Moving target tracking method, system, medium and device based on moving platform system

Abstract

The present application belongs to the field of radar information processing, and particularly relates to a moving target tracking method and system based on a moving platform system, a medium and equipment. The method comprises the following steps: step 1, performing reference correction on each radar in the moving platform system and obtaining the station coordinates of each radar; step 2, transmitting a coherent signal to a moving target by the moving platform system, and estimating the motion information of the next residence period of the moving target based on the echo signal; step 3, performing pointing error correction on the array surface of each radar based on the station coordinates of each radar, performing coordinate conversion on the station coordinates of each radar, determining the to-be-transmitted angle information of each radar based on the converted coordinates of each radar and the motion information, and controlling the corresponding radar to transmit the coherent signal based on each to-be-transmitted angle information; and step 4, repeating until a stop tracking signal is obtained. The present application can improve the detection accuracy of the target.

Description

Technical Field

[0001] This invention belongs to the field of radar information processing, and particularly relates to a method, system, medium and device for tracking moving targets based on a moving platform system. Background Technology

[0002] At present, domestic research on distributed coherent radar has reached the stage of research and experimental verification of certain key technologies.

[0003] In recent years, with the widespread application of moving-platform distributed radar systems in areas such as regional surveillance, target tracking, positioning, logistics, search and rescue, and emergency rescue, research on moving-platform distributed coherent synthesis technology has attracted widespread attention. Moving-platform distributed radar systems can utilize spatial diversity to observe targets from different angles during missions, thereby improving the system's ability to detect, track, and identify targets.

[0004] Currently, there are many research works on distributed radar and coherent synthesis technology, but there are relatively few research works on distributed motion platform radar, especially on related technologies for collaborative work between motion platforms. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a method, system, medium and device for tracking moving targets based on a moving platform system.

[0006] The technical solution of this invention to solve the above-mentioned technical problems is as follows: A moving target tracking method based on a moving platform system, comprising:

[0007] Step 1: Perform benchmark calibration on each radar in the moving platform system and obtain the site coordinates of each radar. Each radar includes a central radar and at least two unit radars.

[0008] Step 2: The moving platform system transmits a coherent signal to the moving target and estimates the motion information of the moving target for the next dwell period based on the echo signal;

[0009] Step 3: Based on the site coordinates of each radar, correct the pointing error of the array of each radar, transform the site coordinates of each radar, determine the transmission angle information of each radar based on the transformed coordinates of each radar and the motion information, and control the corresponding radar to transmit coherent signals based on the transmission angle information of each radar.

[0010] Step 4: Repeat steps 2 and 3 until a stop tracking signal is obtained.

[0011] The beneficial effects of this invention are: the distributed coherent synthesis method for moving platforms is being applied to models under development, and the coherent synthesis design of the target tracking process can be carried out. By transforming the coordinates of the position information, moving platform tracking can be realized, while improving the target detection accuracy.

[0012] Based on the above technical solution, the present invention can be further improved as follows.

[0013] Furthermore, the reference correction includes radar pointing correction and radar test distance correction.

[0014] Furthermore, step 2 specifically includes:

[0015] Each radar is controlled to transmit orthogonal waveforms to the moving target, and phase difference filtering estimation is performed based on each echo to obtain the estimation result corresponding to each radar. All estimation results are integrated to obtain the motion information of the moving target in the next dwell period.

[0016] Furthermore, the pointing error correction for each radar array specifically involves:

[0017] Obtain the target baseline in the site coordinates of each radar, and correct the pointing error of each radar array based on the target baseline of each radar.

[0018] Furthermore, the specific process of performing coordinate transformation on the site coordinates of each radar is as follows:

[0019] The location markers of each radar are converted into the transformed coordinates of each radar in the geodetic coordinate system.

[0020] Another technical solution of the present invention to solve the above-mentioned technical problems is as follows: A moving target tracking system based on a moving platform system, comprising:

[0021] The acquisition module is used to perform reference correction on each radar in the moving platform system and acquire the site coordinates of each radar, wherein each radar includes a central radar and at least two unit radars;

[0022] The estimation module is used to transmit a coherent signal to the moving target from the moving platform system and estimate the motion information of the moving target for the next dwell period based on the echo signal.

