Radar compensation control method and device

Abstract

The disclosed embodiment is about a radar compensation control method and device. The method includes: according to the signal processing return angle error, obtaining the target information at the current moment, and converting the target information to the array polar coordinate system to obtain the target information in the array polar coordinate system, wherein the target information includes target distance information and target azimuth information. The disclosed embodiment can obtain the target distance information and target azimuth information of the target in the array polar coordinate system according to the signal processing return angle error, and then convert it to the platform geographic rectangular coordinate system, introduce the three-attitude angle information of the tank, compensate it to the platform geographic polar coordinate system, and finally convert it to the array polar coordinate system, so as to achieve that no matter whether the tank is stationary or moving, the radar tracking closed loop and coordinate conversion design method are consistent, and the target distance information and target azimuth information of the radar tracking target in the array polar coordinate system are accurately obtained.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of radio technology, and in particular to a radar compensation control method and device. Background Art

[0002] With the development of equipment and the transformation of military concepts, the combat mode of modern warfare is very different from the traditional one, which requires the radar system to have rapid response capability and the combat method to change from static warfare to mobile and flexible mobile warfare. Compared with fixed-station radar, moving radar has rapid response capability. While maintaining the ability to detect aerial targets, it can effectively avoid the enemy's precise strikes and deal with more incoming targets in a unit of time.

[0003] In the related technology, the vehicle body needs to be in a stationary state when the fixed radar is working, and the fixed timing resources are arranged according to the control instructions output by the system. After the launch command, the radar intercepts, tracks and measures the missile by receiving the reply signal of the radio control detector, processes the coordinate parameters used for guidance and calculates the control correction instructions in real time, and sends uplink command information to the missile, while outputting the missile status information to the weapon system. Its advantages lie in mature technology and rich engineering experience, but once the vehicle body is in a moving state, the offset of the vehicle body platform relative to the earth coordinate system will affect the detection performance and measurement parameters of the target and missile, and it does not have the function of target capture and tracking, missile guidance tracking and target guidance during movement. From the existing technology and current model products, there are no achievements in the detection and control technology of the guided radar during movement.

[0004] Therefore, it is necessary to improve one or more problems existing in the above-mentioned related technical solutions.

[0005] It should be noted that this section is intended to provide background or context for the technical solutions of the present disclosure stated in the claims. The description herein is not admitted to be prior art by virtue of being included in this section. Summary of the invention

[0006] The purpose of the embodiments of the present disclosure is to provide a radar compensation control method and device, thereby overcoming one or more problems caused by the limitations and defects of the related art at least to a certain extent.

[0007] According to a first aspect of an embodiment of the present disclosure, a radar compensation control method is provided, the method comprising:

[0008] According to the signal processing return angle error, the target information at the current moment is obtained, and the target information is converted into the array polar coordinate system to obtain the target information in the array polar coordinate system, wherein the target information includes target distance information and target azimuth information;

[0009] Acquire antenna pitch angle information, and convert the antenna pitch angle information and target information in the array polar coordinate system into the platform geographic rectangular coordinate system to obtain target information and antenna pitch angle information in the platform geographic rectangular coordinate system;

[0010] Acquire the three-attitude angle information of the current combat vehicle, and convert the three-attitude angle information and the target information and antenna pitch angle information in the platform geographic rectangular coordinate system into the platform geographic polar coordinate system by compensation, so as to obtain the target information, antenna pitch angle information and three-attitude angle information in the platform geographic polar coordinate system;

[0011] Convert the target information, antenna pitch angle information and three-attitude angle information in the platform geographic polar coordinate system into the platform geographic rectangular coordinate system to obtain the target information, antenna pitch angle information and three-attitude angle information in the platform geographic rectangular coordinate system;

[0012] The target information, antenna pitch angle information and three attitude angle information in the platform geographic rectangular coordinate system are converted to the array polar coordinate system to obtain the target information of the current target in the array polar coordinate system.

