A ground target detection radar B type display method

Abstract

The application relates to a ground target detection radar B type display method, determines geographical position information of a radar, and radar detection parameters, loads a vector map file into a computer memory, reads and processes point and line elements in the vector map, draws a radar B type display mode, calculates whether the point and line elements in the vector map are in the B type display range, if in the display range, carries out superposition drawing, and draws a target detected by the radar onto the B type display mode. Technical effects are that the target displayed in the ground target detection radar B type display mode can be directly and visually seen to be relative to geographical reference information (such as villages, rivers, roads and the like), time for a radar debugging personnel to calculate the target relative to the reference information (such as villages, rivers, roads and the like) is saved, and a radar operator is more convenient to judge the accurate position of the target.

Description

Technical Field

[0001] This invention belongs to the field of ground-based radar target display, and relates to a Type B display method for ground-based target detection radar. Background Technology

[0002] When the ground target detection radar terminal is in B-mode display, the radar scanning range is expanded to the X-axis and the target distance to the Y-axis, displayed on the monitor. Radar operators cannot determine the target's location solely through the X and Y axes, and cannot intuitively see the target's relative position to its actual geographical location (such as villages, rivers, roads, etc.).

[0003] During radar commissioning, commissioning personnel must rely on extensive calculations and experience to adjust the radar's detection accuracy. This also increases the operator's uncertainty during radar use, making it impossible to comprehensively consider the target and complete the following operations. Summary of the Invention

[0004] Technical problems to be solved

[0005] To overcome the shortcomings of existing technologies, this invention proposes a B-mode display method for ground target detection radar, which facilitates radar operators in observing and locating target positions. This invention overlays a vector map layer in the B-mode display mode, allowing for a direct view of the radar-detected target's position on the map.

[0006] The technical challenges of this invention are the conversion between the geodetic coordinate system and the radar array coordinate system, as well as the accuracy of map element drawing and the guarantee of accuracy.

[0007] Technical solution

[0008] A ground target detection radar B-type display method, characterized by the following steps:

[0009] Step 1: Establish a geodetic coordinate system Oxyz with the radar as the origin O, with due north as the positive x-axis, due east as the positive y-axis, and vertically upward as the positive z-axis;

[0010] Set the radar detection parameters, including the scanning range and detection distance;

[0011] Step 2: Calculate the start angle BeginAngle and end angle EndAngle of the radar scan using the NorthAngle angle between the radar array normal and true north.

[0012] Step 3: Draw a B-type display grid on the monitor according to the radar parameters. The X-axis of the screen is the radar detection range (Range), and the Y-axis of the screen is the radar detection distance (Distance). The width of the screen drawing area is Width, and the height is Height. Each row represents the actual distance (Distance / Row), and each column represents the actual angle range (Range / Column).

[0013] Step 4: Load the vector map file into computer memory, read and process the point and line elements in the vector map:

[0014] Each line element in a vector map consists of N point elements greater than or equal to 0, and processing of line elements is transformed into processing of point elements.

[0015] I. Processing of point elements as follows:

[0016] 1) Calculate the location of the point element: longitude (PointLon), latitude (PointLat), radar longitude (Longitude), latitude (Latitude), elevation (Elevation), and the angle (Angle) between the point and true north. If the angle is between the radar scan start angle (BeginAngle) and end angle (EndAngle), proceed to the next step; otherwise, abandon processing for that point.

[0017] 2) Calculate the distance between the point element's location (longitude PointLon, latitude PointLat) and the radar's longitude (Longitude), latitude (Latitude), and elevation (Elevation) and the radar (PointDistance). If the distance PointDistance is less than or equal to the radar's detection distance Distance, proceed to the next step; otherwise, abandon the processing of that point.

[0018] 3) Save point elements within the radar detection range and draw them by connecting them with different colors;

[0019] II. The processing of line elements is as follows:

[0020] Because line elements are composed of two or more point elements, the calculation and processing method is the same as "processing point elements". When finally drawn in the B-style display mode, line drawing is used.

[0021] Step 5: Draw the point elements, line elements, and radar targets onto the screen drawing area.

[0022] The angle X1 represented by each pixel on the screen in the X-axis direction is: "Radar detection range" divided by "Screen drawing range width";

[0023] The distance Y1 represented by each pixel on the screen in the Y-axis direction is: "Radar detection distance Distance" divided by "Screen drawing range height";

[0024] The leftmost side of the radar B-type display range on the screen is the BeginAngle, the starting angle for the scan.