[0023] The tracking module is used to correct the pointing error of each radar array based on the site coordinates of each radar, perform coordinate transformation on the site coordinates of each radar, determine the transmission angle information of each radar based on the transformed coordinates of each radar and the motion information, and control the corresponding radar to transmit coherent signals based on the transmission angle information of each radar.

[0024] The repeat module is used to repeat the estimation module to the tracking module until a stop tracking signal is obtained.

[0025] The beneficial effects of this invention are: the distributed coherent synthesis method for moving platforms is being applied to models under development, and the coherent synthesis design of the target tracking process can be carried out. By transforming the coordinates of the position information, moving platform tracking can be realized, while improving the target detection accuracy.

[0026] Furthermore, the reference correction includes radar pointing correction and radar test distance correction.

[0027] Furthermore, the estimation module is specifically used for:

[0028] Each radar is controlled to transmit orthogonal waveforms to the moving target, and phase difference filtering estimation is performed based on each echo to obtain the estimation result corresponding to each radar. All estimation results are integrated to obtain the motion information of the moving target in the next dwell period.

[0029] Furthermore, the pointing error correction for each radar array specifically involves:

[0030] Obtain the target baseline in the site coordinates of each radar, and correct the pointing error of each radar array based on the target baseline of each radar.

[0031] Furthermore, the specific process of performing coordinate transformation on the site coordinates of each radar is as follows:

[0032] The location markers of each radar are converted into the transformed coordinates of each radar in the geodetic coordinate system.

[0033] Another technical solution of the present invention to solve the above-mentioned technical problems is as follows: a storage medium storing instructions, wherein when a computer reads the instructions, the computer executes a neutron radiograph image degradation fitting system method based on deep learning as described in any of the above claims.

[0034] The beneficial effects of this invention are: the distributed coherent synthesis method for moving platforms is being applied to models under development, and the coherent synthesis design of the target tracking process can be carried out. By transforming the coordinates of the position information, moving platform tracking can be realized, while improving the target detection accuracy.

[0035] Another technical solution of the present invention to solve the above-mentioned technical problems is as follows: an electronic device, including the above-mentioned storage medium and a processor that executes the instructions in the above-mentioned storage medium.

[0036] The beneficial effects of this invention are: the distributed coherent synthesis method for moving platforms is being applied to models under development, and the coherent synthesis design of the target tracking process can be carried out. By transforming the coordinates of the position information, moving platform tracking can be realized, while improving the target detection accuracy. Attached Figure Description

[0037] Figure 1 This is a flowchart illustrating an embodiment of a moving target tracking method based on a moving platform system according to the present invention.

[0038] Figure 2 This is a structural framework diagram of an embodiment of a moving target tracking system based on a moving platform system according to the present invention;

[0039] Figure 3 This is a block diagram of a distributed radar system based on a moving platform, provided in an embodiment of the moving target tracking method based on a moving platform system according to the present invention.

[0040] Figure 4 This is a flowchart of distributed transmit / receive parametric processing provided in an embodiment of a moving target tracking method based on a moving platform system according to the present invention. Detailed Implementation

[0041] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0042] like Figure 1 As shown, a moving target tracking method based on a moving platform system includes:

[0043] Step 1: Perform benchmark calibration on each radar in the moving platform system and obtain the site coordinates of each radar. Each radar includes a central radar and at least two unit radars.

[0044] Step 2: The moving platform system transmits a coherent signal to the moving target and estimates the motion information of the moving target for the next dwell period based on the echo signal;

[0045] Step 3: Based on the site coordinates of each radar, correct the pointing error of the array of each radar, transform the site coordinates of each radar, determine the transmission angle information of each radar based on the transformed coordinates of each radar and the motion information, and control the corresponding radar to transmit coherent signals based on the transmission angle information of each radar.

[0046] Step 4: Repeat steps 2 and 3 until a stop tracking signal is obtained.

[0047] In some possible implementations, the distributed coherent synthesis method for moving platforms is being applied to models under development. It performs coherent synthesis design on the target tracking process, and can achieve moving platform tracking by transforming the coordinate information of the position information, while improving the target detection accuracy.