[0013] In one embodiment of the present disclosure, the step of acquiring antenna pitch angle information, converting the antenna pitch angle information and target information in the array polar coordinate system to the platform geographic rectangular coordinate system, and obtaining the target information and antenna pitch angle information in the platform geographic rectangular coordinate system includes:

[0014] Antenna pitch angle information is acquired, and the antenna pitch angle information and target information in the array polar coordinate system are converted into a servo polar coordinate system to obtain target information and antenna pitch angle information in the servo polar coordinate system.

[0015] In one embodiment of the present disclosure, the step of acquiring antenna pitch angle information, converting the antenna pitch angle information and target information in the array polar coordinate system to the platform geographic rectangular coordinate system, and obtaining the target information and antenna pitch angle information in the platform geographic rectangular coordinate system also includes:

[0016] The target information and the antenna pitch angle information in the servo polar coordinate system are converted into the servo rectangular coordinate system to obtain the target information and the antenna pitch angle information in the servo rectangular coordinate system.

[0017] In one embodiment of the present disclosure, the step of acquiring antenna pitch angle information, converting the antenna pitch angle information and target information in the array polar coordinate system to the platform geographic rectangular coordinate system, and obtaining the target information and antenna pitch angle information in the platform geographic rectangular coordinate system also includes:

[0018] The target information and antenna pitch angle information in the servo rectangular coordinate system are converted to the platform geographic rectangular coordinate system to obtain the target information and antenna pitch angle information in the platform geographic rectangular coordinate system.

[0019] In one embodiment of the present disclosure, the three attitude angle information includes yaw angle information, pitch angle information and roll angle information.

[0020] According to a second aspect of an embodiment of the present disclosure, a radar compensation control device is provided, the device comprising:

[0021] The first coordinate conversion module is used to obtain the target information at the current moment according to the signal processing return angle error, and convert the target information into the array polar coordinate system to obtain the target information in the array polar coordinate system;

[0022] The second coordinate conversion module is used to obtain antenna pitch angle information, and convert the antenna pitch angle information and the target information in the array polar coordinate system into the platform geographic rectangular coordinate system to obtain the target information and antenna pitch angle information in the platform geographic rectangular coordinate system, wherein the target information includes target distance information and target azimuth information;

[0023] The third coordinate conversion module obtains the three-attitude angle information of the current vehicle, and converts the three-attitude angle information and the target information and antenna pitch angle information in the platform geographic rectangular coordinate system into the platform geographic polar coordinate system to obtain the target information, antenna pitch angle information and three-attitude angle information in the platform geographic polar coordinate system;

[0024] A fourth coordinate conversion module converts the target information, antenna pitch angle information and three-attitude angle information in the platform geographic polar coordinate system into the platform geographic rectangular coordinate system to obtain the target information, antenna pitch angle information and three-attitude angle information in the platform geographic rectangular coordinate system;

[0025] The fifth coordinate conversion module converts the target information, antenna pitch angle information and three-attitude angle information in the platform geographic rectangular coordinate system into the array polar coordinate system to obtain the target information of the current target in the array polar coordinate system.

[0026] In one embodiment of the present disclosure, the second coordinate conversion module includes:

[0027] The servo polar coordinate conversion module is used to obtain antenna pitch angle information, and convert the antenna pitch angle information and target information in the array polar coordinate system into the servo polar coordinate system to obtain target information and antenna pitch angle information in the servo polar coordinate system.

[0028] In one embodiment of the present disclosure, the second coordinate conversion module includes:

[0029] The servo rectangular coordinate conversion module is used to convert the target information and antenna pitch angle information in the servo polar coordinate system to the servo rectangular coordinate system to obtain the target information and antenna pitch angle information in the servo rectangular coordinate system.

[0030] In one embodiment of the present disclosure, the second coordinate conversion module includes:

[0031] The array polar coordinate conversion module is used to convert the target information and antenna pitch angle information in the servo rectangular coordinate system to the platform geographic rectangular coordinate system to obtain the target information and antenna pitch angle information in the platform geographic rectangular coordinate system.

