A data registration method, device, equipment and storage medium for a flying target

Abstract

The present invention discloses a data registration method, device, equipment and storage medium for a flying target. The present invention calculates the registration time difference between the time parameter and the preset processing time point of the control software, estimates the distance increment of the flying target under the ENU coordinate according to the registration time difference, the radial velocity, the azimuth angle and the pitch angle, and obtains the registered target RAE coordinates by processing the distance increment, the azimuth angle, the pitch angle and the distance value through a preset function, so that each radar device can provide the target RAE coordinates of the same flying target at the same time, thereby realizing synchronous sampling of each radar device. The present invention can be widely applied to the field of radar technology.

Description

Technical Field

[0001] The invention relates to the field of radar, and in particular to a data registration method, device, equipment and storage medium for a flying target. Background Art

[0002] Nowadays, drones are widely used in various fields, and drone reconnaissance is one of them. For example, radars are set up at different locations in a certain airspace to conduct drone reconnaissance and capture relevant data of flying targets. However, in some cases, when multiple radars are used to scout the same airspace, when the same flying target is detected, the relevant data of the flying target will be reported to the control system separately. In order to truly display the flying targets in the airspace, the control system needs to process the flying target information parameters reported by each radar and describe them as information parameters of the same flying target. However, due to the different scanning cycles and sampling frequencies of each radar, the reporting time and processing time are different, and synchronous sampling cannot be achieved. How to solve this problem is crucial. Summary of the invention

[0003] In view of this, in order to solve the above-mentioned technical problems, the purpose of the present invention is to provide a data registration method, device, equipment and storage medium for a flying target to achieve synchronous sampling.

[0004] The technical solution adopted in the embodiment of the present invention is:

[0005] A data registration method for a flying target, comprising:

[0006] Acquire detection result data of at least one radar device on a flying target; the detection result data includes a time parameter of discovering the flying target, a radial velocity of the flying target relative to the radar device, and a RAE coordinate value of the flying target relative to the radar device, wherein the RAE coordinate value of the flying target relative to the radar device includes an azimuth angle, a pitch angle, and a distance value of the flying target relative to the radar device;

[0007] Calculating the registration time difference between the time parameter and the preset treatment time point of the control software;

[0008] Estimate the distance increment of the flying target in the ENU coordinates according to the registration time difference, the radial velocity, the azimuth angle and the pitch angle;

[0009] The distance increment, the azimuth, the elevation angle and the distance value are processed by a preset function to obtain the RAE coordinates of the registered target.

[0010] Further, estimating the distance increment of the flying target in the ENU coordinates according to the registration time difference, the radial velocity, the azimuth angle, and the pitch angle includes:

[0011] Calculate the speed value of the flying target in the ENU coordinate according to the radial speed, the azimuth angle and the pitch angle; the speed value includes the speed in the east direction, the speed in the north direction and the speed in the sky direction of the flying target relative to the radar device;

[0012] The products of the east direction velocity, the north direction velocity, the celestial direction velocity and the alignment time difference are calculated respectively to obtain the east direction value-added, the north direction value-added and the celestial direction value-added; the distance value-added includes the east direction value-added, the north direction value-added and the celestial direction value-added.

[0013] Further, the velocity value of the flying target in the ENU coordinate is calculated according to the radial velocity, the azimuth angle and the pitch angle, specifically:

[0014] v e =vcos(β)sin(α)

[0015] v n =vcos(β)cos(α)

[0016] v u =vsin(β)

[0017] Among them, v e is the speed in the east direction, v n is the velocity in the north direction, v u is the celestial velocity, v is the radial velocity, β is the pitch angle, and α is the azimuth angle.

[0018] Further, the distance increment, the azimuth, the elevation angle and the distance value are processed by a preset function to obtain the RAE coordinates of the registered target, including:

[0019] Calculate the ENU coordinate value of the flying target in the ENU coordinate according to the azimuth, the pitch angle and the distance value; the ENU coordinate value includes a true east coordinate value, a true north coordinate value and a celestial coordinate value;

[0020] Calculate the first sum of the due east coordinate value and the due east direction increment to obtain a new due east coordinate value, calculate the second sum of the due north coordinate value and the due north direction increment to obtain a new due north coordinate value, calculate the third sum of the celestial coordinate value and the celestial direction increment to obtain a new celestial coordinate value;

[0021] According to the new due east coordinate value, the new due north coordinate value, and the new celestial coordinate value, they are processed respectively by a preset function to obtain the aligned target RAE coordinates.