[0048] It should be noted that coherent information refers to the fact that the phase difference between two signals is fixed; in this paper, orthogonal waveforms are selected as the coherent signals. The moving platform system, also known as a moving platform distributed radar system, includes a central radar and at least two unit radars.

[0049] Site coordinates: The coordinates of the radar's location; this article uses the latitude, longitude, and altitude of the radar's location.

[0050] Dwell time refers to the time from when the radar antenna beam points in a certain direction until the antenna beam leaves that direction;

[0051] Motion information representation: The position information of a moving target in a coordinate system centered on the central radar platform;

[0052] Pointing error indicates the correction of the direction of the transmitted signal;

[0053] Pointing correction / calibration means: Before the radar operates, a fixed target (with a known target position) is used to calibrate the radar and correct the radar pointing error;

[0054] Test range calibration means: before the radar is put into operation, a basic calibration of the radar test range is performed;

[0055] Target baseline representation: target trajectory.

[0056] Since 2000, Lincoln Laboratory has been studying the principles of distributed coherent synthesis radar, and in 2005, it achieved gain enhancement in different modes using two AN / MPS-36 radars.

[0057] At present, domestic research on distributed coherent radar has reached the stage of research and experimental verification of certain key technologies.

[0058] In recent years, with the widespread application of moving-platform distributed radar systems in areas such as regional surveillance, target tracking, positioning, logistics, search and rescue, and emergency rescue, research on moving-platform distributed coherent synthesis technology has attracted widespread attention. Moving-platform distributed radar systems can utilize spatial diversity to observe targets from different angles during missions, thereby improving the system's ability to detect, track, and identify targets.

[0059] A method for distributed coherent synthesis of a moving platform will perform coherent synthesis design on the central control system of a distributed radar on a moving platform, realize the interconnection between the central radar of the moving platform and the two unit radars, and have the ability to perform coherent detection and tracking of ground targets, aircraft and other targets.

[0060] Figure 3 The diagram shows the composition of a distributed radar system on a mobile platform. The main control system consists of a central main control unit and unit radar main control units. The central main control unit performs unified control and scheduling of the unit radars, enabling operations such as target search, acquisition, tracking, and coherent processing in coherent synthesis mode.

[0061] Figure 4This describes the distributed send / receive parameter processing flow of the dynamic platform.

[0062] First, the distributed radar operates in receive coherent mode, transmitting orthogonal waveforms to the target and estimating the phase difference using an ab filter method on the echoes. Then, the distributed radar switches to transmit coherent mode, using the phase difference estimate obtained in the previous step to adjust the phase of the coherent signals transmitted by each radar unit to achieve transmit coherence. Simultaneously, the phase difference estimate is updated under the transmit orthogonal waveform condition. Thereafter, the entire system operates cyclically in transmit coherent mode. When the improved signal-to-noise ratio (SNR) of the fully coherent synthesis (calculated in fully coherent mode) no longer meets the accuracy requirements for target detection, the system needs to return to receive coherent mode for fully coherent guidance.

[0063] To facilitate tracking loop closure in long baseline mode (where the radar moves for extended periods, i.e., long-range tracking and detection), this paper adopts a master-slave mode based on the theory of distributed coherent synthesis for moving platforms. This means that a central radar serves as the reference for tracking loop closure, while other unit radars complete coordinate transformation and cooperative detection. The basic process of cooperative tracking in a distributed radar system for moving platforms is as follows:

[0064] The antenna sites of the central and unit radars are calibrated (range and azimuth errors are corrected), and the site coordinates (latitude, longitude, and altitude) and pointing are obtained respectively; among them, the central radar performs all the processing, and the unit radar only receives commands from the central radar.

[0065] When the radar's operating state changes from joint search to joint tracking, the central radar obtains the target tracking scheduling information [R1cosA1cosB1] for the next dwell cycle based on the target point location confirmed by the search. (The target's speed can be estimated based on the current position, and the position can be calculated based on the scheduling cycle and speed.)