[0032] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0033] In the embodiment of the present disclosure, through the above-mentioned radar compensation control method, the target distance information and target azimuth information of the target in the array polar coordinate system are obtained according to the signal processing return angle error, and then converted to the platform geographic rectangular coordinate system, and the three-attitude angle information of the tank is introduced, compensated to the platform geographic polar coordinate system, and finally converted to the array polar coordinate system, so that no matter whether the tank is stationary or moving, the radar tracking closed loop and coordinate conversion design method are consistent, and the target distance information and target azimuth information of the radar tracking target in the array polar coordinate system are accurately obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0035] Figure 1 A flow chart showing a radar compensation control method in an exemplary embodiment of the present disclosure;

[0036] Figure 2 A schematic diagram showing a coordinate transformation model of a radar compensation control method in an exemplary embodiment of the present disclosure;

[0037] Figure 3 A schematic diagram of a combat vehicle body coordinate system in an exemplary embodiment of the present disclosure is shown;

[0038] Figure 4 A schematic diagram showing a platform coordinate system and a combat vehicle body coordinate system in an exemplary embodiment of the present disclosure is shown;

[0039] Figure 5 A schematic diagram showing a platform coordinate system and a platform geographic coordinate system in an exemplary embodiment of the present disclosure is shown;

[0040] Figure 6 A schematic diagram of a rectangular coordinate system of a front face in an exemplary embodiment of the present disclosure is shown;

[0041] Figure 7 A schematic diagram of a polar coordinate system of a front surface in an exemplary embodiment of the present disclosure is shown;

[0042] Figure 8 A schematic diagram of a pitch servo rectangular coordinate system in an exemplary embodiment of the present disclosure is shown;

[0043] Fig. 9 A schematic diagram showing a front coordinate system and a radar servo reference coordinate system in an exemplary embodiment of the present disclosure is shown;

[0044] Fig.10 A system block diagram of a radar compensation control device in an exemplary embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0045] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the disclosure will be more comprehensive and complete and to fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0046] In addition, the accompanying drawings are only schematic illustrations of the embodiments of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated descriptions will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities.

[0047] In this example implementation, a radar compensation control method is first provided. Figure 1 As shown in , the method may include:

[0048] Step S101: acquiring target information at the current moment according to the angle error returned by signal processing, and converting the target information into a polar coordinate system of the array to obtain target information in the polar coordinate system of the array, wherein the target information includes target distance information and target azimuth information;

[0049] Step S102: acquiring antenna pitch angle information, and converting the antenna pitch angle information and target information in the array polar coordinate system into the platform geographic rectangular coordinate system, to obtain target information and antenna pitch angle information in the platform geographic rectangular coordinate system;

[0050] Step S103: acquiring the three-attitude angle information of the current combat vehicle, and converting the three-attitude angle information and the target information and antenna pitch angle information in the platform geographic rectangular coordinate system into the platform geographic polar coordinate system by compensation, so as to obtain the target information, antenna pitch angle information and three-attitude angle information in the platform geographic polar coordinate system;

[0051] Step S104: converting the target information, antenna pitch angle information and three-attitude angle information in the platform geographic polar coordinate system into the platform geographic rectangular coordinate system to obtain the target information, antenna pitch angle information and three-attitude angle information in the platform geographic rectangular coordinate system;

[0052] Step S105: converting the target information, antenna pitch angle information and three attitude angle information in the platform geographic rectangular coordinate system into the array polar coordinate system to obtain the target information of the current target in the array polar coordinate system.

[0053] Through the above-mentioned radar compensation control method, the target distance information and target azimuth information of the target in the array polar coordinate system are obtained according to the signal processing return angle error, and then converted to the platform geographic rectangular coordinate system, and the three-attitude angle information of the tank is introduced, compensated to the platform geographic polar coordinate system, and finally converted to the array polar coordinate system, so that no matter whether the tank is stationary or moving, the radar tracking closed-loop circuit and coordinate conversion design method are consistent, and the target distance information and target azimuth information of the radar tracking target in the array polar coordinate system can be accurately obtained.

[0054] Next, we will refer to Figures 1 to 9 Each part of the above-mentioned radar compensation control method in this example embodiment is described in more detail.