[0025] The rightmost edge of the radar B-type display range on the screen is the EndAngle, indicating the end of the scan.

[0026] The drawing method is as follows:

[0027] Calculate the X coordinates of the point element on the screen. 0 Y 0 :

[0028] X 0 = (Angle of the point element and true north - BeginAngle) * X1

[0029] Y 0 = (Radar detection distance Distance - Distance between point element and radar PointDistance) * Y1

[0030] In coordinate X 0 Y 0 The location is drawn using all calculated screen coordinates X. 0 Y 0 Draw lines

[0031] Step 6: Calculate the radar target's coordinates X on the screen. 1 Y 1 :

[0032] X 1 = (Angle relative to the radar array normal + Angle between the radar array normal and true north) * 1;

[0033] Y 1 = (Radar detection range Distance - Target relative radar range Distance) * Y1;

[0034] In coordinate X 1 Y 1 Draw the target point at the location.

[0035] The radar's geographical location is obtained through BeiDou or GPS positioning.

[0036] The start angle BeginAngle and end angle EndAngle of the radar scan, calculated from the NorthAngle angle between the radar array normal and true north, are:

[0037] BeginAngle=NorthAngle-Range / 2.0;

[0038] EndAngle=NorthAngle+Range / 2.0;

[0039] The BeginAngle and EndAngle values ​​are modulo 360.0 to ensure that the values ​​are between 0.0 and 360.0.

[0040] The grid displayed in B-style drawing has rows and columns.

[0041] The radar parameters include mechanical scan (MachineryScan) and electronic scan (ElectricityScan).

[0042] The mechanical scanning refers to the radar array being rotated 360 degrees by a servo or turntable.

[0043] The electronic scanning involves the radar array remaining stationary while the TR components within the radar array sequentially emit electromagnetic waves, with a scanning range of 90 degrees.

[0044] Beneficial effects

[0045] This invention proposes a B-mode display method for ground target detection radar. The method involves determining the geographical location information of the radar and the radar detection parameters, loading a vector map file into computer memory, reading and processing the point and line elements in the vector map, drawing the radar B-mode display mode, calculating whether the point and line elements in the vector map are within the B-mode display range, and if they are within the display range, overlaying and drawing the radar-detected target onto the B-mode display mode.

[0046] The technical effect achieved by adopting the above technical solution is that, in the B-type display mode of the ground target detection radar, the target can be seen intuitively with respect to the location information of geographical references (such as villages, rivers, roads, etc.), saving radar debugging personnel the time to calculate the target's location relative to references (such as villages, rivers, roads, etc.), and making it easier for radar operators to determine the accurate location of the target.

[0047] according to Figure 4 and Figure 5 Overall effect comparison: Figure 4 Without vector superposition, the selected target is visible at 270.8 degrees and 21.6 kilometers from the radar. Figure 5 The gray solid line in the image represents a vector map line element (Road Network S218). The selected target is visible at 301.56 degrees, 15.89 kilometers from the radar. The target is clearly visible below Road S218, making it easy for users to determine its spatial location. Attached Figure Description

[0048] Figure 1 Geodetic coordinate system.

[0049] Figure 2 : Read the vector flowchart.

[0050] Figure 3 Overall flowchart.

[0051] Figure 4 Comparison diagram. Without vector overlay, the selected target is visible at 270.8 degrees, at a distance of 21.6 kilometers from the radar.

[0052] Figure 5 Comparison image. The gray solid line in the image represents a vector map line element (road network S218). The selected target is visible at 301.56 degrees, 15.89 kilometers from the radar. The target is clearly visible below S218 road. Detailed Implementation

[0053] The present invention will now be further described in conjunction with the embodiments and accompanying drawings:

[0054] The embodiments of the present invention include the following steps:

[0055] Step 1: Measure the radar's geographical location using BeiDou or GPS positioning, including longitude, latitude, elevation, and the angle between the radar array normal and true north. Convert the longitude, latitude, and elevation into a geodetic coordinate system Oxyz with the radar as the origin. (The geodetic coordinate system Oxyz has the radar as the origin O, with true north as positive (x-axis), true east as positive (y-axis), and vertically upward as positive (z-axis)).

[0056] Step 2: Based on the radar parameters, confirm the radar scanning method (Mechanical Scan, Electricity Scan), scanning range, and detection distance. Calculate the start angle and end angle of the radar scan using the angle between the radar array normal and true north (NorthAngle).

