Tracking methods, devices and equipment for azimuth mechanically scanned radar

Abstract

This invention provides a tracking method, apparatus, and device for an azimuth-scanning radar. The method includes: in a perimeter scan search mode, matching the track batch number to be tracked with the real-time tracks stored internally by the radar; identifying the successfully matched target as the tracking target and performing time-division parameter control on the radar, switching the radar from the perimeter scan search mode to the frequency scan tracking mode in stages; in the frequency scan tracking mode, performing closed-loop control of the radar state based on the position information of the tracked target. By using azimuth time-division parameter control technology and target closed-loop tracking technology, the tracking data rate is improved, enabling continuous tracking of the target and increasing the tracking success rate. Furthermore, the method allows for switching between the perimeter scan search mode and the frequency scan tracking mode at any time, facilitating integrated search and tracking functionality.

Description

Technical Field

[0001] This invention relates to the field of radar technology, specifically to a tracking method, apparatus, and device for azimuth mechanical scanning radar. Background Technology

[0002] Surveillance radar is responsible for searching for targets and tracking their movement trajectories, typically operating by simultaneously tracking and scanning using a rotating mechanical turntable. For example... Figure 1 This is a schematic diagram of an azimuth-scanning radar system. For this type of radar, the target information is updated once per rotation. The search function is dominant; target tracking does not consume radar resources. Tracking of moving targets is primarily achieved using the radar target information obtained from the search. The radar antenna rotates with the azimuth turntable to achieve 360° spatial azimuth scanning. When the radar beam sweeps across a target, it obtains information such as the target's position coordinates at that moment. As long as the turntable rotates continuously at a fixed angular velocity, the radar can periodically and continuously scan moving targets, thus continuously tracking their trajectory. The tracking data rate is related to the turntable's rotation speed; the higher the rotation speed, the higher the tracking data rate.

[0003] To achieve rapid target detection and tracking capabilities, the requirements for radar equipment are becoming increasingly stringent. Detection accuracy, resolution, data rate, and tracking capability are key performance indicators for radar systems. Typically, radar equipment must simultaneously possess 360° azimuth search capability and high data rate tracking capability for key targets. However, due to limitations in turntable hardware, small-array radars (e.g., less than 0.5m)... 2 For antenna arrays weighing 50 kg, the rotation speed is generally no more than 30 rpm, and the data update rate is less than 0.5 Hz; for large array radars (e.g., larger than 1.5 m...), the rotation speed is generally no more than 30 rpm, and the data update rate is less than 0.5 Hz. 2 A 150kg antenna array typically rotates at a speed not exceeding 12 revolutions per minute, with a data update rate of less than 0.2Hz, which cannot meet the requirements for a high data rate (10Hz). For lightweight, small-array radars, alternatives can be used... Figure 2 The azimuth sector scan mode shown is used to improve the target tracking data rate. That is, it only performs a back-and-forth sector scan on a small azimuth angle. The sector scan mode can generally increase the tracking data rate to a maximum of 2Hz. However, this method is not suitable for large array or large inertial radar antennas. This is because when the radar antenna is large and heavy, the rotational inertia is large, and the turntable cannot use the sector scan tracking mode to improve the tracking data rate.

[0004] In summary, the data rate of azimuth scanning radar is limited by the mechanical rotation speed and motion inertia of the turntable, resulting in a low target tracking data rate. The low data rate is not conducive to continuous target tracking, especially for continuously maneuvering targets, which have a high probability of being lost. Summary of the Invention

[0005] This invention provides a tracking method, apparatus, and device for azimuth mechanical scanning radar to solve the problems of low data rate and unstable tracking.

[0006] In a first aspect, embodiments of the present invention provide a tracking method for azimuth mechanically scanned radar, comprising:

[0007] In the weekly scan search mode, the track batch number to be tracked is matched with the real-time tracks stored in the radar.

[0008] The successfully matched target is identified as the tracking target, and the radar is controlled in a time-division manner, switching the radar from the periodic scan search mode to the frequency scan tracking mode in stages.

[0009] In frequency sweep tracking mode, the radar status is controlled in a closed loop based on the position information of the tracked target to achieve continuous tracking of the target.

[0010] In one embodiment, time-division parameter control of the radar includes:

[0011] When the radar turntable rotates to 100 degrees from the target azimuth, set all radar components to frequency sweep tracking mode and set the parameters according to the frequency sweep tracking mode, and stop receiving point data.