[0022] Further, the ENU coordinate value of the flying target in the ENU coordinate is calculated according to the azimuth, the pitch angle and the distance value, specifically:

[0023] x e =rcos(β)sin(α)

[0024] y n =rcos(β)cos(α)

[0025] z u =rsin(β)

[0026] Among them, x e is the east coordinate value, y n is the true north coordinate value, z u is the celestial coordinate value, r is the distance value, β is the pitch angle, and α is the azimuth angle.

[0027] Further, the preset function includes a square root function, an inverse tangent function, and an inverse sine function, and the new east coordinate value, the new north coordinate value, and the new celestial coordinate value are processed by the preset function to obtain the registered target RAE coordinates, including:

[0028] Calculate the target distance value according to the square root function, the new due east coordinate value, the new due north coordinate value, and the new celestial coordinate value;

[0029] Calculating the target azimuth according to the inverse tangent function, the new due east coordinate value, and the new due north coordinate value;

[0030] Calculating a target pitch angle according to the inverse sine function, the new celestial coordinate value, and the target distance value;

[0031] The registered target RAE coordinates include the target distance value, the target azimuth angle, and the target elevation angle.

[0032] Further, specifically:

[0033] r′=sqrt(x′ e 2 +y′ n 2 +z′ u 2 )

[0034]

[0035]

[0036] Among them, r′ is the target distance value, α′ is the target azimuth, β′ is the target pitch angle, sqrt() is the square root function, atan() is the inverse tangent function, asin() is the inverse sine function, and x′ e is the new east coordinate value, y′ n is the new true north coordinate value, z′ u is the new celestial coordinate value.

[0037] The embodiment of the present invention further provides a data registration device for a flying target, comprising:

[0038] An acquisition module is used to obtain detection result data of at least one radar device on a flying target; the detection result data includes a time parameter of discovering the flying target, a radial velocity of the flying target relative to the radar device, and a RAE coordinate value of the flying target relative to the radar device, wherein the RAE coordinate value of the flying target relative to the radar device includes an azimuth angle, a pitch angle, and a distance value of the flying target relative to the radar device;

[0039] The time registration module is used to calculate the registration time difference between the time parameter and the preset treatment time point of the control software; estimate the distance increment of the flying target in the ENU coordinate according to the registration time difference, the radial velocity, the azimuth angle and the pitch angle; and obtain the RAE coordinates of the registered target by processing the distance increment, the azimuth angle, the pitch angle and the distance value through a preset function.

[0040] An embodiment of the present invention also provides an electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the method.

[0041] An embodiment of the present invention also provides a computer-readable storage medium, in which at least one instruction, at least one program, a code set or an instruction set is stored, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the method.

[0042] The beneficial effects of the present invention are as follows: by calculating the registration time difference between the time parameter and the preset treatment time point of the control software, the distance increment of the flying target in the ENU coordinate is estimated according to the registration time difference, the radial velocity, the azimuth angle and the pitch angle, and the RAE coordinates of the registered target are obtained by processing through a preset function according to the distance increment, the azimuth angle, the pitch angle and the distance value, so that each radar device can provide the target RAE coordinates of the same flying target at the same time, thereby realizing synchronous sampling of each radar device. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram of the steps of the data registration method for a flying target of the present invention;

[0044] Figure 2 It is a schematic diagram of the registration time difference according to a specific embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0046] The terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0047] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0048] like Figure 1 As shown, an embodiment of the present invention provides a data registration method for a flying target, comprising steps S100-S400:

[0049] S100: Obtain detection result data of a flying target by at least one radar device.

[0050] In an embodiment of the present invention, the reconnaissance result data includes the time parameter of discovering the flying target, the radial velocity v of the flying target relative to the radar device, and the RAE coordinate value of the flying target relative to the radar device. The RAE coordinate value of the flying target relative to the radar device includes the azimuth angle α, the pitch angle β and the distance value r of the flying target relative to the radar device. Optionally, the reconnaissance result data corresponding to each radar device is processed in the same way, so as to finally realize the registration of the reconnaissance result data of one or more radar devices and realize the synchronous sampling of each radar device. In an embodiment of the present invention, the reconnaissance result data of the flying target by one of the radar devices is exemplified. It should be noted that the RAE coordinate value is (r, α, β) with the station center as the coordinate origin O, the horizontal plane as the reference plane, and the east axis as the polar axis. The unit of the axis is meter, and the unit of α and β is radian.

[0051] S200, calculating the registration time difference between the time parameter and the preset treatment time point of the control software.

