Method and system for selection of a wavelet position for radar track deletion

Abstract

The application provides a method and system for selecting a wave position for radar track cancellation small search, comprising: calculating a wave position where a radar track is cancelled; obtaining surrounding wave positions of the wave position; calculating a perpendicular line according to a target extrapolation position and a target heading; and calculating wave positions that need to be searched for radar track cancellation small search according to the target heading, the perpendicular line and the surrounding wave positions. According to the method for calculating the surrounding wave positions of the wave position where the target is located, the wave positions that need to be searched are reduced, and then the wave positions that need to be searched are further reduced according to the target heading, so that resources are saved. The stability of target tracking is improved by using the small search wave position.

Description

Technical Field

[0001] This invention relates to the field of radar detection technology, and more specifically, to a method and system for selecting a small search position for radar track cancellation. Background Technology

[0002] With the development of radar systems, phased array radars are becoming increasingly popular due to their powerful capabilities. However, when a target makes a large-angle, rapid turn, it affects the stability of target tracking, thus impacting the operator's judgment. In particular, repeatedly losing the target's track will trigger a radar track cancellation operation.

[0003] Patent document CN114325684A discloses a variable data rate tracking method for rotating phased array radar based on target prior parameters. Based on the target's prior parameters, including the target's maximum maneuvering acceleration and maximum speed, the maximum tracking residual generated by the target's maneuvering at the current distance is calculated in real time to ensure that the radar's tracking beamwidth covers the target and to calculate the maximum tracking data rate.

[0004] However, existing technologies typically involve directly canceling the target track or using a small search within the target's adjacent wave positions. This leads to decreased target tracking stability and low efficiency. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a method and system for selecting small search positions for radar track cancellation.

[0006] A method for selecting a radar track cancellation small search position according to the present invention includes:

[0007] Step S1: Calculate the wave position where the radar track cancellation point is located;

[0008] Step S2: Obtain the surrounding wave positions of the wave position;

[0009] Step S3: Calculate the perpendicular line based on the target's extrapolated position and heading;

[0010] Step S4: Based on the target heading, vertical line, and encircling wave position, calculate the wave position that the radar track cancellation search needs to search for;

[0011] Step S5: Track the target based on the calculated wave position.

[0012] Preferably, step S1 includes:

[0013] Step S1.1: Record the wave position p that satisfies the following formula i，j :

[0014]

[0015] Among them, the location where the target track was cancelled p represents the wave position, and θ0 represents the azimuth angle of the target track cancellation position. Pitch angle indicating the position where the target track was cancelled; wave position N row N represents the number of wave positions. col The value represents the number of wave positions, and θ represents the azimuth angle of the wave position. BW represents the elevation angle of the wave position;

[0016] Step S1.2: Based on the wave position recorded in step S1.1, calculate the wave position of the radar track cancellation location. The calculation formula is as follows:

[0017]

[0018] Where, p a，b This represents the coordinates of the radar track cancellation position, where a represents the row number of the radar track, b represents the column number of the radar track, and min() represents the minimum function.

[0019] Preferably, step S3 includes:

[0020] Step S3.1: Determine the angle of the target flight path;

[0021] Step S3.2: Based on the angle, calculate the equation of the perpendicular line as follows:

[0022]

[0023] Where y represents the pitch angle, x represents the azimuth angle, and Heading represents the angle of the target flight path. When Heading = 0° or Heading = 180°, the equation of the perpendicular is: When Heading = 90° or Heading = 270°, the equation for the perpendicular is x = θ, where θ0 represents the azimuth angle of the target track cancellation position. This indicates the pitch angle at the position where the target track was canceled.

[0024] Preferably, step S4 includes:

[0025] Step S4.1: Write the equation of the perpendicular line in general form, and the calculation formula is as follows:

[0026]

[0027] Step S4.2: Calculate all wave positions in the set of surrounding wave positions to obtain the wave positions that the radar track cancellation search needs to search.