[0055] In step S101, according to the angle error returned by signal processing, the target information at the current moment is obtained, and the target information is converted into the array polar coordinate system to obtain the target information in the array polar coordinate system, wherein the target information includes target distance information and target azimuth information. Specifically, the target information in the array polar coordinate system is obtained through coordinate conversion to facilitate the conversion between subsequent coordinates.

[0056] In step S102, antenna pitch angle information is obtained, and the antenna pitch angle information and target information in the array polar coordinate system are converted to the platform geographic rectangular coordinate system to obtain target information and antenna pitch angle information in the platform geographic rectangular coordinate system.

[0057] In one embodiment, the coordinate transformation relationship used in the radar compensation control method is described as follows:

[0058] a) Transformation from platform geographic polar coordinate system to platform geographic rectangular coordinate system. The relationship between a point (x, y, z) in the platform geographic rectangular coordinate system and the corresponding polar coordinate system (R, ε, β) satisfies formula (1):

[0059]

[0060] That is: x = R * cos (e) * cos (b)

[0061] y=R*sin(e)

[0062] z=R*cos(e)*sin(b)

[0063] b) The transformation relationship from the platform geographic rectangular coordinate system to the platform geographic polar coordinate system is shown in formula (2):

[0064]

[0065] c) The transformation relationship from the platform geographic polar coordinate system to the platform geographic rectangular coordinate system is shown in formula (3):

[0066]

[0067] d) The transformation relationship from the platform geographic rectangular coordinate system to the platform geographic polar coordinate system is shown in formula (4):

[0068]

[0069] The atan2(z,x) function is defined as shown in formula (5):

[0070]

[0071] e) Translation transformation from the servo rectangular coordinate system to the vehicle platform coordinate system

[0072] The radar servo rectangular coordinate system is coordinate system 1, and the tank platform coordinate system is coordinate system 2.

[0073] If coordinate system 1 is parallel to coordinate system 2, there is a point in coordinate system 1 with coordinates (x1, y1, z1), which corresponds to (x2, y2, z2) in coordinate system 2, and the position of the origin of coordinate system 1 in coordinate system 2 is (x 12 ,y 12 ,z 12 ), then:

[0074]

[0075] At this time (x 12 ,y 12 ,z 12 ) is (1.5,1,0).

[0076] f) Translation transformation from the vehicle platform coordinate system to the servo rectangular coordinate system

[0077] The radar servo rectangular coordinate system is coordinate system 2, and the tank platform coordinate system is coordinate system 1.

[0078] If coordinate system 1 is parallel to coordinate system 2, there is a point in coordinate system 1 with coordinates (x1, y1, z1), which corresponds to (x2, y2, z2) in coordinate system 2, and the position of the origin of coordinate system 1 in coordinate system 2 is (x 12 ,y 12 ,z 12 ), then:

[0079]

[0080] At this time (x 12 ,y 12 ,z 12 ) is (-1.5,-1,0).

[0081] g) Rotational changes

[0082] The platform geographic rectangular coordinate system is coordinate system 0, and the platform geographic polar coordinate system is coordinate system 3.

[0083] Any two coordinate systems can be transformed using three Euler angles to determine the direction cosine rotation matrix. The process of transforming from coordinate system 0 to coordinate system 3 is as follows:

[0084] First rotation (coordinate system 0 to coordinate system 1): counterclockwise rotation of the yaw angle around the OY0 axis ——The angle between the axis OZ0 and the axis OZ1;

[0085] Second rotation (convert coordinate system 1 to coordinate system 2): rotate the pitch angle counterclockwise around the OZ1 axis ——the angle between the axis OX1 and the axis OX2;

[0086] The third rotation (conversion from coordinate system 2 to coordinate system 3): counterclockwise rotation around the OX2 axis by a rolling angle γ - the angle between the axis OY2 and the OY3 axis.

[0087] The three Euler angles correspond to the primitive transformation matrix:

[0088]

[0089] h) The platform geographic rectangular coordinate system is converted to the platform geographic polar coordinate system

[0090]

[0091]

[0092] i) Convert the platform geographic polar coordinate system to the platform geographic rectangular coordinate system

[0093]

[0094]

[0095]

[0096] Among them, the polarity of the Euler angle of each coordinate system rotated relative to its reference system is counterclockwise to be positive, satisfying the right-hand rule; if the Euler angle rotated relative to its reference system is clockwise to be positive, the sign of the Euler angle must be reversed to use the above formula.