[0057] Calculation method:

[0058] BeginAngle=NorthAngle-Range / 2.0;

[0059] EndAngle=NorthAngle+Range / 2.0;

[0060] Modulo the BeginAngle and EndAngle values ​​to ensure that the values ​​are between 0.0 and 360.0.

[0061] Step 3: Draw a B-type display grid on the monitor based on the radar parameters. The number of rows is "Row," and the number of columns is "Column." The X-axis of the screen represents the radar detection range (Range), and the Y-axis represents the radar detection distance (Distance). The width of the screen drawing area is "Width," and the height is "Height." Each row represents the actual distance as Distance / Row, and each column represents the actual angle range as Range / Column.

[0062] Step 4: Read the vector map file, read the point and line elements in the vector map, and process them according to the following methods:

[0063] 1. Processing point elements:

[0064] 1) Calculate the angle between the point element and true north using the point element's location (longitude, latitude) and the radar's longitude, latitude, and elevation. Determine if the angle falls between the radar's start and end angles. If it does, proceed to the next step. Otherwise, abandon processing for that point.

[0065] 2) Calculate the distance (PointDistance) between the point element and the radar using the point element's location longitude (PointLon) and latitude (PointLat) and the radar's longitude (Longitude) and latitude (Latitude) and elevation (Elevation). If the distance (PointDistance) is less than or equal to the radar's detection distance (Distance), continue to the next step; otherwise, abandon processing for that point.

[0066] 3) Through the above two steps, ensure that the point element is drawn within the radar detection range.

[0067] 2. Processing line elements:

[0068] 1) Each line element in a vector map consists of N (N is greater than or equal to 0) point elements. Processing line elements can be converted into processing point elements.

[0069] 2) Read out each point element in the line element, run "point element processing", and save the point element information that meets the point element drawing conditions (angle between the point element and true north (Angle), distance between the point element and the radar (PointDistance)).

[0070] 3) Draw lines connecting the saved data using different colors.

[0071] Step 4: Draw the target based on the target information detected by the radar (relative radar distance (D), relative angle to the normal of the radar array (A)).

[0072] Methods for drawing point elements, line elements, and radar targets onto the screen drawing area:

[0073] The angle (X1) represented by each pixel on the screen in the X-axis direction is: "Radar detection range (Range)" divided by "Screen drawing width (Width)".

[0074] The distance (Y1) represented by each pixel on the screen in the Y-axis direction is: "Radar detection distance (Distance)" divided by "Screen drawing range height (Height)".

[0075] The leftmost side of the radar B-type display range on the screen indicates the start angle of the scan.

[0076] The rightmost side of the radar B-type display range on the screen indicates the end angle of the scan.

[0077] 1) Point element drawing method:

[0078] Calculate the coordinates (X, Y) of the point element on the screen. 0 Y 0 ),

[0079] Calculation method:

[0080] X 0 = (Angle between the point element and true north - BeginAngle) * X1

[0081] Y 0 = (Radar detection range (Distance) - Distance between point element and radar (PointDistance)) * Y1;

[0082] In coordinates (X) 0 Y 0 Draw the location point.

[0083] 2. Methods for drawing line elements:

[0084] Loop through the line elements and extract each point, calculating its corresponding screen coordinates (X). 0 Y 0 ),

[0085] Calculation method:

[0086] X 0 = (Angle between the point element and true north - BeginAngle) * X1

[0087] Y 0 = (Radar detection range (Distance) - Distance between point element and radar (PointDistance)) * Y1;

[0088] Use all calculated screen coordinates (X) 0 Y 0 Draw lines.

[0089] 3. Radar target mapping method:

[0090] Calculate the coordinates (X, Y) of the radar target on the screen. 0 Y 0 ),

[0091] Calculation method:

[0092] X 0 = (Angle relative to radar array normal (A) + Angle between radar array normal and true north (NorthAngle) -

[0093] BeginAngle)*X1;

[0094] Y 0 = (Radar detection range (Distance) - Relative radar range (D)) * Y1

[0095] In coordinates (X) 0 Y 0 Draw the location point.

[0096] Targets displayed in the Type B display mode of the ground target detection radar can be seen intuitively with respect to geographical references (such as villages, rivers, roads, etc.), saving radar debugging personnel the time to calculate the target's position relative to references (such as villages, rivers, roads, etc.) and making it easier for radar operators to determine the target's accurate position.

[0097] Without a vector map, radar operators only have information about the target's distance and azimuth relative to the radar, which does not provide them with a clear understanding of the target's location.