[0028] Preferably, step S4.2 includes:

[0029] Step S4.2.1: Calculate and record the wave position when 0 < Heading < 90 or 270 < Heading < 360, the vertical equation is less than or equal to 0;

[0030] Step S4.2.2: Calculate and record the wave position when 90 < Heading < 180 or 180 < Heading < 270, the vertical equation is greater than or equal to 0;

[0031] Step S4.2.3: Calculate and record the result when Heading = 0. The wave position; when Heading = 90, the wave position is θ ≥ θ0; when Heading = 180, it is... The wave position; when Heading = 270, the wave position θ ≤ θ0;

[0032] Step S4.2.4: Calculate and record wave positions whose distance from the wave position center to the vertical line is less than or equal to BW. The calculation formula is as follows:

[0033]

[0034] Where BW represents the beamwidth of the wave position, Heading represents the angle of the target flight path, and θ0 represents the azimuth angle of the target track cancellation position. The pitch angle represents the position where the target track was cancelled, and θ represents the azimuth angle of the calculated wave position center. This indicates the elevation angle of the calculated wave position center.

[0035] A radar track cancellation small search position selection system according to the present invention includes:

[0036] Module M1: Calculates the wave position at the location where the radar track cancellation point is located;

[0037] Module M2: Obtains the surrounding wave positions of the wave position;

[0038] Module M3: Calculates the perpendicular line based on the target's extrapolated position and heading;

[0039] Module M4: Calculates the wave positions that need to be searched for when the radar track cancellation small search is based on the target heading, vertical line and surrounding wave positions;

[0040] Module M5: Tracks targets based on the calculated wave position.

[0041] Preferably, the module M1 includes:

[0042] Module M1.1: Records the wave position p that satisfies the following formula i，j :

[0043]

[0044] Among them, the location where the target track was cancelled p represents the wave position, and θ0 represents the azimuth angle of the target track cancellation position. Pitch angle indicating the position where the target track was cancelled; wave position N row N represents the number of wave positions. col The value represents the number of wave positions, and θ represents the azimuth angle of the wave position. BW represents the elevation angle of the wave position;

[0045] Module M1.2: Based on the wave position recorded in Module M1.1, calculate the wave position of the radar track cancellation location. The calculation formula is as follows:

[0046]

[0047] Where, p a，b This represents the coordinates of the radar track cancellation position, where a represents the row number of the radar track, b represents the column number of the radar track, and min() represents the minimum function.

[0048] Preferably, the module M3 includes:

[0049] Module M3.1: Determines the angle of the target flight path;

[0050] Module M3.2: Based on the stated angle, the equation for the perpendicular line is calculated as follows:

[0051]

[0052] Where y represents the pitch angle, x represents the azimuth angle, and Heading represents the angle of the target flight path. When Heading = 0° or Heading = 180°, the equation of the perpendicular is: When Heading = 90° or Heading = 270°, the equation for the perpendicular is x = θ, where θ0 represents the azimuth angle of the target track cancellation position. This indicates the pitch angle at the position where the target track was canceled.

[0053] Preferably, the module M4 includes:

[0054] Module M4.1: Rewrite the perpendicular line equation in general form, and the calculation formula is as follows:

[0055]

[0056] Module M4.2: Calculates all wave positions in the set of enclosing wave positions, thereby obtaining the wave positions that the radar track cancellation search needs to search for.

[0057] Preferably, module M4.2 includes:

[0058] Module M4.2.1: Calculate and record the wave position where the vertical equation is less than or equal to 0 when 0 < Heading < 90 or 270 < Heading < 360;

[0059] Module M4.2.2: Calculate and record the wave position when the vertical equation is greater than or equal to 0 when 90 < Heading < 180 or 180 < Heading < 270;

[0060] Module M4.2.3: Calculates and records when Heading = 0. The wave position; when Heading = 90, the wave position is θ ≥ θ0; when Heading = 180, it is... The wave position; when Heading = 270, the wave position θ ≤ θ0;

[0061] Module M4.2.4: Calculate and record wave positions whose distance from the wave position center to the vertical line is less than or equal to BW. The calculation formula is as follows:

[0062]

[0063] Where BW represents the beamwidth of the wave position, Heading represents the angle of the target flight path, and θ0 represents the azimuth angle of the target track cancellation position. The pitch angle represents the position where the target track was cancelled, and θ represents the azimuth angle of the calculated wave position center. This indicates the elevation angle of the calculated wave position center.