[0052] It should be noted that the control software refers to the software installed on the equipment and used to process the detection result data obtained by each radar device. Figure 2 As shown, it is assumed that three radar devices obtain the detection result data of the flying target within the control software processing cycle (k-1, k), and the preset processing time point t0 is set in advance. At this time, the time parameters of the three radar devices for discovering the flying target are t3, t2, and t1, respectively, which have different time differences from t0, so time alignment is required. In the embodiment of the present invention, the time parameter t2 for discovering the flying target is taken as an example to illustrate the alignment calculation process. The processing steps for other time parameters are similar and will not be repeated. Specifically, the alignment time difference Δt=t0-t1 is calculated.

[0053] S300, estimating the distance increment of the flying target in the ENU coordinates according to the registration time difference, radial velocity, azimuth angle and pitch angle.

[0054] Optionally, step S300 includes steps S310-S320:

[0055] S310, calculating the speed value of the flying target in the ENU coordinate according to the radial speed, azimuth angle and pitch angle.

[0056] Optionally, the speed value includes the speed in the east direction, the speed in the north direction, and the speed in the sky direction of the flying target relative to the radar device. Specifically, the calculation formula is:

[0057] v e =vcos(β)sin(α)

[0058] v n =vcos(β)cos(α)

[0059] v u =vsin(β)

[0060] Among them, v e is the speed in the east direction, v n is the velocity in the north direction, v u is the celestial velocity, v is the radial velocity, β is the pitch angle, and α is the azimuth angle.

[0061] S320, respectively calculating the product of the velocity in the due east direction, the velocity in the due north direction, the velocity in the celestial direction and the registration time difference, and obtaining the value added in the due east direction, the value added in the due north direction and the value added in the celestial direction.

[0062] Optionally, the distance increment includes an increment in the due east direction, an increment in the due north direction, and an increment in the celestial direction. In the embodiment of the present invention, the calculation formula for the distance increment is:

[0063] ΔL e =v e Δt=vcos(β)sin(α)Δt

[0064] ΔL n =v n Δt=vcos(β)cos(α)Δt

[0065] ΔL u =v u Δt=vsin(β)Δt

[0066] Where, ΔL e Add value to the east direction, ΔL n Increase the value for the true north direction, ΔL u is the increment in the celestial direction, and Δt is the registration time difference.

[0067] S400, according to the distance increment, azimuth, elevation angle and distance value, a preset function is used to process and obtain the RAE coordinates of the registered target.

[0068] Optionally, in an embodiment of the present invention, the preset functions include a square root function, an inverse tangent function, and an inverse sine function.

[0069] Optionally, step S400 includes steps S410-S430:

[0070] S410, calculating the ENU coordinate value of the flying target in the ENU coordinate according to the azimuth angle, the pitch angle and the distance value.

[0071] It should be noted that the ENU coordinate system is a rectangular coordinate system with the station center (such as the center of the GPS receiving antenna) as the coordinate origin O, the z-axis upward as positive (toward the sky), the y-axis with the north of the earth as positive, and the x-axis with the east of the earth as positive. This is called the local northeast celestial coordinate system (ENU, East-North-Up). Specifically, the ENU coordinate value of the flight target under the ENU coordinate is (x e ,y n ,z u ), x e is the east coordinate value, y n is the true north coordinate value, z u is the celestial coordinate value.

[0072] Specifically, the calculation formula of the ENU coordinate value is:

[0073] x e =rcos(β)sin(α)

[0074] y n =rcos(β)cos(α)

[0075] z u =rsin(β)

[0076] Among them, x e is the east coordinate value, y n is the true north coordinate value, z u is the celestial coordinate value, r is the distance value, β is the pitch angle, and α is the azimuth angle.

[0077] S420, calculate the first sum of the due east coordinate value and the increment in the due east direction to obtain a new due east coordinate value, calculate the second sum of the due north coordinate value and the increment in the due north direction to obtain a new due north coordinate value, calculate the celestial coordinate value and the third sum of the increment in the celestial direction to obtain a new celestial coordinate value.

[0078] Specifically, the calculation formulas for the new due east coordinate value, the new due north coordinate value, and the new celestial coordinate value are:

[0079] x′ e =x e +ΔL e

[0080] y′ n =x e +ΔL n

[0081] z′ u =z u +ΔL u

[0082] Among them, x′ e is the new east coordinate value, y′n is the new true north coordinate value, z′ u is the new celestial coordinate value, ΔL e Add value to the east direction, ΔL n Add value to the north direction, ΔL u Add value to the celestial direction.

[0083] S430, according to the new due east coordinate value, the new due north coordinate value, and the new celestial coordinate value, respectively, they are processed by a preset function to obtain the RAE coordinates of the registered target.

[0084] In the embodiment of the present invention, the registered target RAE coordinates include a target range value, a target azimuth angle, and a target elevation angle.

