Method, device, storage medium and radar for estimating operating range of marine radar

Abstract

The present invention discloses a method, device, storage medium and radar for estimating the operating range of a marine radar. The method includes: when the theoretical operating range of the radar is greater than the critical range, determining a correction coefficient according to the theoretical operating range of the radar, the critical range, the equivalent earth curvature radius and the target equivalent height; correcting the theoretical operating range of the radar according to the correction coefficient to obtain the corrected operating range of the radar; and making the evaluated detection operating range closer to the actual level of the radar. The method for estimating the operating range of the marine radar proposed by the present invention is simple and easy to understand. Through multiple batches of navigation radar sailing tests, it is verified that its estimation result is closer to the actual operating range of the radar, more accurate, and is beneficial to become an important reference for estimating the operating range of the marine radar.

Description

Technical Field

[0001] The present invention relates to the technical field of radar, and in particular to a method, device, storage medium and radar for estimating the operating range of a marine radar. Background Art

[0002] In the prior art, the detection operating range of a radar for sea targets determined by using the classical radar equation is usually greater than the line of sight. However, after a large number of verification tests, it is found that the actual operating range of the radar generally cannot reach the line of sight.

[0003] Due to the influence of the earth's curvature, the operating range of a marine radar is usually inseparable from the influence of the line of sight. Usually, when the operating range evaluated by the classical radar equation exceeds the line of sight, it is considered that the maximum operating range of the radar is the line of sight.

[0004] However, this statement is unreasonable. When the radar electromagnetic wave just grazes the sea surface tangentially and the target is on the other side of the earth's arc surface, as the target moves farther away from the radar, more and more parts of the target will be blocked by the earth, and the effective area of the radar cross section (RCS for short) of the target that actually acts on the radar will become smaller and smaller. At this time, it is obviously inappropriate to use the inherent property RCS of the target to evaluate the operating range of the radar. It can even be imagined that until the distance that satisfies the classical radar line-of-sight formula is reached, the target is just completely blocked, and the effective RCS that theoretically acts on the radar has been 0. That is to say, in addition to the changes brought by its own scintillation effect, the effective size of the RCS will also change regularly due to the influence of the line of sight. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a method, device, storage medium and radar for estimating the operating range of a marine radar in view of the problems existing in the prior art.

[0006] To solve the above technical problem, an embodiment of the present invention provides a method for estimating the operating range of a marine radar, including: when the marine radar detects a sea target, obtaining the radar operating parameters and determining the theoretical operating range of the radar according to the radar operating parameters; obtaining the equivalent height of the radar array center, the equivalent height of the target and the equivalent earth curvature radius, and determining the critical distance according to the equivalent height of the radar array center and the equivalent earth curvature radius; when the theoretical operating range of the radar is greater than the critical distance, determining a correction coefficient according to the theoretical operating range of the radar, the critical distance, the equivalent earth curvature radius and the equivalent height of the target; and correcting the theoretical operating range of the radar according to the correction coefficient to obtain the corrected operating range of the radar.

[0007] To solve the above technical problem, the present invention also provides a computer-readable storage medium, including instructions, which when run on a computer, cause the computer to execute the method for estimating the operating range of a marine radar provided by the above technical solution.

[0008] To solve the above technical problems, the present invention also provides a marine radar operating range estimation device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the marine radar operating range estimation method provided by the above technical solution.

[0009] To solve the above technical problems, the present invention also provides a radar, including the marine radar operating range estimation device provided by the above technical solution.

[0010] The beneficial effects of the present invention are as follows: When the theoretical operating range of the radar exceeds the critical range (i.e., when the target is located from the tangent point of the line of sight and the earth's surface to the other end of the earth), a correction coefficient is determined based on the theoretical operating range of the radar, the critical range, the equivalent earth curvature radius, and the target equivalent height; the theoretical operating range of the radar is corrected according to the correction coefficient to obtain the corrected operating range of the radar, making the evaluated detection operating range closer to the actual level of the radar. The marine radar operating range estimation method proposed by the present invention is simple and easy to understand. After multiple batches of navigation radar sailing tests, its estimation results are closer to the actual operating range of the radar and more accurate, and it is beneficial to become an important reference for the estimation of the marine radar operating range.

[0011] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a flowchart of the marine radar operating range estimation method provided by an embodiment of the present invention;

[0013] Figure 2 It is a schematic diagram of the radar operating range model affected by the line of sight.

[0014] Figure 3 It is a schematic diagram of the marine radar operating range estimation device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0015] The following describes the embodiments of the present disclosure through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present disclosure from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts belong to the scope of protection of the present disclosure.