[0012] When the radar turntable rotates to a distance of 270 degrees from the target's azimuth, it acquires the target's real-time azimuth and uses this real-time azimuth as the stop position to control the radar turntable to stop rotating.

[0013] After the radar turntable stops rotating for a preset time, the reception of point data resumes.

[0014] In one embodiment, closed-loop control of the radar state is performed based on the location information of the tracked target, including:

[0015] After tracking the target a preset number of times, the current position of the target is obtained, and the radar turntable is positioned to the current position of the target.

[0016] In one embodiment, in frequency sweep tracking mode, the method further includes:

[0017] Filter the received dot data;

[0018] After acquiring the point data of all frequency points, point processing and track processing are performed.

[0019] In one embodiment, filtering the received dot data includes:

[0020] Acquire the tracking track in frequency sweep tracking mode;

[0021] Calculate the distance between the received point data and the head node of the tracking track;

[0022] Retain track data where the distance between the head node of the track and the head node is less than a preset distance.

[0023] In one embodiment, dot processing includes:

[0024] In the process of inter-frame convergence of range gates, the average value of the azimuth of all frequency points is determined as the azimuth information of the convergence point.

[0025] In one embodiment, track processing includes:

[0026] During the tracking process, only the range gate and azimuth gate are considered, with the range gate being less than 12 meters.

[0027] If the target point is lost during tracking, the number of lost points in the track clearing process will be increased.

[0028] Secondly, embodiments of the present invention provide a tracking device for an azimuth-scanning radar, comprising:

[0029] The matching module is used to match the parameters of the track batch number to be tracked with the real-time tracks stored in the radar in the perimeter scan search mode.

[0030] The switching module is used to identify the successfully matched target as the tracking target and to perform time-division parameter control on the radar, controlling the radar to switch from the periodic scan search mode to the frequency scan tracking mode in stages.

[0031] The tracking module is used to perform closed-loop control of the radar status based on the position information of the tracked target in frequency scan tracking mode, so as to achieve continuous tracking of the tracked target.

[0032] Thirdly, embodiments of the present invention provide an electronic device, comprising:

[0033] At least one processor and memory;

[0034] The memory stores the instructions that the computer executes;

[0035] At least one processor executes computer execution instructions stored in memory, causing the at least one processor to perform the tracking method of azimuth mechanically scanned radar as described in any of the first aspects.

[0036] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the tracking method of an azimuth-scanning radar as described in any of the first aspects.

[0037] The tracking method, apparatus, and equipment for azimuth-scanning radar provided in this invention, in the perimeter scan search mode, match the track batch number to be tracked with the real-time tracks stored internally by the radar; the successfully matched target is determined as the tracking target, and the radar is controlled in a time-division manner, switching the radar from the perimeter scan search mode to the frequency scan tracking mode in stages; in the frequency scan tracking mode, the radar status is controlled in a closed loop according to the position information of the tracked target. Through azimuth time-division parameter control technology and target closed-loop tracking technology, the tracking data rate is improved, continuous tracking of the tracked target is achieved, and the tracking success rate is increased. Furthermore, the system can switch between the perimeter scan search mode and the frequency scan tracking mode at any time, facilitating the implementation of integrated search and tracking functions. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0039] Figure 1 This is a schematic diagram of an azimuth scanning radar device provided in an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of a fan sweep mode provided in an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of the transmission beams at different frequencies provided in an embodiment of the present invention;

[0042] Figure 4 A flowchart illustrating a tracking method for an azimuth mechanically scanned radar according to an embodiment of the present invention;

[0043] Figure 5 This is a schematic diagram of a cyclic scanning mode provided in an embodiment of the present invention;

[0044] Figure 6 This is a schematic diagram of the structure of a tracking device for an azimuth mechanically scanned radar according to an embodiment of the present invention;

[0045] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0046] The accompanying drawings have illustrated specific embodiments of the invention, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of this application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to this application are not shown or described in the specification. This is to avoid obscuring the core parts of this application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0048] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0049] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0050] Traditional tracking radars use sum-difference beams to obtain target angular information by measuring the sum-difference ratio and thus achieving target tracking. However, with increasing demands for radar anti-jamming and the development of pulse-Doppler radar, waveguide slot array antennas have gained widespread application in radar systems. Newer radars employing waveguide slot array antennas, by their inherent antenna design, cannot form sum-difference beams and therefore cannot achieve tracking functionality using traditional sum-difference beams.

