radar track withdrawal small search space selection system according to claim 4, wherein the module M1 comprises: Module M1.1 records the wave position satisfying the following formula : Wherein the target track withdrawal location , The position of the wave position is indicated, Representing the azimuth of the target track withdrawal position, Representing pitch angle of target track withdrawal position and wave position , Representing the number of rows of wave bits, The number of wave bit columns is represented, Representing the azimuth of the wave position, Representing the pitch angle of the wave position, Representing the beamwidth of the wave bits; The module M1.2 calculates the wave position of the radar track withdrawal position according to the wave position recorded in the module M1.1, and the calculation formula is as follows: Wherein, the Representing the wave position coordinates of the radar track withdrawal position, The line number in which the wave position is located is indicated, Respectively represent the column numbers where the wave positions are located, () Representing taking the smallest function.
  6. 6. The radar track withdrawal small search space selection system according to claim 4, wherein the module M3 comprises: judging the angle of a target route by a module M3.1; module M3.2, according to said angle, calculates the equation of the perpendicular as follows: Wherein, the Representing the pitch angle of the light, Indicating the azimuth angle of the beam, Representing the angle of the target course when =0° Or When the equation of the vertical line is 180 DEG, the equation of the vertical line is When (1) =90° Or When=270°, the vertical equation is , Representing the azimuth of the target track withdrawal position, Representing the target track withdrawal position pitch angle.

Description

Method and system for selecting radar track withdrawal small search wave position Technical Field The invention relates to the technical field of radar detection, in particular to a method and a system for selecting a radar track withdrawal small search wave position. Background With the development of radar systems, phased array radars are becoming more and more popular today due to their powerful capabilities. The target can influence the stability of tracking of the detected target when turning at a large angle and rapidly, so that the judgment of an operator is influenced, and particularly, the radar track cancellation operation can be triggered after the target track is lost for a plurality of times. Patent document CN114325684a discloses a variable data rate tracking method of a rotary phased array radar based on a target priori parameter, based on the target priori parameter, including the maximum maneuvering acceleration and maximum navigational speed of the target, the maximum tracking residual error generated by the maneuvering of the target on the current distance of the target is calculated in real time, the coverage of the tracking beam width of the radar to the target is ensured, and the maximum tracking data rate is calculated. However, in the prior art, the target track is generally directly withdrawn or the target adjacent wave bit range is adopted for small search. Resulting in reduced stability and inefficiency of target tracking. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to provide a method and a system for selecting a radar track withdrawal small search wave position. The invention provides a method for selecting a radar track withdrawal small search wave position, which comprises the following steps: S1, calculating a wave position of a radar track withdrawal position; S2, acquiring surrounding wave positions of the wave positions; s3, calculating a vertical line according to the target extrapolation position and the target heading; s4, calculating a wave position to be searched for the radar track cancellation small search according to the target course, the vertical line and the surrounding wave position; And S5, performing target tracking according to the calculated wave position. Preferably, the step S1 includes: Step S1.1, recording the wave position p i,j meeting the following formula: Wherein the target track withdrawal location P represents the wave position, θ 0 represents the target track withdrawal position azimuth,Representing pitch angle of target track withdrawal position and wave positionN row represents the number of rows of wave bits, N col represents the number of columns of wave bits, θ represents the azimuth angle of wave bits,Representing pitch angle of the wave bit, and BW represents beam width of the wave bit; Step S1.2, according to the wave position recorded in the step S1.1, calculating the wave position where the radar track withdrawal position is located, wherein the calculation formula is as follows: Wherein p a,b represents the wave position coordinate where the radar track withdrawal position is located, a represents the row number where the wave position is located, b represents the column number where the wave position is located, and min () represents the minimum function. Preferably, the step S3 includes: s3.1, judging the angle of a target route; And S3.2, calculating a vertical equation according to the angle as follows: Wherein y represents a pitch angle, x represents an azimuth angle, and ranging represents an angle of a target course, and when ranging from 0 DEG to ranging from 180 DEG, the vertical equation is When header=90° or header=270°, the vertical equation is x=θ, θ 0 denotes the target track withdrawal position azimuth,Representing the target track withdrawal position pitch angle. Preferably, the step S4 includes: and S4.1, writing the vertical equation into a general formula, wherein the calculation formula is as follows: And S4.2, calculating all wave positions in the set of surrounding wave positions, thereby obtaining the wave positions which need to be searched by the radar track cancellation small search. Preferably, the step S4.2 includes: Step S4.2.1, calculating and recording, wherein when 0< head <90 or 270< head <360, the vertical equation is less than or equal to 0 wave bit; Step S4.2.2, calculating and recording, wherein when 90< head <180 or 180< head <270, the vertical equation is greater than or equal to 0 wave bit; Step S4.2.3, calculate and record, when header=0, When adding=90, θ is larger than or equal to the wave level of θ 0, when adding=180,When adding=270, θ is smaller than or equal to the wave position of θ 0; step S4.2.4, calculating and recording wave positions with the distance from the center of the wave position to the vertical line being less than or equal to BW, wherein the calculation formula is as follows: where BW represents the beam width of the wave position, h