[0016] It should be noted that the following describes various aspects of the embodiments within the scope of the appended claims. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is illustrative only. Based on the present disclosure, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. Additionally, this device and / or this method can be implemented using other structures and / or functionality in addition to one or more of the aspects described herein.

[0017] Figure 1 It is a flowchart of the method for estimating the operating range of a marine radar provided by an embodiment of the present invention. As Figure 1 shown, the method includes:

[0018] S1. When the marine radar detects a sea target, obtain the radar operating parameters and determine the theoretical operating range of the radar according to the radar operating parameters.

[0019] Determine the theoretical operating range R of the radar according to the radar operating parameters. The calculation formula is as follows:

[0020]

[0021] where P t is the peak power of the transmitted pulse, with the unit of kW; G t is the gain of the transmitting antenna; G r is the gain of the receiving antenna; τ is the signal pulse width, with the unit of μs; RCS is the target's inherent backscattering cross-sectional area, with the unit of m 2 ; F t is the propagation factor of the transmitting pattern, with a value range of 0 to 1; F ris the propagation factor of the receiving direction pattern, with a value range of 0 to 1; f is the radar operating frequency, in MHz; L is the total loss of the radar system; T s is the noise temperature of the system, in K (i.e., Kelvin); V0 is the visibility factor; C B is the bandwidth correction factor.

[0022] S2, obtain the equivalent height of the radar array center, the equivalent height of the target, and the equivalent radius of the earth's curvature, and determine the critical distance according to the equivalent height of the radar array center and the equivalent radius of the earth's curvature.

[0023] According to the electromagnetic field theory, the influence of atmospheric refraction on the propagation of ultra-high frequency electromagnetic waves. On the sea surface at a temperature of +15°C and in a standard situation where the temperature gradient with height is 0.0065° / m and the temperature is constant, the gradient of atmospheric refraction is 0.039×10-6 / m. At this time, the influence of the earth's curvature on propagation is equivalent to the influence of a spherical surface with a radius of Re on propagation: R e = 4R0 / 3 = 8490km. Where R0 = 6370km is the radius of the earth's curvature; R e is the equivalent radius of the earth's curvature. Figure 2 is a schematic diagram of the radar operating distance model affected by the line of sight. Define point A as the center of the radar antenna array, point B as the equivalent highest point of the target, point O as the center of the earth, and point G0 as the tangent point of the AB connection line and the earth's surface. This tangent point is unique.

[0024] It should be noted that the geometric distribution rules of different targets are different, that is, the effective height criteria of different targets are actually different. In the embodiments of the present invention, the target is set to three types. The equivalent height of the target with the center of gravity at the bottom is 0.508 times the maximum height, the equivalent height of the regular target is 0.668 times the maximum height, and the equivalent height of the target with the center of gravity at the top is 0.76 times the maximum height. According to the above criteria, the equivalent height of the radar array center is h1, the equivalent height of the target is h2, and the equivalent height of the target blocked by the horizontal line is h3.

[0025] Radar correction distance R s The derivation process is as follows:

[0026] R S = R1 + R3………………………………………(2)

[0027]

[0028]

[0029]

[0030] Because R e is much greater than h1, Re Much larger than h3, so:

[0031]

[0032]

[0033]

[0034] Among them, R s is the radar correction distance, R1 is the critical distance, and R2 is the maximum theoretical direct viewing distance of the radar beyond the critical distance; R3 is the actual direct viewing distance of the radar beyond the critical distance, point C0 is the vertical point of the radar array center to the ground, and point D0 is the vertical point of the target to the ground.

[0035] S3. When the theoretical radar range is greater than the critical distance, the correction coefficient is determined according to the theoretical radar range, critical distance, equivalent earth curvature radius, and target equivalent height.

[0036] It should be noted that assuming that the backscattering of the sea surface target to the radar is uniformly distributed, the backscattering RCS of the target and the equivalent height can be considered a linear relationship. Then, the equivalent backscattering cross-sectional area after the target is blocked is calculated as follows:

[0037]

[0038] Among them, RCS d is the equivalent backscattering cross-sectional area after the target is blocked, with the unit of m 2 . It can be imagined that when h3 is closer to h2, the backscattering cross-sectional area RCS of the target actually acting on the radar d is gradually decreasing until h3 = h2, and RCS d = 0.

[0039] When the theoretical radar range exceeds the critical distance and is less than or equal to the critical distance, the theoretical radar range is recorded as the actual radar range, that is, when R ≤ R1, then R s = R;

[0040] When the theoretical radar range is greater than the critical distance, the correction coefficient is determined according to the theoretical radar range, critical distance, equivalent earth curvature radius, and target equivalent height.

[0041] S4. The theoretical radar range is corrected according to the correction coefficient to obtain the corrected radar range.