[0051] like Figure 3 As shown, the transmitted beams at different frequencies point in different directions, and the beam pointing distance between adjacent frequencies is a fixed small angle. Therefore, by changing the transmitted frequency, target echo signals of different frequencies can be obtained, and the azimuth information of the target can be obtained by comparing the amplitudes between different frequencies. This application, based on azimuth-based mechanically scanned radar and combined with frequency agility technology, proposes azimuth time-division parameter control technology, target closed-loop tracking technology, and frequency-scanning track processing technology. This improves the success rate of azimuth-based mechanically scanned radar from search to tracking, enables continuous tracking of key targets, increases the tracking data rate to over 10Hz, and allows for arbitrary switching between tracking and search modes at any time, realizing integrated search and tracking functionality. The following will provide a detailed description of this application through specific embodiments.

[0052] Figure 4 This is a flowchart illustrating a tracking method for an azimuth-guided mechanically scanned radar according to an embodiment of the present invention. Figure 4 As shown, the tracking method of the azimuth mechanical scanning radar provided in this embodiment may include:

[0053] S101. In the weekly scan search mode, the track batch number to be tracked is matched with the real-time tracks stored in the radar.

[0054] Please refer to Figure 5 , Figure 5 This is a schematic diagram of a perimeter scan mode provided in an embodiment of the present invention. When the radar is in perimeter scan search mode, the target track to be tracked can be selected on the display and control terminal, and this track batch number (i.e., the track batch number to be tracked) is sent to the radar data processing module. The radar data processing module determines whether a target already exists. If a target already exists and is being tracked, no new target will be tracked; if no target exists, target matching will begin. Specifically, the track batch number to be tracked is matched with the parameters of the real-time tracks stored internally by the radar.

[0055] S102. The successfully matched target is identified as the tracking target, and the radar is controlled in a time-division manner, switching the radar from the periodic scan search mode to the frequency scan tracking mode in stages.

[0056] The only target matched is the target that the radar needs to track, i.e., the target to be tracked. After a successful match, the data processing controls the radar to switch from the periodic scan search mode to the frequency scan tracking mode in stages. Specifically, this can be divided into three stages: the first stage, the second stage, and the third stage.

[0057] In one optional implementation, time-division parameter control of the radar may specifically include:

[0058] In the first stage of mode switching, when the detection turntable rotates to a distance of 100 degrees from the target azimuth, the control radar enters the frequency scanning timing operation mode, sets the status of each radar component to frequency scanning mode, configures the parameters according to the frequency scanning mode, and stops receiving point data reported by the radar signal processing. In other words, when the radar turntable rotates to a distance of 100 degrees from the target azimuth, the status of each radar component is set to frequency scanning tracking mode and configured according to the parameters of the frequency scanning tracking mode, and the reception of point data is stopped.

[0059] When the turntable rotates to a distance of 270 degrees from the target's azimuth, it enters the second stage of mode switching. It acquires the target's real-time azimuth and uses this azimuth as a stop position to stop the turntable. Then, it issues a positioning command for the turntable at the target's azimuth and enters the third stage of mode switching. In other words, when the radar turntable rotates to a distance of 270 degrees from the target's azimuth, it acquires the target's real-time azimuth and uses this real-time azimuth as a stop position to stop the radar turntable.

[0060] In the third stage, after the turntable stop control command is issued and a 5-second wait is completed before resuming receiving and processing the radar signal data, the radar turntable has fully turned to the target's azimuth and stopped oscillating, and can begin receiving data for stable tracking. In other words, after a preset stop time (e.g., 5 seconds), receiving data resumes.

[0061] S103. In frequency scanning tracking mode, the radar status is controlled in a closed loop according to the position information of the tracked target to achieve continuous tracking of the tracked target.

[0062] Understandably, since the radar turntable is stationary in frequency-scanning tracking mode, and considering the inertial factors of the mechanically scanned radar antenna, the radar antenna array needs to be aligned with the target's location before tracking begins to improve the radar's tracking success rate. Optionally, frequency-agile technology can be used in frequency-scanning tracking mode.

[0063] The monitored target is constantly moving, and if the radar is not controlled to face the target's current position, it is easy to lose track of the target. Therefore, closed-loop control of the radar status is required based on the target's position information to achieve continuous target tracking. Frequency scanning updates data at a high rate; after tracking the target 10 times, the target's current position is detected, and the radar turntable is set to position itself at the target's current location.

[0064] In other words, closed-loop control of the radar status based on the location information of the tracked target can specifically include: after tracking the tracked target a preset number of times (e.g., 10 times), obtaining the current azimuth of the tracked target, and positioning the radar turntable to the current azimuth of the tracked target.