[0064] Compared with the prior art, the present invention has the following beneficial effects:

[0065] 1. The present invention reduces the required small search position by calculating the surrounding wave position of the target wave position, and further reduces the small search position according to the target heading, thus saving resources.

[0066] 2. This invention improves the stability of target tracking by using a small search wave position method.

[0067] 3. This invention improves accuracy and saves resources by locating the target's wave position. Attached Figure Description

[0068] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0069] Figure 1 This is a schematic diagram of the workflow of the present invention.

[0070] Figure 2 This is a schematic diagram of a beam pattern surrounding a wave position.

[0071] Figure 3 This is a schematic diagram of a low-loss beam encircling a wave position.

[0072] Figure 4 This is a schematic diagram of the wave position surrounded by staggered beams.

[0073] Figure 5 This is a schematic diagram showing the wave position where the radar track cancellation point of the target is located in this invention.

[0074] Figure 6 This is a schematic diagram of the surrounding wave position of the target center point in this invention.

[0075] Figure 7 This is a schematic diagram of the perpendicular line passing through the center point of the target in this invention.

[0076] Figure 8 This is a schematic diagram illustrating the wave position that needs to be searched in the small search in this invention. Detailed Implementation

[0077] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0078] According to the present invention, a method for selecting a radar track cancellation small search position is provided, such as... Figure 1 As shown, it includes:

[0079] Step S1: Calculate the wave position where the radar track cancellation location is located; Step S1 includes:

[0080] Step S1.1: Record the wave position p that satisfies the following formula i，j :

[0081]

[0082] Among them, the location where the target track was cancelled p represents the wave position, and θ0 represents the azimuth angle of the target track cancellation position. Pitch angle indicating the position where the target track was cancelled; wave position N row N represents the number of wave positions. col The value represents the number of wave positions, and θ represents the azimuth angle of the wave position. BW represents the elevation angle of the wave position;

[0083] Step S1.2: Based on the N wave positions recorded in step S1.1, calculate the wave position where the radar track cancellation position is located. The calculation formula is as follows:

[0084]

[0085] Where, p a，b This represents the coordinates of the radar track cancellation position, where a represents the row number of the radar track, b represents the column number of the radar track, and min() represents the minimum function.

[0086] Step S2: Obtain the surrounding wave positions of the wave position;

[0087] Specifically, the corresponding surrounding wave positions are obtained based on the wave position arrangement, such as Figure 2 As shown, the wave positions are arranged in a columnar pattern to obtain the surrounding wave position set; as Figure 3 As shown, the set of encircling wave positions acquired by low-loss point beamforming; as Figure 4 As shown, the wave positions are arranged as a set of encircling wave positions acquired by staggered beamforming. If a wave position does not exist, the corresponding position is empty.

[0088] Step S3: Calculate the perpendicular line based on the target extrapolation position and target heading; Step S3 includes:

[0089] Step S3.1: Determine the angle of the target flight path;

[0090] Step S3.2: Based on the angle, calculate the equation of the perpendicular line as follows:

[0091]

[0092] Where y represents the pitch angle, x represents the azimuth angle, and Heading represents the angle of the target flight path. When Heading = 0° or Heading = 180°, the equation of the perpendicular is: When Heading = 90° or Heading = 270°, the equation of the perpendicular line is x = θ;

[0093] Step S4: Based on the target heading, vertical line, and encirclement wave position, calculate the wave position that the radar track cancellation search needs to search for. Step S4 includes:

[0094] Step S4.1: Write the equation of the perpendicular line in general form, and the calculation formula is as follows:

[0095]