[0042] The marine radar range estimation method provided by an embodiment of the present invention determines a correction coefficient based on the radar theoretical range, the critical distance, the equivalent radius of earth curvature, and the target equivalent height when the radar theoretical range is greater than the critical distance (i.e., when the target is located from the point of tangency of the line of sight with the earth's surface to the other side of the earth). The radar theoretical range is corrected according to the correction coefficient to obtain the radar corrected range, thereby making the estimated detection range closer to the actual level of the radar.

[0043] Optionally, when the radar theoretical range is greater than the critical distance, that is, when R>R1,

[0044]

[0045]

[0046] R S =R1+R3………………………………(12)

[0047]

[0048] The correction factor is:

[0049]

[0050] Formula (13) is a quartic equation system of one variable h3. The operation is relatively complicated. Excluding negative numbers and complex numbers whose imaginary parts are not 0, there is generally only one real value that satisfies the equation, which is the final solution of h3. Substituting the final solution of h3 into formula (14), the correction coefficient K is obtained.

[0051] Where h1 is the equivalent height of the center of the radar array, in meters; h2 is the equivalent height of the target, in meters; h3 is the equivalent height of the target blocked by the horizontal line, in meters; R1 is the critical distance, in kilometers; R is the theoretical operating range of the radar, in kilometers; R s Corrected radar range, in km.

[0052] That is to say, the correction factor is determined based on the radar's theoretical operating range, critical distance, equivalent earth curvature radius, and target equivalent height, including:

[0053] S31: Determine the equivalent height of the target obscured by the horizon based on the radar's theoretical operating range, critical distance, equivalent radius of earth curvature, and target equivalent height. The calculation formula is as follows:

[0054]

[0055] Solve about , and then find h3.

[0056] Among them, h3 is the equivalent height of the target blocked by the horizontal line, with the unit of m; R1 is the critical distance, with the unit of km, R is the theoretical operating distance of the radar, with the unit of km; R e is the equivalent radius of the earth's curvature, with the unit of km; h2 is the equivalent height of the target, with the unit of m.

[0057] S32. Determine the correction coefficient according to the equivalent height of the target and the equivalent height of the target blocked by the horizontal line. The calculation formula is as follows:

[0058]

[0059] Among them, K is the correction coefficient, h2 is the equivalent height of the target, with the unit of m, and h3 is the equivalent height of the target blocked by the horizontal line, with the unit of m.

[0060] In the above embodiment, the equivalent height of the target blocked by the horizontal line is determined according to the theoretical operating distance of the radar, the critical distance, the equivalent radius of the earth's curvature, and the equivalent height of the target, making full use of the radar principle, that is, the effective reflected energy of the target is just equal to the sensitivity of the radar receiver. Based on the earth's over-the-horizon detection model, the equivalent height of the target blocked by the horizontal line is solved through a quartic equation in one variable; the correction coefficient is determined according to the equivalent height of the target and the equivalent height of the target blocked by the horizontal line, that is, the effective scattering cross-section of the target is corrected, and then the operating distance of the radar can be corrected to obtain a more accurate radar operating distance.

[0061] Optionally, the theoretical operating distance of the radar is corrected according to the correction coefficient to obtain the corrected operating distance R s , and the calculation formula is as follows:

[0062]

[0063] In the above embodiment, the theoretical operating distance of the radar is corrected according to the correction coefficient, so as to obtain a more accurate radar operating distance.

[0064] An embodiment of the present invention further provides a computer-readable storage medium, including instructions, which when run on a computer, cause the computer to execute the method for estimating the operating distance of a marine radar provided in the above embodiment.

[0065] As Figure 3 shown, an embodiment of the present invention further provides a device 3000 for estimating the operating distance of a marine radar, including a processor 3001, a memory 3003, and a computer program stored on the memory 3003 and operable on the processor 30001. When the processor 3001 executes the program, it implements the method for estimating the operating distance of a marine radar provided in the above embodiment.

[0066] Among them, the processor 3001 is connected to the memory 3003, such as through the bus 3002. Optionally, the electronic device 3000 may further include a transceiver 3003, and the transceiver 3003 can be used for data interaction between this electronic device and other electronic devices, such as data sending and / or data receiving, etc. It should be noted that in practical applications, the transceiver 3003 is not limited to one, and the structure of the electronic device 3000 does not constitute a limitation on the embodiments of the present invention.