[0066] By combining the target position information in the coordinate system of the central radar array, the radar array pointing error is corrected. The central radar master controller transforms the [R1cosA1cosB1] information in the target array coordinate system to obtain the scheduling information [R2cosA2cosB2] and [R3cosA3cosB3] in the cosine coordinate system of other unit radar arrays.

[0067] The target coordinate transformation process of the moving platform is as follows:

[0068] 1) The cosine coordinate system of the target in the direction of the central radar array is [R1cosA1cosB1]. According to the trigonometric formula, the rectangular coordinate system of the target in the central radar array is calculated to be [X1Y1Z1] (X: array normal, Y: positive in the array plane, Z: right-handed with Y and Z).

[0069] 2) Based on the platform information of the array (array code disk, array tilt angle and array horizontal tilt), the target's rectangular coordinate system [X1Y1Z1] on the central radar array is transformed into the target's rectangular coordinate system [PX1PY1PZ1] on the central radar platform by rotation.

[0070] 3) Based on the attitude information (heading angle, roll angle, and pitch angle) of the central radar, the target's rectangular coordinate system [PX1PY1PZ1] on the central radar platform is transformed into the target's geodetic rectangular (north-sky-east) coordinate system [P=GX1GY1GZ1] with the central radar as the origin by rotation.

[0071] 4) Based on the location information (latitude, longitude, and altitude) of the central radar, using trigonometric formulas, the target's geodetic rectangular coordinate system (north-sky-east) with the central radar as the origin [P=GX1GY1GZ1] is converted into the target's geocentric rectangular coordinate system [P=DX1DY1DZ1] (absolute position information);

[0072] 5) Based on the site information (latitude, longitude, and altitude) of the unit radar, using trigonometric formulas, the target's geocentric rectangular coordinate system [P=DX1DY1DZ1] is converted into the target's geodetic rectangular (north-sky-east) coordinate system with the unit radar as the origin as [P=GX2GY2GZ2].

[0073] 6) Based on the attitude information (heading angle, roll angle, and pitch angle) of the unit radar, the target's coordinates in the geodetic rectangular (north-sky-east) coordinate system with the unit radar as the origin [P=GX2 GY2 GZ2] are transformed into the target's rectangular coordinate system on the unit radar platform [PX2 PY2 PZ2] by rotation.

[0074] 7) Based on the platform information of the array (array code disk, array tilt angle and array horizontal tilt), the target in the rectangular coordinate system of the unit radar platform [PX2 PY2 PZ2] is transformed into the rectangular coordinate system of the unit radar array [X2 Y2 Z2] by rotation.

[0075] 8) According to the trigonometric formula, the target's rectangular coordinate system on the unit radar array is [X2Y2Z2], which can be converted into the target's direction cosine coordinate system on the unit radar array as [R2 cosA2 cosB2].

[0076] The target coordinates of another unit radar can be obtained in the same way.

[0077] Then the beam pointing of the central radar and the unit radars is obtained:

[0078] The center radar transmits with an azimuth angle of A1×180 / π and an elevation angle of B1×180 / π.

[0079] Unit radar 1 transmits azimuth angle A2×180 / π, elevation angle B2×180 / π.

[0080] Unit radar 2 transmits azimuth angle A3×180 / π and elevation angle B3×180 / π.

[0081] Preferably, in any of the above embodiments, the reference correction includes radar pointing correction and radar test distance correction.

[0082] Preferably, in any of the above embodiments, step 2 specifically comprises:

[0083] Each radar is controlled to transmit orthogonal waveforms to the moving target, and phase difference filtering estimation is performed based on each echo to obtain the estimation result corresponding to each radar. All estimation results are integrated to obtain the motion information of the moving target in the next dwell period.

[0084] Preferably, in any of the above embodiments, the pointing error correction for each radar array specifically involves:

[0085] Obtain the target baseline in the site coordinates of each radar, and correct the pointing error of each radar array based on the target baseline of each radar.

[0086] Preferably, in any of the above embodiments, the specific process of performing coordinate transformation on the site coordinates of each radar is as follows:

[0087] The location markers of each radar are converted into the transformed coordinates of each radar in the geodetic coordinate system.