[0096] Step S4.2: Calculate all wave positions in the set of surrounding wave positions to obtain the wave positions that the radar track cancellation search needs to search for. Step S4.2 includes:

[0097] Step S4.2.1: Calculate and record the wave position when 0 < Heading < 90 or 270 < Heading < 360, the vertical equation is less than or equal to 0;

[0098] Step S4.2.2: Calculate and record the wave position when 90 < Heading < 180 or 180 < Heading < 270, the vertical equation is greater than or equal to 0;

[0099] Step S4.2.3: Calculate and record the result when Heading = 0. The wave position; when Heading = 90, the wave position is θ ≥ θ0; when Heading = 180, it is... The wave position; when Heading = 270, the wave position θ ≤ θ0;

[0100] Step S4.2.4: Calculate and record wave positions whose distance from the wave position center to the vertical line is less than or equal to BW. The calculation formula is as follows:

[0101]

[0102] Where BW represents the beamwidth of the wave position, Heading represents the angle of the target flight path, and θ0 represents the azimuth angle of the target track cancellation position. The pitch angle represents the position where the target track was cancelled, and θ represents the azimuth angle of the calculated wave position center. This indicates the elevation angle of the calculated wave position center.

[0103] Step S5: Track the target based on the calculated wave position.

[0104] Specifically, the invention will be further described in conjunction with the accompanying drawings and examples:

[0105] Assume the target's radar track cancellation position is p0(0.2, 0.3), the radar uses staggered beams with a beamwidth of 3 degrees, the array normal in the radar spherical coordinate system has an azimuth angle of 0 degrees, the array normal in the radar spherical coordinate system has an elevation angle of 0 degrees, the horizontal angle range is -45 degrees to 45 degrees, the vertical angle range is 0 degrees to 70 degrees, and the heading is 40 degrees. Simulation is performed using C++.

[0106] First, iterate through all wave positions and calculate the wave position where the target's radar track cancellation position is located, such as... Figure 5 As shown;

[0107] Then, calculate the surrounding wave position based on the wave position of the target's radar track cancellation location, such as... Figure 6 As shown;

[0108] Next, as Figure 7As shown, the perpendicular line is calculated based on the target's extrapolated position and target's heading, and the equation of the perpendicular line is y = -1.1917x + 0.53835.

[0109] Finally, as Figure 8 As shown, the trajectory is calculated based on the heading, and the wave position that the small search needs to search for is cancelled, thereby tracking the target.

[0110] The present invention also provides a radar track cancellation small search position selection system. Those skilled in the art can implement the radar track cancellation small search position selection system by executing the steps of the radar track cancellation small search position selection method. That is, the radar track cancellation small search position selection method can be understood as a preferred embodiment of the radar track cancellation small search position selection system.

[0111] A radar track cancellation small search position selection system according to the present invention includes:

[0112] Module M1: Calculates the wave position at the location where the radar track cancellation point is located;

[0113] Module M2: Obtains the surrounding wave positions of the wave position;

[0114] Module M3: Calculates the perpendicular line based on the target's extrapolated position and heading;

[0115] Module M4: Calculates the wave positions that need to be searched for when the radar track cancellation small search is based on the target heading, vertical line, and surrounding wave positions.

[0116] Preferably, the module M1 includes:

[0117] Module M1.1: Records the wave position p that satisfies the following formula i，j :

[0118]

[0119] Among them, the location where the target track was cancelled p represents the wave position, and θ0 represents the azimuth angle of the target track cancellation position. Pitch angle indicating the position where the target track was cancelled; wave position N row N represents the number of wave positions. col The value represents the number of wave positions, and θ represents the azimuth angle of the wave position. BW represents the elevation angle of the wave position;

[0120] Module M1.2: Based on the N wave positions recorded in Module M1.1, calculate the wave position where the radar track cancellation position is located. The calculation formula is as follows:

[0121]

[0122] Where, p a，b This represents the coordinates of the radar track cancellation position, where a represents the row number of the radar track, b represents the column number of the radar track, and min() represents the minimum function.