[0097] j) Servo rotary servo rectangular coordinate system

[0098]

[0099] at this time is the follow-up code disk value

[0100] k) The servo rectangular coordinate system is transferred to the servo

[0101]

[0102] at this time Invert the code disk value.

[0103] Optionally, in some embodiments, the step of acquiring antenna pitch angle information, and converting the antenna pitch angle information and target information in the array polar coordinate system into a platform geographic rectangular coordinate system to obtain target information and antenna pitch angle information in the platform geographic rectangular coordinate system includes:

[0104] Antenna pitch angle information is acquired, and the antenna pitch angle information and target information in the array polar coordinate system are converted into a servo polar coordinate system to obtain target information and antenna pitch angle information in the servo polar coordinate system.

[0105] Specifically, by converting the coordinates between the array coordinate system and the servo polar coordinate system, the target information and antenna pitch angle information in the servo polar coordinate system are obtained. In one embodiment, the three-attitude angle information includes yaw angle information, pitch angle information and roll angle information.

[0106] Optionally, in some embodiments, the step of acquiring antenna pitch angle information, and converting the antenna pitch angle information and target information in the array polar coordinate system into a platform geographic rectangular coordinate system, and obtaining the target information and antenna pitch angle information in the platform geographic rectangular coordinate system further includes:

[0107] The target information and antenna pitch angle information in the servo polar coordinate system are converted to the servo rectangular coordinate system to obtain the target information and antenna pitch angle information in the servo rectangular coordinate system. Specifically, the target information and antenna pitch angle information in the servo rectangular coordinate system are obtained by coordinate conversion between the servo polar coordinate system and the servo rectangular coordinate system.

[0108] Optionally, in some embodiments, the step of acquiring antenna pitch angle information, and converting the antenna pitch angle information and target information in the array polar coordinate system into a platform geographic rectangular coordinate system, and obtaining the target information and antenna pitch angle information in the platform geographic rectangular coordinate system further includes:

[0109] The target information and antenna pitch angle information in the servo rectangular coordinate system are converted to the platform geographic rectangular coordinate system to obtain the target information and antenna pitch angle information in the platform geographic rectangular coordinate system. Specifically, since the servo rotary axis and the platform base plane are not at the same reference point, the target information and antenna pitch angle information in the platform geographic rectangular coordinate system are obtained by coordinate conversion between the servo rectangular coordinate system and the platform geographic rectangular coordinate system.

[0110] Through the above-mentioned radar compensation control method, the target distance information and target azimuth information of the target in the array polar coordinate system are obtained according to the signal processing return angle error, and then converted to the platform geographic rectangular coordinate system, and the three-attitude angle information of the tank is introduced, compensated to the platform geographic polar coordinate system, and finally converted to the array polar coordinate system, so that no matter whether the tank is stationary or moving, the radar tracking closed-loop circuit and coordinate conversion design method are consistent, and the target distance information and target azimuth information of the radar tracking target in the array polar coordinate system can be accurately obtained.

[0111] In the embodiment, the target and missile position parameters output by the radar are platform geography systems, wherein the platform geography system, platform system and vehicle system are specifically defined as follows:

[0112] 1) Platform Geography Department

[0113] Platform geographic coordinate system: origin O DT Fixedly connected to the intersection of the platform rotation axis and the platform base plane.

[0114] O DT X DT Axis - points north in the horizontal plane (longitude is at O DT Projection on the point section);

[0115] O DT Y DT Axis - perpendicular to the horizontal plane, positive upward;

[0116] O DT ZDT Axis - perpendicular to the above two axes, satisfying the right-hand rule.