[0088] like Figure 2 As shown, a moving target tracking system based on a moving platform system includes:

[0089] The acquisition module 100 is used to perform reference correction on each radar in the moving platform system and acquire the site coordinates of each radar, wherein each radar includes a central radar and at least two unit radars.

[0090] The estimation module 200 is used to transmit a coherent signal to the moving target from the moving platform system and estimate the motion information of the moving target for the next dwell period based on the echo signal;

[0091] The tracking module 300 is used to correct the pointing error of the array of each radar based on the site coordinates of each radar, perform coordinate transformation on the site coordinates of each radar, determine the transmission angle information of each radar based on the transformed coordinates of each radar and the motion information, and control the corresponding radar to transmit coherent signals based on the transmission angle information of each radar.

[0092] The repeat module 400 is used to repeat the estimation module 200 to the tracking module 300 until a stop tracking signal is obtained.

[0093] The beneficial effects of this invention are: the distributed coherent synthesis method for moving platforms is being applied to models under development, and the coherent synthesis design of the target tracking process can be carried out. By transforming the coordinates of the position information, moving platform tracking can be realized, while improving the target detection accuracy.

[0094] Preferably, in any of the above embodiments, the reference correction includes radar pointing correction and radar test distance correction.

[0095] Preferably, in any of the above embodiments, the estimation module 200 is specifically used for:

[0096] Each radar is controlled to transmit orthogonal waveforms to the moving target, and phase difference filtering estimation is performed based on each echo to obtain the estimation result corresponding to each radar. All estimation results are integrated to obtain the motion information of the moving target in the next dwell period.

[0097] Preferably, in any of the above embodiments, the pointing error correction for each radar array specifically involves:

[0098] Obtain the target baseline in the site coordinates of each radar, and correct the pointing error of each radar array based on the target baseline of each radar.

[0099] Preferably, in any of the above embodiments, the specific process of performing coordinate transformation on the site coordinates of each radar is as follows:

[0100] The location markers of each radar are converted into the transformed coordinates of each radar in the geodetic coordinate system.

[0101] Another technical solution of the present invention to solve the above-mentioned technical problems is as follows: a storage medium storing instructions, wherein when a computer reads the instructions, the computer executes a neutron radiograph image degradation fitting system method based on deep learning as described in any of the above claims.

[0102] In some possible implementations, the distributed coherent synthesis method for moving platforms is being applied to models under development. It performs coherent synthesis design on the target tracking process, and can achieve moving platform tracking by transforming the coordinate information of the position information, while improving the target detection accuracy.

[0103] Another technical solution of the present invention to solve the above-mentioned technical problems is as follows: an electronic device, including the above-mentioned storage medium and a processor that executes the instructions in the above-mentioned storage medium.

[0104] In some possible implementations, the distributed coherent synthesis method for moving platforms is being applied to models under development. It performs coherent synthesis design on the target tracking process, and can achieve moving platform tracking by transforming the coordinate information of the position information, while improving the target detection accuracy.

[0105] Readers should understand that in the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0106] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the method embodiments described above are merely illustrative. For instance, the division of steps is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple steps may be combined or integrated into another step, or some features may be ignored or not executed.