[0123] Preferably, the module M3 includes:

[0124] Module M3.1: Determines the angle of the target flight path;

[0125] Module M3.2: Based on the stated angle, the equation for the perpendicular line is calculated as follows:

[0126]

[0127] Where y represents the pitch angle, x represents the azimuth angle, and Heading represents the angle of the target flight path. When Heading = 0° or Heading = 180°, the equation of the perpendicular is: When Heading = 90° or Heading = 270°, the equation of the perpendicular line is x = θ;

[0128] Preferably, the module M4 includes:

[0129] Module M4.1: Rewrite the perpendicular line equation in general form, and the calculation formula is as follows:

[0130]

[0131] Module M4.2: Calculates all wave positions in the set of enclosing wave positions, thereby obtaining the wave positions that the radar track cancellation search needs to search for.

[0132] Preferably, module M4.2 includes:

[0133] Module M4.2.1: Calculate and record the wave position where the vertical equation is less than or equal to 0 when 0 < Heading < 90 or 270 < Heading < 360;

[0134] Module M4.2.2: Calculate and record the wave position when the vertical equation is greater than or equal to 0 when 90 < Heading < 180 or 180 < Heading < 270;

[0135] Module M4.2.3: Calculates and records when Heading = 0. The wave position; when Heading = 90, the wave position is θ ≥ θ0; when Heading = 180, it is... The wave position; when Heading = 270, the wave position θ ≤ θ0;

[0136] Module M4.2.4: Calculate and record wave positions whose distance from the wave position center to the vertical line is less than or equal to BW. The calculation formula is as follows:

[0137]

[0138] Where BW represents the beamwidth of the wave position, Heading represents the angle of the target flight path, and θ0 represents the azimuth angle of the target track cancellation position. The pitch angle represents the position where the target track was cancelled, and θ represents the azimuth angle of the calculated wave position center. This indicates the elevation angle of the calculated wave position center.

[0139] Module M5: Tracks targets based on the calculated wave position.

[0140] Those skilled in the art will understand that, in addition to implementing the system, apparatus, and their modules provided by this invention in purely computer-readable program code, the same program can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system, apparatus, and their modules provided by this invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; alternatively, modules for implementing various functions can be considered both software programs implementing the method and structures within the hardware component.

[0141] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for selecting a small search position for radar track cancellation, characterized in that, include: Step S1: Calculate the wave position where the radar track cancellation point is located; Step S2: Obtain the surrounding wave positions of the wave position; Step S3: Calculate the perpendicular line based on the target's extrapolated position and target heading; Step S4: Based on the target heading, vertical line, and encircling wave position, calculate the wave position that the radar track cancellation search needs to search for; Step S5: Track the target based on the calculated wave position; Step S4 includes: Step S4.1: Write the equation of the perpendicular line in general form, and the calculation formula is as follows: Step S4.2: Calculate all wave positions in the set of surrounding wave positions to obtain the wave positions that the radar track cancellation search needs to search for; Step S4.2 includes: Step S4.2.1: Calculate and record when When the vertical equation is less than or equal to 0, the wave position is... Step S4.2.2: Calculate and record when At that time, the wave position is greater than or equal to 0 according to the equation of the perpendicular line; Step S4.2.3: Calculate and record. hour, wave position; when , ;when hour, wave position; when hour, ; Step S4.2.4: Calculate and record wave positions whose distance from the wave position center to the vertical line is less than or equal to BW. The calculation formula is as follows: in, The beamwidth represents the wave position. Indicates the angle of the target flight path. Indicates the azimuth of the position where the target track was cancelled. Indicates the pitch angle at the position where the target track was cancelled. This indicates the calculation of the azimuth angle of the wave position center. This indicates the elevation angle of the calculated wave position center.