[0065] The azimuth-guided mechanically scanned radar tracking method provided in this embodiment, in the perimeter scan search mode, matches the track batch number to be tracked with the real-time tracks stored internally by the radar. The successfully matched target is identified as the tracking target, and the radar is controlled in a time-division manner, switching from the perimeter scan search mode to the frequency scan tracking mode in stages. In the frequency scan tracking mode, the radar status is controlled in a closed loop based on the position information of the tracked target. Through azimuth time-division parameter control technology and target closed-loop tracking technology, the tracking data rate is improved, enabling continuous tracking of the target and increasing the tracking success rate. Furthermore, the method allows for switching between the perimeter scan search mode and the frequency scan tracking mode at any time, facilitating integrated search and tracking functionality.

[0066] In frequency scanning tracking mode, in order to further improve tracking stability, point pattern processing and track processing are also required. Therefore, based on the above embodiments, the tracking method of azimuth mechanical scanning radar provided in this embodiment may further include: filtering the received point pattern data in frequency scanning tracking mode; and performing point pattern processing and track processing after acquiring point pattern data of all frequency points.

[0067] Radar range detection in tracking mode covers the entire effective range, but tracking a single target does not require detection data across the entire range. To reduce data processing computation and suppress the influx of irrelevant data points, after receiving the raw data points, data points within 2km of the target are retained, while those exceeding 2km are discarded. For example, the raw SPI data point information can be acquired first, then it can be determined whether a frequency-scanned tracking track exists. If so, it can be further determined whether the distance between the detected data point and the track header node is less than 2km. Data points within 2km of the target are retained, while those exceeding 2km are discarded, thus completing the filtering of all data points. In other words, in one optional implementation, filtering the received data points may specifically include: acquiring the tracking track in frequency-scanned tracking mode; calculating the distance between the received data points and the track header node; and retaining data points whose distance to the track header node is less than a preset distance (e.g., 2km).

[0068] Mechanically scanned radar commonly employs point-and-track cycle management, which includes sector management, circle-scan management, and sector-scan management. In frequency-agile tracking mode, the turntable stops, making point-and-track cycle management unusable. Therefore, based on the frequency agility characteristics, a method is established where all frequencies are changed once before point and track processing is performed. After track processing, the radar status is automatically controlled based on parameters such as range and azimuth of the frequency-agile track, ensuring continuous tracking and scanning of the target by the main beam. For example, it can receive point information from each frequency, then determine if all frequency points have been received. If not, it continues receiving point information from each frequency; if so, it performs point and track management. In other words, in frequency-scanning tracking mode, considering the frequency agility characteristics, point and track processing must be performed only after all frequency point data has been acquired.

[0069] In frequency-agile tracking mode, the turntable stops rotating, and coverage is achieved in a narrow azimuth angle by shifting the radar frequency to offset the beam direction. Therefore, in frequency-agile tracking mode, the radar does not need to distinguish multiple targets in azimuth. Unlike the azimuth gate in ordinary point-to-frame convergence, the frequency-agile tracking mode does not need to consider this gate and determines that the target passes directly; only the range gate needs to be considered for point-to-frame convergence. In the process of obtaining the convergence point by finding the centroid of scattered points, azimuth convergence generally uses an amplitude-weighted method. However, because the beam direction of the target data in frequency-agile tracking is extremely close, the point of maximum amplitude will appear randomly at various frequencies, causing track azimuth jitter. Therefore, in frequency-agile tracking mode, the method for finding the centroid azimuth needs to be optimized to an equivalent average, directly using the average value of the azimuth of each frequency point as the azimuth information of the convergence point. In other words, in the process of point-to-frame convergence of the range gate, the average value of the azimuth of all frequencies is determined as the azimuth information of the convergence point.

[0070] In the frequency-agile tracking mode, due to its high data rate (greater than 15Hz) and the target speed range concentrated below 60m / s, the target distance change within one frequency scan cycle is less than 6m. The initial and associated range gates are set within 12m to prevent tracking errors caused by large gates. Furthermore, only the range and azimuth gates are considered during tracking to achieve stable and continuous tracking. Because of the high reliability of the frequency-agile tracking mode, target loss due to instability is less likely. Therefore, track loss in this mode is generally caused by target hovering or maneuvering. In this case, there is no need for track pre-push to replenish the target, and the number of track loss attempts is increased to allow for rapid re-acquisition after the target reappears. In other words, only the range and azimuth gates are considered during tracking, with the range gate less than 12 meters; if target loss occurs during tracking, the number of track loss attempts is increased.