[0085] Optionally, step S430 includes steps S4301, S4302, and S4303, and the execution order of S4301, S4302, and S4303 is arbitrary:

[0086] S4301. Calculate the target distance value according to the square root function, the new due east coordinate value, the new due north coordinate value, and the new celestial coordinate value.

[0087] Specifically, the calculation formula is:

[0088] r′=sqrt(x′ e 2 +y′ n 2 +z′ u 2 )

[0089] Among them, r′ is the target distance value, sqrt() is the square root function, and x′ e is the new east coordinate value, y′ n is the new true north coordinate value, z′ u is the new celestial coordinate value.

[0090] S4302. Calculate the target azimuth according to the inverse tangent function, the new due east coordinate value, and the new due north coordinate value.

[0091] Specifically, the calculation formula is:

[0092]

[0093] Among them, α′ is the target azimuth, atan() is the inverse tangent function, and x′ e is the new east coordinate value, y′ n is the new true north coordinate value.

[0094] S4303: Calculate the target pitch angle according to the inverse sine function, the new celestial coordinate value, and the target distance value.

[0095] Specifically, the calculation formula is:

[0096]

[0097] Among them, β′ is the target pitch angle, asin() is the inverse sine function, r′ is the target distance value, z′ u is the new celestial coordinate value.

[0098] By using the data registration method for flight targets of the embodiment of the present invention, the detection result data is registered according to the registration time difference, so as to obtain the relative position (target RAE coordinates) of the same flight target detected by each radar device at the same time point, which can more accurately meet the synchronous sampling function of the flight target information parameters, realize the synchronous sampling of each radar device, and provide more accurate flight target parameters, such as target RAE coordinates, for subsequent processing.

[0099] The embodiment of the present invention further provides a data registration device for a flying target, comprising:

[0100] The acquisition module is used to obtain the detection result data of the flying target by at least one radar device; the detection result data includes the time parameter of discovering the flying target, the radial velocity of the flying target relative to the radar device, and the RAE coordinate value of the flying target relative to the radar device, and the RAE coordinate value of the flying target relative to the radar device includes the azimuth angle, pitch angle and distance value of the flying target relative to the radar device;

[0101] The time registration module is used to calculate the registration time difference between the time parameters and the preset processing time point of the control software; estimate the distance increment of the flying target in the ENU coordinates based on the registration time difference, radial velocity, azimuth and pitch angle; and obtain the RAE coordinates of the registered target through processing based on the distance increment, azimuth, pitch angle and distance value through the preset function.

[0102] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0103] An embodiment of the present invention further provides an electronic device, the electronic device comprising a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, at least one program, code set or instruction set being loaded and executed by the processor to implement the data registration method of the flight target of the above embodiment. The electronic device of the embodiment of the present invention includes but is not limited to a mobile phone, a tablet computer, a computer, and a vehicle-mounted computer.

[0104] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0105] An embodiment of the present invention also provides a computer-readable storage medium, in which at least one instruction, at least one program, code set or instruction set is stored, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the data alignment method of the flight target of the aforementioned embodiment.

[0106] The embodiment of the present invention also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the data registration method of the flight target of the aforementioned embodiment.

[0107] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0108] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0109] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, each functional unit in each embodiment of the present application can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0110] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0111] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A data registration method for a flying target, characterized in that: include: Acquire detection result data of at least one radar device on a flying target; the detection result data includes a time parameter of discovering the flying target, a radial velocity of the flying target relative to the radar device, and a RAE coordinate value of the flying target relative to the radar device, wherein the RAE coordinate value of the flying target relative to the radar device includes an azimuth angle, a pitch angle, and a distance value of the flying target relative to the radar device; Calculating the registration time difference between the time parameter and the preset treatment time point of the control software; Estimate the distance increment of the flying target in the ENU coordinates according to the registration time difference, the radial velocity, the azimuth angle and the pitch angle; According to the distance increment, the azimuth, the pitch angle and the distance value, a preset function is used to process to obtain the RAE coordinates of the registered target; the preset function includes a square root function, an inverse tangent function and an inverse sine function; The step of estimating the distance increment of the flying target in the ENU coordinate according to the registration time difference, the radial velocity, the azimuth angle, and the pitch angle comprises: Calculate the velocity value of the flying target in the ENU coordinate according to the radial velocity, the azimuth angle and the pitch angle; The speed value includes the speed in the east direction, the speed in the north direction and the speed in the sky direction of the flying target relative to the radar device; The products of the east direction velocity, the north direction velocity, the celestial direction velocity and the alignment time difference are calculated respectively to obtain the east direction value-added, the north direction value-added and the celestial direction value-added; the distance value-added includes the east direction value-added, the north direction value-added and the celestial direction value-added.