[0117] The chariot's travel speed is defined by the platform's geographical system (origin O DT Travel speed)

[0118] v vx : The north component of the chariot's speed, with northward movement being positive;

[0119] v vz : The eastward component of the chariot's speed, with eastward speed being positive;

[0120] 2) If Figure 3 As shown, this is a schematic diagram of the tank system coordinate system

[0121] Among them, the origin O C - Fixedly connected to the intersection of the rotation axis of the vehicle platform and the base plane of the vehicle;

[0122] O C X C Axis - the intersection of the longitudinal symmetry plane of the tank and the horizontal base plane of the tank (tank longitudinal axis), pointing in the direction of the front of the tank is positive;

[0123] O C Y C Axis - is the azimuth rotation axis, upward is positive;

[0124] O C Z C Axis - perpendicular to the above two axes and satisfies the right-hand rule.

[0125] 3) Platform coordinate system

[0126] Origin O T ——Fixed to the intersection of the platform rotation axis and the platform horizontal base plane;

[0127] O T Y T Axis - with the tank body coordinate system O C Y C The axes coincide, and upward is positive;

[0128] O T X T Axis - the intersection of the longitudinal symmetry plane of the platform and the horizontal base plane of the platform (i.e. the longitudinal axis of the platform). T X T Axis and O C X C When the axes are parallel, the platform coordinate system is parallel to the vehicle body coordinate system;

[0129] O T Z TAxis - perpendicular to the above two axes and satisfies the right-hand rule.

[0130] like Figure 4 As shown, it is a schematic diagram of the platform coordinate system and the tank body coordinate system

[0131] Among them, β T (Platform position code disk value)——in O T Y T (O C Y C ) is the rotation axis, O C X C The axis rotates clockwise with O T X T The angle value when the axes coincide. T X T Axis and O C X C When the axes are parallel, the azimuth code disk value is zero.

[0132] like Figure 5 As shown, this is a schematic diagram of the platform coordinate system and the platform geographic coordinate system

[0133] Among them, the three attitude angles output by positioning and orientation are: yaw angle ——With O DT Y DT is the rotation axis, O DT X DT Rotate clockwise to O T X T Axis at O DT X DT Z DT Projection in the plane O T The angle at X1, the sign of the counterclockwise angle is negative.

[0134] Pitch Angle ——With O T Z1 is the rotation axis, O T X T Axis at O DT X DT Z DT Projection in the plane O T X1 rotate counterclockwise to O T X T The angle at the axis, the sign of the clockwise rotation angle is negative.

[0135] Roll angle γ——in O T X T is the rotation axis, O T Y2 axis rotates counterclockwise to O T Y T The angle at the axis, the sign of the clockwise rotation angle is negative.

[0136] 4) Figure 6 Schematic diagram of the rectangular coordinate system of the array

[0137] Among them, the origin O is fixed to the array surface and is the center of the array surface;

[0138] OY axis: When looking directly at the array, it is parallel to the array and upward, with upward being positive;

[0139] OX axis——perpendicular to the array surface, which is the normal direction of the array surface;

[0140] 0Z axis——perpendicular to the above two axes and satisfies the right-hand rule.

[0141] 5) Figure 7 Schematic diagram of the polar coordinate system of the array

[0142] Among them, the radar array polar coordinate system and the array reference coordinate system coincide at point O.

[0143] The OX axis is the elevation axis of the array polar coordinates, and the OZ axis is the azimuth axis of the array polar coordinates. The definitions of the array elevation angle and azimuth angle are shown in the figure. The array elevation angle ε has an angle range of [-π / 2, π / 2]; the azimuth angle β has an angle range of [-π / 2, π / 2].

[0144] 6) Fig. 9 The array coordinate system and the radar servo reference coordinate system

[0145] Among them, the origin O is fixed to the array surface and is the center of the array surface;

[0146] OY axis——perpendicular to the horizontal plane, upward is positive;

[0147] OX axis: when the array is perpendicular to the horizontal plane, it is the normal direction of the array and is always parallel to the horizontal plane;

[0148] 0Z axis——perpendicular to the above two axes and satisfies the right-hand rule.

[0149] Example

[0150] A certain radar system is the main information perception and combat detection equipment. It can realize the functions of target detection and tracking in high, medium and low airspace, artillery indication and optoelectronic guidance, and complex electromagnetic environment confrontation in a typical combat scenario. It has the various needs of mobile operations, penetration operations, and concealed operations required by marching troops. The on-the-go compensation control technology is adopted to complete the functions of target search, tracking, guidance control, and target indication and guidance with high precision.