[0071] In summary, the azimuth-guided mechanically scanned radar tracking method provided in this application employs azimuth time-division parameter control technology. In periodic scan mode, upon receiving a target tracking command, it utilizes the current azimuth information of the turntable and the azimuth information of the target to be tracked to complete a series of radar state switches at appropriate times, thereby achieving a reliable transition from periodic scan search to frequency scan tracking. It also employs target closed-loop tracking technology. In frequency scan tracking mode, it completes closed-loop control of a series of radar states based on the motion and attitude information of the tracked target, thereby achieving continuous target tracking. Finally, it employs frequency scan track processing technology: in frequency scan tracking mode, it sets dedicated track processing parameters based on the high data rate characteristics of frequency scan, thereby achieving optimal track tracking.

[0072] Figure 6 This is a schematic diagram of the structure of a tracking device for an azimuth mechanically scanned radar according to an embodiment of the present invention. Figure 6 As shown, the tracking device 60 of the azimuth scanning radar provided in this embodiment may include a matching module 601, a switching module 602 and a tracking module 603.

[0073] The matching module 601 is used to match the parameters of the track batch number to be tracked with the real-time track stored in the radar in the perimeter scan search mode.

[0074] The switching module 602 is used to identify the successfully matched target as the tracking target and to perform time-division parameter control on the radar, controlling the radar to switch from the periodic scan search mode to the frequency scan tracking mode in stages.

[0075] The tracking module 603 is used to perform closed-loop control of the radar status based on the position information of the tracked target in frequency scan tracking mode, so as to realize continuous tracking of the tracked target.

[0076] The apparatus of this embodiment can be used to perform Figure 4 The technical solutions of the method embodiments shown are similar in principle and in effect, and will not be described again here.

[0077] In one optional implementation, the switching module 602 for time-division parameter control of the radar may specifically include:

[0078] When the radar turntable rotates to 100 degrees from the target azimuth, set all radar components to frequency sweep tracking mode and set the parameters according to the frequency sweep tracking mode, and stop receiving point data.

[0079] When the radar turntable rotates to a distance of 270 degrees from the target's azimuth, it acquires the target's real-time azimuth and uses this real-time azimuth as the stop position to control the radar turntable to stop rotating.

[0080] After the radar turntable stops rotating for a preset time, the reception of point data resumes.

[0081] In one optional implementation, the tracking module 603 is used to perform closed-loop control of the radar state based on the position information of the tracked target, specifically including:

[0082] After tracking the target a preset number of times, the current position of the target is obtained, and the radar turntable is positioned to the current position of the target.

[0083] In one optional embodiment, the tracking device 60 of the azimuth mechanical scanning radar may further include a processing module (not shown in the figure) for filtering the received point data in frequency scanning tracking mode; and for performing point processing and track processing after acquiring point data of all frequency points.

[0084] In one optional implementation, the processing module is used to filter the received dot data, specifically including:

[0085] Acquire the tracking track in frequency sweep tracking mode;

[0086] Calculate the distance between the received point data and the head node of the tracking track;

[0087] Retain track data where the distance between the head node of the track and the head node is less than a preset distance.

[0088] In one optional implementation, the processing module for dot processing may specifically include:

[0089] In the process of inter-frame convergence of range gates, the average value of the azimuth of all frequency points is determined as the azimuth information of the convergence point.

[0090] In one optional implementation, the processing module for track processing may specifically include:

[0091] During the tracking process, only the range gate and azimuth gate are considered, with the range gate being less than 12 meters.

[0092] If the target point is lost during tracking, the number of lost points in the track clearing process will be increased.

[0093] This invention also provides an electronic device, please refer to [link to relevant documentation]. Figure 7 As shown, the embodiments of the present invention are only used as examples. Figure 7 The examples are provided for illustration only and do not imply that the invention is limited to these examples. Figure 7 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present invention. Figure 7 As shown, the electronic device 70 provided in this embodiment may include: a memory 701, a processor 702, and a bus 703. The bus 703 is used to connect the various components.

[0094] The memory 701 stores a computer program, which, when executed by the processor 702, can implement the technical solutions of any of the above method embodiments.

[0095] The memory 701 and processor 702 are electrically connected directly or indirectly to enable data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines, such as bus 703. The memory 701 stores a computer program that implements the tracking method of the azimuth scanning radar, including at least one software function module that can be stored in the memory 701 in the form of software or firmware. The processor 702 executes various functional applications and data processing by running the software program and modules stored in the memory 701.