[0098] With this invention, the operator can clearly determine the target's geographical location in real time, as well as the target's relative position to known map elements, enhancing the radar operator's understanding of the target and enabling them to make correct decisions regarding the target.

[0099] This is highly advantageous to our personnel in actual combat.

Claims

1. A ground target detection radar B-type display method, characterized in that... The steps are as follows: Step 1: Establish a geodetic coordinate system Oxyz with the radar as the origin O, with due north as the positive x-axis, due east as the positive y-axis, and vertically upward as the positive z-axis; Set the radar detection parameters, including the scanning range and detection distance; Step 2: Calculate the start angle BeginAngle and end angle EndAngle of the radar scan using the NorthAngle angle between the radar array normal and true north. Step 3: Draw a B-type display grid on the monitor based on the radar parameters. The X-axis of the screen represents the radar detection range, and the Y-axis represents the radar detection distance. The screen drawing area is Width and Height; each row represents the actual distance Distance / Row, and each column represents the actual angle range Range / Column. Step 4: Load the vector map file into computer memory, read and process the point and line elements in the vector map: Each line element in a vector map consists of N point elements greater than or equal to 0, and processing of line elements is transformed into processing of point elements. I. Processing of point elements as follows: 1) Calculate the location of the point element: longitude (PointLon), latitude (PointLat), radar longitude (Longitude), latitude (Latitude), elevation (Elevation), and the angle (Angle) between the point and true north. If the angle is between the radar scan start angle (BeginAngle) and end angle (EndAngle), proceed to the next step; otherwise, abandon processing for that point. 2) Calculate the distance between the point element's location (longitude PointLon, latitude PointLat) and the radar's longitude (Longitude), latitude (Latitude), and elevation (Elevation) and the radar (PointDistance). If the distance PointDistance is less than or equal to the radar's detection distance Distance, proceed to the next step; otherwise, abandon the processing of that point. 3) Save point elements within the radar detection range and draw them by connecting them with different colors; II. The processing of line elements is as follows: Because line elements are composed of two or more point elements, the calculation and processing method is the same as "processing point elements". When finally drawn in the B-style display mode, line drawing is used. Step 5: Draw the point elements, line elements, and radar targets onto the screen drawing area. The angle X1 represented by each pixel on the screen in the X-axis direction is: "Radar detection range" divided by "Screen drawing range width"; The distance Y1 represented by each pixel on the screen in the Y-axis direction is: "Radar detection distance Distance" divided by "Screen drawing range height"; The leftmost side of the radar B-type display range on the screen is the BeginAngle, the starting angle of the radar scan. The rightmost side of the radar B-type display range on the screen is the end angle of the radar scan. The drawing method is as follows: Calculate the X coordinates of the point element on the screen. 0 Y 0 : X 0 = (Angle of the point element and true north - BeginAngle) * X1 Y 0 = (Radar detection distance Distance - Distance between point element and radar PointDistance) * Y1; In coordinate X 0 Y 0 The location is drawn using all calculated screen coordinates X. 0 Y 0 Draw lines; Step 6: Calculate the radar target's coordinates X on the screen. 1 Y 1 : X 1 = (Angle relative to the radar array normal + Angle between the radar array normal and true north) * 1; Y 1 = (Radar detection range Distance - Target relative radar range Distance) * Y1; In coordinate X 1 Y 1 Draw the target point at the location.

2. The ground target detection radar B-type display method according to claim 1, characterized in that: The radar's geographical location is obtained through BeiDou or GPS positioning.

3. The ground target detection radar B-type display method according to claim 1, characterized in that: The start angle BeginAngle and end angle EndAngle of the radar scan, calculated from the NorthAngle angle between the radar array normal and true north, are: BeginAngle=NorthAngle-Range / 2.0; EndAngle=NorthAngle+Range / 2.0; The BeginAngle and EndAngle values ​​are modulo 360.0 to ensure that the values ​​are between 0.0 and 360.

0.

4. The ground target detection radar type B display method according to claim 1, characterized in that: The grid displayed in B-style drawing has rows and columns.

5. The ground target detection radar B-type display method according to claim 1, characterized in that: The radar parameters include mechanical scan (MachineryScan) and electronic scan (ElectricityScan).

6. The ground target detection radar B-type display method according to claim 5, characterized in that: The mechanical scanning refers to the radar array being rotated 360 degrees by a servo or turntable.

7. The ground target detection radar type B display method according to claim 5, characterized in that: The electronic scanning involves the radar array remaining stationary while the TR components within the radar array sequentially emit electromagnetic waves, with a scanning range of 90 degrees.

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