[0151] Typical targets: Joint direct attack munitions, joint standoff weapons, cruise missiles, bombs, cruise missiles, anti-radiation missiles, fighter jets, small drones.

[0152] During the field test missions and tests, a certain radar showed excellent performance throughout.

[0153] This example embodiment also provides a radar compensation control device. Fig.10 As shown in , the device may include: a first coordinate conversion module 201 , a second coordinate conversion module 202 , a third coordinate conversion module 203 , a fourth coordinate conversion module 204 and a fifth coordinate conversion module 205 .

[0154] The first coordinate conversion module 201 is used to obtain the target information at the current moment according to the signal processing return angle error, and convert the target information into the array polar coordinate system to obtain the target information in the array polar coordinate system;

[0155] The second coordinate conversion module 202 is used to obtain antenna pitch angle information, and convert the antenna pitch angle information and the target information in the array polar coordinate system into the platform geographic rectangular coordinate system to obtain the target information and antenna pitch angle information in the platform geographic rectangular coordinate system, wherein the target information includes target distance information and target azimuth information;

[0156] The third coordinate conversion module 203 obtains the three-angle information of the current vehicle, and converts the three-angle information and the target information and antenna pitch angle information in the platform geographic rectangular coordinate system into the platform geographic polar coordinate system to obtain the target information, antenna pitch angle information and three-angle information in the platform geographic polar coordinate system;

[0157] The fourth coordinate conversion module 204 converts the target information, antenna pitch angle information and three-attitude angle information in the platform geographic polar coordinate system into the platform geographic rectangular coordinate system to obtain the target information, antenna pitch angle information and three-attitude angle information in the platform geographic rectangular coordinate system;

[0158] The fifth coordinate conversion module 205 converts the target information, antenna pitch angle information and three attitude angle information in the platform geographic rectangular coordinate system into the array polar coordinate system to obtain the target information of the current target in the array polar coordinate system.

[0159] Optionally, in some embodiments, the second coordinate transformation module 202 includes:

[0160] The servo polar coordinate conversion module is used to obtain antenna pitch angle information, and convert the antenna pitch angle information and target information in the array polar coordinate system into the servo polar coordinate system to obtain target information and antenna pitch angle information in the servo polar coordinate system.

[0161] Optionally, in some embodiments, the second coordinate conversion module 202 includes:

[0162] The servo rectangular coordinate conversion module is used to convert the target information and antenna pitch angle information in the servo polar coordinate system to the servo rectangular coordinate system to obtain the target information and antenna pitch angle information in the servo rectangular coordinate system.

[0163] Optionally, in some embodiments, the second coordinate conversion module 202 includes:

[0164] The array polar coordinate conversion module is used to convert the target information and antenna pitch angle information in the servo rectangular coordinate system to the platform geographic rectangular coordinate system to obtain the target information and antenna pitch angle information in the platform geographic rectangular coordinate system.

[0165] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0166] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A radar compensation control method, characterized in that: The method includes: According to the signal processing return angle error, the target information at the current moment is obtained, and the target information is converted into the array polar coordinate system to obtain the target information in the array polar coordinate system, wherein the target information includes target distance information and target azimuth information; Acquire antenna pitch angle information, and convert the antenna pitch angle information and target information in the array polar coordinate system into the platform geographic rectangular coordinate system to obtain target information and antenna pitch angle information in the platform geographic rectangular coordinate system; Acquire the three-attitude angle information of the current combat vehicle, and convert the three-attitude angle information and the target information and antenna pitch angle information in the platform geographic rectangular coordinate system into the platform geographic polar coordinate system by compensation, so as to obtain the target information, antenna pitch angle information and three-attitude angle information in the platform geographic polar coordinate system; Convert the target information, antenna pitch angle information and three-attitude angle information in the platform geographic polar coordinate system into the platform geographic rectangular coordinate system to obtain the target information, antenna pitch angle information and three-attitude angle information in the platform geographic rectangular coordinate system; The target information, antenna pitch angle information and three attitude angle information in the platform geographic rectangular coordinate system are converted to the array polar coordinate system to obtain the target information of the current target in the array polar coordinate system.