[0107] If the above methods are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0108] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A moving target tracking method based on a moving platform system, characterized in that, include: Step 1: Perform reference calibration on each radar in the moving platform system and obtain the site coordinates of each radar. The moving platform system includes at least three radars. Step 2: In the moving platform system, each radar transmits a coherent signal to the moving target, and estimates the motion information of the moving target for the next dwell period based on the echo signal received by each radar. Step 3: Based on the site coordinates of each radar, correct the pointing error of the array of each radar, transform the site coordinates of each radar, determine the transmission angle information of the coherent signal of each radar based on the transformed coordinates of each radar and the motion information, and control the corresponding radar to transmit the coherent signal based on the transmission angle information of each radar. Step 4: Repeat steps 2 and 3 until a stop tracking signal is obtained; The coordinate transformation process includes: The target's cosine coordinate system in the direction of the central radar array is [R1 cosA1 cosB1]. Using trigonometric formulas, the target's rectangular coordinate system in the central radar array is calculated to be [X1 Y1 Z1]. Based on the platform information of the array, including the array code disk, array tilt angle, and array horizontal tilt, the target's Cartesian coordinate system [X1 Y1 Z1] on the central radar array is transformed into the target's Cartesian coordinate system [PX1 PY1 PZ1] on the central radar platform through rotation. Based on the attitude information from the central radar, including heading angle, roll angle, and pitch angle, the target's Cartesian coordinate system [PX1 PY1 PZ1] on the central radar platform is transformed into the target's geodetic Cartesian coordinate system [P=GX1 GY1 GZ1] with the central radar as the origin by rotation. Based on the latitude, longitude, and altitude of the central radar, using trigonometric formulas, the target's geodetic rectangular coordinate system [P=GX1 GY1 GZ1] with the central radar as the origin is converted to the target's geocentric rectangular coordinate system [P=DX1 DY1 DZ1]. Based on the latitude, longitude, and altitude of the unit radar, using trigonometric formulas, the target's coordinates in the geocentric rectangular coordinate system [P=DX1 DY1 DZ1] are converted to the target's coordinates in the geodetic rectangular coordinate system with the unit radar as the origin as [P=GX2 GY2 GZ2]. Based on the attitude information of the unit radar, the target's coordinates in the geodetic rectangular coordinate system [P=GX2 GY2 GZ2] with the unit radar as the origin are transformed into the target's coordinates in the rectangular coordinate system of the unit radar platform [PX2 PY2 PZ2] by rotation. Based on the platform information of the array, the target's Cartesian coordinates [PX2 PY2PZ2] on the unit radar platform are transformed into [X2 Y2 Z2] on the unit radar array by rotation; According to the trigonometric formula, the target's rectangular coordinate system on the unit radar array is [X2 Y2 Z2], which can be transformed into the target's direction cosine coordinate system on the unit radar array as [R2 cosA2 cosB2]. The target coordinate information of another unit radar is obtained in the same way; Then the beam pointing of the central radar and the unit radars is obtained: Central radar transmission azimuth angle Pitch angle ; Unit Radar 1 Transmission Azimuth Pitch angle ; Unit Radar 2 Transmission Azimuth Pitch angle ; Step 2 specifically involves: Each radar is controlled to transmit orthogonal waveforms to the moving target, and phase difference filtering estimation is performed based on each echo to obtain the estimation result corresponding to each radar. All estimation results are integrated to obtain the motion information of the moving target in the next dwell period.

2. The moving target tracking method based on a moving platform system according to claim 1, characterized in that, The reference calibration includes radar pointing calibration and radar test distance calibration.

3. The moving target tracking method based on a moving platform system according to claim 1, characterized in that, The specific steps for correcting the pointing error of each radar array are as follows: Obtain the target baseline in the site coordinates of each radar, and correct the pointing error of each radar array based on the target baseline of each radar.

4. A moving target tracking system based on a moving platform system, employing the moving target tracking method based on a moving platform system as described in claim 1, characterized in that, include: The acquisition module is used to perform reference correction on each radar in the moving platform system and acquire the station coordinates of each radar. The moving platform system includes at least three radars. An estimation module is used for each radar in the moving platform system to transmit a phased coherent signal to the moving target, and to estimate the motion information of the moving target for the next dwell period based on the echo signal received by each radar; The tracking module is used to correct the pointing error of each radar array based on the site coordinates of each radar, perform coordinate transformation on the site coordinates of each radar, determine the transmission angle information of the coherent signal of each radar based on the transformed coordinates of each radar and the motion information, and control the corresponding radar to transmit the coherent signal based on the transmission angle information of each radar. The repeat module is used to repeat the estimation module to the tracking module until a stop tracking signal is obtained.

5. A moving target tracking system based on a moving platform system according to claim 4, characterized in that, The reference calibration includes radar pointing calibration and radar test distance calibration.

6. A storage medium, characterized in that, The medium stores instructions that, when read by a computer, cause the computer to execute the method as described in any one of claims 1 to 3.

7. An electronic device, characterized in that, Includes the storage medium of claim 6 and a processor that executes instructions within the storage medium.

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