2. The method for selecting the small search position for radar track cancellation according to claim 1, characterized in that, Step S1 includes: Step S1.1: Record the wave position that satisfies the following formula : Among them, the location where the target track was cancelled , Indicates the position of the wave position. Indicates the azimuth of the position where the target track was cancelled. The pitch angle indicates the position where the target track was cancelled; the wave position. , Indicates the number of wave positions. Indicates the number of wave positions. Indicates the azimuth angle of the wave position. The pitch angle represents the wave position. The beamwidth indicates the wave position; Step S1.2: Based on the wave position recorded in step S1.1, calculate the wave position of the radar track cancellation location. The calculation formula is as follows: in, This indicates the wavefront coordinates of the location where the radar track was canceled. Indicates the row number where the wave position is located. These represent the column numbers where the wave position is located. () indicates taking the minimum function.

3. The method for selecting the small search position for radar track cancellation according to claim 1, characterized in that, Step S3 includes: Step S3.1: Determine the angle of the target flight path; Step S3.2: Based on the angle, calculate the equation of the perpendicular line as follows: in, Indicates pitch angle, Indicates azimuth. Indicates the angle of the target route, when =0° or When the angle is 180°, the equation of the perpendicular line is: ;when =90° or When the angle is 270°, the equation of the perpendicular line is: , Indicates the azimuth of the position where the target track was cancelled. The pitch angle indicates the position where the target track was canceled.

4. A radar track cancellation small search position selection system, characterized in that, include: Module M1: Calculates the wave position at the location where the radar track cancellation point is located; Module M2: Obtains the surrounding wave positions of the wave position; Module M3: Calculates the perpendicular line based on the target's extrapolated position and heading; Module M4: Calculates the wave positions that need to be searched for when the radar track cancellation small search is based on the target heading, vertical line and surrounding wave positions; Module M5: Tracks targets based on the calculated wave position; The module M4 includes: Module M4.1: Rewrite the perpendicular line equation in general form, and the calculation formula is as follows: Module M4.2: Calculates all wave positions in the set of enclosing wave positions, thereby obtaining the wave positions that the radar track cancellation search needs to search for; The module M4.2 includes: Module M4.2.1: Calculates and records when... When the vertical equation is less than or equal to 0, the wave position is... Module M4.2.2: Calculates and records when... At that time, the wave position is greater than or equal to 0 according to the equation of the perpendicular line; Module M4.2.3: Calculate and record. hour, wave position; when , ;when hour, wave position; when hour, ; Module M4.2.4: Calculate and record wave positions whose distance from the wave position center to the vertical line is less than or equal to BW. The calculation formula is as follows: in, The beamwidth represents the wave position. Indicates the angle of the target flight path. Indicates the azimuth of the position where the target track was cancelled. Indicates the pitch angle at the position where the target track was cancelled. This indicates the calculation of the azimuth angle of the wave position center. This indicates the elevation angle of the calculated wave position center.

5. The radar track cancellation small search position selection system according to claim 4, characterized in that, The module M1 includes: Module M1.1: Records wave position that satisfies the following formula : Among them, the location where the target track was cancelled , Indicates the position of the wave position. Indicates the azimuth of the position where the target track was cancelled. The pitch angle indicates the position where the target track was cancelled; the wave position. , Indicates the number of wave positions. Indicates the number of wave positions. Indicates the azimuth angle of the wave position. The pitch angle represents the wave position. The beamwidth indicates the wave position; Module M1.2: Based on the wave position recorded in Module M1.1, calculate the wave position of the radar track cancellation location. The calculation formula is as follows: in, This indicates the wavefront coordinates of the location where the radar track was canceled. Indicates the row number where the wave position is located. These represent the column numbers where the wave position is located. () indicates taking the minimum function.

6. The radar track cancellation small search position selection system according to claim 4, characterized in that, The module M3 includes: Module M3.1: Determines the angle of the target flight path; Module M3.2: Based on the stated angle, the equation for the perpendicular line is calculated as follows: in, Indicates pitch angle, Indicates azimuth. Indicates the angle of the target route, when =0° or When the angle is 180°, the equation of the perpendicular line is: ;when =90° or When the angle is 270°, the equation of the perpendicular line is: , Indicates the azimuth of the position where the target track was cancelled. The pitch angle indicates the position where the target track was canceled.

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