2. The radar compensation control method according to claim 1, characterized in that: The step of acquiring antenna pitch angle information, and converting the antenna pitch angle information and target information in the array polar coordinate system into the platform geographic rectangular coordinate system to obtain the target information and antenna pitch angle information in the platform geographic rectangular coordinate system includes: Antenna pitch angle information is acquired, and the antenna pitch angle information and target information in the array polar coordinate system are converted into a servo polar coordinate system to obtain target information and antenna pitch angle information in the servo polar coordinate system.

3. The radar compensation control method according to claim 2, characterized in that: The step of acquiring antenna pitch angle information, and converting the antenna pitch angle information and target information in the array polar coordinate system into the platform geographic rectangular coordinate system, and obtaining the target information and antenna pitch angle information in the platform geographic rectangular coordinate system also includes: The target information and the antenna pitch angle information in the servo polar coordinate system are converted into the servo rectangular coordinate system to obtain the target information and the antenna pitch angle information in the servo rectangular coordinate system.

4. The radar compensation control method according to claim 3, characterized in that: The step of acquiring antenna pitch angle information, and converting the antenna pitch angle information and target information in the array polar coordinate system into the platform geographic rectangular coordinate system, and obtaining the target information and antenna pitch angle information in the platform geographic rectangular coordinate system also includes: The target information and antenna pitch angle information in the servo rectangular coordinate system are converted to the platform geographic rectangular coordinate system to obtain the target information and antenna pitch angle information in the platform geographic rectangular coordinate system.

5. The radar compensation control method according to claim 1, characterized in that: The three attitude angle information includes yaw angle information, pitch angle information and roll angle information.

6. A radar compensation control device, characterized in that: The device includes: The first coordinate conversion module is used to obtain the target information at the current moment according to the signal processing return angle error, and convert the target information into the array polar coordinate system to obtain the target information in the array polar coordinate system; The second coordinate conversion module is used to obtain antenna pitch angle information, and convert the antenna pitch angle information and the target information in the array polar coordinate system into the platform geographic rectangular coordinate system to obtain the target information and antenna pitch angle information in the platform geographic rectangular coordinate system, wherein the target information includes target distance information and target azimuth information; The third coordinate conversion module obtains the three-attitude angle information of the current vehicle, and converts the three-attitude angle information and the target information and antenna pitch angle information in the platform geographic rectangular coordinate system into the platform geographic polar coordinate system to obtain the target information, antenna pitch angle information and three-attitude angle information in the platform geographic polar coordinate system; A fourth coordinate conversion module converts the target information, antenna pitch angle information and three-attitude angle information in the platform geographic polar coordinate system into the platform geographic rectangular coordinate system to obtain the target information, antenna pitch angle information and three-attitude angle information in the platform geographic rectangular coordinate system; The fifth coordinate conversion module converts the target information, antenna pitch angle information and three-attitude angle information in the platform geographic rectangular coordinate system into the array polar coordinate system to obtain the target information of the current target in the array polar coordinate system.

7. The radar compensation control device according to claim 6, characterized in that: The second coordinate conversion module comprises: The servo polar coordinate conversion module is used to obtain antenna pitch angle information, and convert the antenna pitch angle information and target information in the array polar coordinate system into the servo polar coordinate system to obtain target information and antenna pitch angle information in the servo polar coordinate system.

8. The radar compensation control device according to claim 7, characterized in that: The second coordinate conversion module comprises: The servo rectangular coordinate conversion module is used to convert the target information and antenna pitch angle information in the servo polar coordinate system to the servo rectangular coordinate system to obtain the target information and antenna pitch angle information in the servo rectangular coordinate system.

9. The radar compensation control device according to claim 8, characterized in that: The second coordinate conversion module comprises: The array polar coordinate conversion module is used to convert the target information and antenna pitch angle information in the servo rectangular coordinate system to the platform geographic rectangular coordinate system to obtain the target information and antenna pitch angle information in the platform geographic rectangular coordinate system.

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