2. The data registration method for a flying target according to claim 1, characterized in that: The calculation of the velocity value of the flying target in the ENU coordinate according to the radial velocity, the azimuth angle and the pitch angle is specifically: v e =vcos(β)sin(α) v n =vcos(β)cos(α) v u =vsin(β) Among them, v e is the speed in the east direction, v n is the velocity in the north direction, v u is the celestial velocity, v is the radial velocity, β is the pitch angle, and α is the azimuth angle.

3. The data registration method for a flying target according to claim 1, characterized in that: The step of processing the distance increment, the azimuth, the elevation angle, and the distance value through a preset function to obtain the RAE coordinates of the registered target includes: Calculate the ENU coordinate value of the flying target in the ENU coordinate according to the azimuth, the pitch angle and the distance value; the ENU coordinate value includes a true east coordinate value, a true north coordinate value and a celestial coordinate value; Calculate the first sum of the due east coordinate value and the due east direction increment to obtain a new due east coordinate value, calculate the second sum of the due north coordinate value and the due north direction increment to obtain a new due north coordinate value, calculate the third sum of the celestial coordinate value and the celestial direction increment to obtain a new celestial coordinate value; According to the new due east coordinate value, the new due north coordinate value, and the new celestial coordinate value, they are processed respectively by a preset function to obtain the aligned target RAE coordinates.

4. The data registration method for a flying target according to claim 3, characterized in that: The calculating of the ENU coordinate value of the flying target in the ENU coordinate according to the azimuth angle, the pitch angle and the distance value is specifically: x e =rcos(β)sin(α) y n =rcos(β)cos(α) With i =rsin(β) Among them, x e is the east coordinate value, y n is the true north coordinate value, z n is the celestial coordinate value, r is the distance value, β is the pitch angle, and α is the azimuth angle.

5. The data registration method for a flying target according to claim 3, characterized in that: The preset function includes a square root function, an inverse tangent function, and an inverse sine function. The new due east coordinate value, the new due north coordinate value, and the new celestial coordinate value are processed by the preset function to obtain the RAE coordinates of the registered target, including: Calculate the target distance value according to the square root function, the new due east coordinate value, the new due north coordinate value, and the new celestial coordinate value; Calculating the target azimuth according to the inverse tangent function, the new due east coordinate value, and the new due north coordinate value; The target pitch angle is calculated according to the inverse sine function, the new celestial coordinate value and the target distance value; the registered target RAE coordinates include the target distance value, the target azimuth angle and the target pitch angle.

6. The data registration method for a flying target according to claim 5, characterized in that: Specifically: Among them, r′ is the target distance value, α′ is the target azimuth, β′ is the target pitch angle, sqrt() is the square root function, atan() is the inverse tangent function, asin() is the inverse sine function, and x′ e is the new east coordinate value, y′ n is the new true north coordinate value, z′ u is the new celestial coordinate value.

7. A data registration device for a flying target, characterized in that: include: An acquisition module is used to obtain detection result data of at least one radar device on a flying target; the detection result data includes a time parameter of discovering the flying target, a radial velocity of the flying target relative to the radar device, and a RAE coordinate value of the flying target relative to the radar device, wherein the RAE coordinate value of the flying target relative to the radar device includes an azimuth angle, a pitch angle, and a distance value of the flying target relative to the radar device; A time registration module is used to calculate the registration time difference between the time parameter and the preset treatment time point of the control software; estimate the distance increment of the flying target in the ENU coordinate according to the registration time difference, the radial velocity, the azimuth angle and the pitch angle; and obtain the RAE coordinates of the registered target by processing the distance increment, the azimuth angle, the pitch angle and the distance value through a preset function; the preset function includes a square root function, an inverse tangent function and an inverse sine function; The step of estimating the distance increment of the flying target in the ENU coordinate according to the registration time difference, the radial velocity, the azimuth angle, and the pitch angle comprises: Calculate the velocity value of the flying target in the ENU coordinate according to the radial velocity, the azimuth angle and the pitch angle; The speed value includes the speed in the east direction, the speed in the north direction and the speed in the sky direction of the flying target relative to the radar device; The products of the east direction velocity, the north direction velocity, the celestial direction velocity and the alignment time difference are calculated respectively to obtain the east direction value-added, the north direction value-added and the celestial direction value-added; the distance value-added includes the east direction value-added, the north direction value-added and the celestial direction value-added.

8. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the method as described in any one of claims 1-6.

Images