[0067] The processor 3001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in connection with the disclosure of the present invention. The processor 3001 may also be a combination that implements computing functions, such as a combination including one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0068] The bus 3002 may include a path for transmitting information between the above components. The bus 3002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 3002 may be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 3 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0069] The memory 3003 can be a ROM (Read Only Memory), or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory), or other types of dynamic storage devices that can store information and instructions. It can also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0070] The memory 3003 is used to store the application program code (computer program) for implementing the solution of the present invention and is controlled by the processor 3001 for execution. The processor 3001 is used to execute the application program code stored in the memory 3003 to implement the content shown in the foregoing method embodiments.

[0071] An embodiment of the present invention further provides a radar, including the marine radar operating range estimation device provided in the foregoing embodiment.

[0072] The present invention provides a method and device for estimating the operating range of a marine radar. Parameters such as the equivalent altitude of the radar, the equivalent altitude of the target, the equivalent radius of the earth's curvature, and the correction coefficient are added to the classical radar equation (i.e., the process of determining the theoretical operating range of the radar), so that the estimated detection operating range is closer to the actual level of the radar. The model proposed in the embodiment of the present invention is beneficial to become an important reference model for estimating the operating range of a marine radar, and can more accurately estimate the radar operating range. Verified by multiple batches of navigation radar sailing tests, the estimated results are more consistent with the actual detection operating range of the radar.

[0073] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0074] In several embodiments provided by this 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 merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0075] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present invention.

[0076] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0077] 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 invention, in essence, 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. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0078] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for estimating the operating range of a marine radar, characterized in that, Including: When a marine radar detects sea surface targets, obtain the radar operating parameters and determine the theoretical radar range according to the radar operating parameters; Obtain the equivalent height of the radar array center, the equivalent height of the target, and the equivalent radius of the earth's curvature, and determine the critical range according to the equivalent height of the radar array center and the equivalent radius of the earth's curvature; When the theoretical radar range is greater than the critical range, determine a correction factor according to the theoretical radar range, the critical range, the equivalent radius of the earth's curvature, and the equivalent height of the target; Correct the theoretical radar range according to the correction factor to obtain the corrected radar range; When the theoretical radar range is greater than the critical range, the step of determining the correction factor according to the theoretical radar range, the critical range, the equivalent radius of the earth's curvature, and the equivalent height of the target includes: Determine the equivalent height of the target blocked by the horizon according to the theoretical radar range, the critical range, the equivalent radius of the earth's curvature, and the equivalent height of the target; Determine the correction factor according to the equivalent height of the target and the equivalent height of the target blocked by the horizon; Among them, the formula for determining the equivalent height of the target blocked by the horizon according to the theoretical radar range, the critical range, the equivalent radius of the earth's curvature, and the equivalent height of the target is as follows: Solve the quartic equation in one variable for and then obtain h3; where h3 is the equivalent height of the target blocked by the horizontal line, with the unit of m; R1 is the critical distance, with the unit of km; R is the theoretical operating distance of the radar, with the unit of km; R e is the equivalent radius of the earth's curvature, with the unit of km; h2 is the equivalent height of the target, with the unit of m; The formula for determining the correction factor according to the equivalent height of the target and the equivalent height of the target blocked by the horizon is as follows: Among them, K is the correction factor, h2 is the equivalent height of the target, in m; h3 is the equivalent height of the target blocked by the horizon, in m; The formula for correcting the theoretical radar range according to the correction factor to obtain the corrected radar range Rs is as follows:

2. The method according to claim 1, wherein The formula for determining the theoretical radar range according to the radar operating parameters is as follows: where, R is the theoretical operating range of the radar, with the unit of km; P t is the peak power of the transmitted pulse, with the unit of kW; G t is the gain of the transmitting antenna; G r is the gain of the receiving antenna; τ is the signal pulse width, with the unit of μs; RCS is the target's inherent backscattering cross-section, with the unit of m 2 ; F t is the propagation factor of the transmitting pattern; F r is the propagation factor of the receiving pattern; f is the radar operating frequency, with the unit of MHz; L is the total loss of the radar system; T s is the noise temperature of the system, with the unit of K; V0 is the visibility factor; C B is the bandwidth correction factor.

3. The method according to claim 1, characterized in that, The formula for determining the critical range according to the equivalent height of the radar array center and the equivalent radius of the earth's curvature is as follows: Among them, R1 is the critical distance, with the unit of km; h1 is the equivalent height of the radar array center, with the unit of m; R e is the equivalent radius of the earth's curvature, with the unit of km.

4. A computer-readable storage medium, comprising instructions, characterized in that, When the instruction runs on a computer, cause the computer to execute the method for estimating the range of a marine radar according to any one of claims 1 to 3.

5. A marine radar operating range estimation device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, implement the method for estimating the range of a marine radar according to any one of claims 1 to 3.

6. A radar, characterized in that, Including the device for estimating the range of a marine radar according to claim 5.

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