[0096] The memory 701 may be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory 701 stores programs, and the processor 702 executes the programs after receiving execution instructions. Furthermore, the software programs and modules within the memory 701 may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.) and can communicate with various hardware or software components to provide an operating environment for other software components.

[0097] Processor 702 can be an integrated circuit chip with signal processing capabilities. The aforementioned processor 702 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. It is understood that... Figure 7 The structure shown is for illustrative purposes only and may include more... Figure 7 The more or fewer components shown, or having the same Figure 7 The different configurations shown. Figure 7 The components shown can be implemented in hardware and / or software.

[0098] This invention also provides a computer-readable storage medium storing a computer program thereon, which is executed by a processor to implement the technical solutions of any of the above method embodiments.

[0099] The various embodiments in this disclosure are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0100] The scope of protection of this disclosure is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its scope and spirit. If such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, then the intent of this disclosure also includes such modifications and variations.

Claims

1. A tracking method for azimuth mechanically scanned radar, characterized in that, include: In the weekly scan search mode, the track batch number to be tracked is matched with the real-time tracks stored in the radar. The successfully matched target is identified as the tracking target, and the radar is controlled in a time-division manner, switching the radar from the periodic scan search mode to the frequency scan tracking mode in stages. In the frequency sweep tracking mode, the radar status is controlled in a closed loop according to the position information of the tracked target to achieve continuous tracking of the tracked target; The time-division parameter control of the radar includes: when the radar turntable rotates to a distance of 100 degrees from the target azimuth, setting the state of each radar component to frequency sweep tracking mode and setting it according to the parameters of the frequency sweep tracking mode, and stopping the reception of point data; when the radar turntable rotates to a distance of 270 degrees from the target azimuth, acquiring the real-time azimuth of the target at the current moment, and using the real-time azimuth as the stop position to control the radar turntable to stop rotating; after the radar turntable stops rotating for a preset time, resuming the reception of point data; The step of performing closed-loop control of the radar state based on the position information of the tracked target includes: after tracking the tracked target a preset number of times, obtaining the current azimuth of the tracked target, and positioning the radar turntable to the current azimuth of the tracked target.

2. The method according to claim 1, characterized in that, In the frequency sweep tracking mode, the method further includes: Filter the received dot data; After acquiring the point data of all frequency points, point processing and track processing are performed.

3. The method according to claim 2, characterized in that, The filtering of the received dot data includes: Acquire the tracking track in frequency sweep tracking mode; Calculate the distance between the received point data and the head node of the tracking track; Retain point data whose distance from the head node of the track is less than a preset distance.

4. The method according to claim 2, characterized in that, The dot processing includes: In the process of inter-frame convergence of range gates, the average value of the azimuth of all frequency points is determined as the azimuth information of the convergence point.

5. The method according to claim 2, characterized in that, The trajectory processing includes: During the tracking process, only the range gate and the azimuth gate are considered, and the range gate is less than 12 meters. If the target point is lost during tracking, the number of lost points in the track clearing process will be increased.

6. A tracking device for an azimuth mechanically scanned radar, characterized in that, include: The matching module is used to match the parameters of the track batch number to be tracked with the real-time tracks stored in the radar in the perimeter scan search mode. The switching module is used to identify the successfully matched target as the tracking target and to perform time-division parameter control on the radar, controlling the radar to switch from the periodic scan search mode to the frequency scan tracking mode in stages. The tracking module is used to perform closed-loop control of the radar state based on the position information of the tracked target in the frequency sweep tracking mode, so as to realize continuous tracking of the tracked target; The time-division parameter control of the radar includes: when the radar turntable rotates to a distance of 100 degrees from the target azimuth, setting the state of each radar component to frequency sweep tracking mode and setting it according to the parameters of the frequency sweep tracking mode, and stopping the reception of point data; when the radar turntable rotates to a distance of 270 degrees from the target azimuth, acquiring the real-time azimuth of the target at the current moment, and using the real-time azimuth as the stop position to control the radar turntable to stop rotating; after the radar turntable stops rotating for a preset time, resuming the reception of point data; The step of performing closed-loop control of the radar state based on the position information of the tracked target includes: after tracking the tracked target a preset number of times, obtaining the current azimuth of the tracked target, and positioning the radar turntable to the current azimuth of the tracked target.

7. An electronic device, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the tracking method of the azimuth scanning radar as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the tracking method of the azimuth mechanically scanned radar as described in any one of claims 1-5.

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