A real-time error correction method, system, and storage medium for radar external guidance data.

Abstract

This invention relates to the field of data error correction technology, and particularly to a real-time error correction method, system, and storage medium for radar external guidance data. The method includes: parsing the current frame external guidance data transmitted to the target radar to obtain target external guidance data in a usable format; storing the target external guidance data in an external guidance data history queue; calculating the time difference DT between the generation time of the Nth frame of target external guidance data and the generation time of the (N-1)th frame of target external guidance data; obtaining a verification threshold; and verifying the Nth frame of target external guidance data according to the verification threshold to determine whether the Nth frame of target external guidance data is abnormal. If so, recalculating the three position components and three velocity components of the Nth frame of target external guidance data to obtain the corrected Nth frame of target external guidance data. This solves the problem of occasional jumps in radar external guidance data and improves the reliability of radar operation.

Description

Technical Field

[0001] This invention relates to the field of data error correction technology, and in particular to a real-time error correction method, system and storage medium for radar external guidance data. Background Technology

[0002] Modern radars possess strong mobility, allowing them to be deployed to optimal locations as needed for missions, thus enhancing their operational flexibility. Often, to detect targets, radar relies on guidance data transmitted from external equipment or higher command posts. This guidance data, whether from other devices or command posts, is referred to as external guidance data. External guidance data is transmitted to the radar via wired or wireless communication. Anomalies may occur during the generation and transmission of external guidance data. If received without verification and correction, and used directly, the radar will not receive accurate guidance data and may even suffer damage, such as excessive servo rotation leading to limit switches or mechanical structural failure. Therefore, verifying and correcting external guidance data is crucial for improving radar reliability. Summary of the Invention

[0003] This invention provides a real-time error correction method, system, and storage medium for radar external guidance data to solve the problem of outlier values ​​in external guidance data.

[0004] The technical solution of the real-time error correction method for radar external guidance data of the present invention is as follows:

[0005] S1. Parse the current frame out-of-frame guidance data sent to the target radar to obtain the current frame target out-of-frame guidance data in a usable format, and store the target out-of-frame guidance data in the out-of-frame guidance data history queue. The out-of-frame guidance data history queue can store up to 4 frames of target out-of-frame guidance data.

[0006] S2. Repeat S1. When the target external guidance data of the Nth frame is stored in the external guidance data history queue, calculate the time difference DT between the generation time of the target external guidance data of the Nth frame and the generation time of the target external guidance data of the (N-1)th frame. Search for the verification threshold unit corresponding to the time difference DT in the verification threshold list. If the verification threshold unit corresponding to the time difference DT is found, use the position change of the verification threshold unit corresponding to the time difference DT as the verification threshold, N≥5, where N is a positive integer. If the verification threshold unit corresponding to the time difference DT is not found, calculate the verification threshold corresponding to the time difference DT based on the first and last verification threshold units in the verification threshold list and using the three-point interpolation method. The verification threshold list includes at least two verification threshold units. Each verification threshold unit includes a time length and a position change. The verification threshold units in the verification threshold list are arranged in ascending order based on the time length from smallest to largest.

[0007] S3. Verify the target external guidance data of the Nth frame according to the verification threshold corresponding to the target external guidance data of the Nth frame to determine whether the target external guidance data of the Nth frame is abnormal data:

[0008] S4. When the target guidance data of the Nth frame is abnormal, recalculate the three position components and the three velocity components of the target guidance data of the Nth frame to obtain the corrected target guidance data of the Nth frame.

[0009] The technical solution of the real-time error correction system for radar external guidance data of the present invention is as follows:

[0010] It includes a parsing and storage module, a call and calculation module, an anomaly detection module, and a data correction module;

[0011] The parsing and storage module is used to: parse the current frame out-of-frame guidance data sent to the target radar to obtain the current frame target out-of-frame guidance data in a usable format, and store the target out-of-frame guidance data in the out-of-frame guidance data history queue, wherein the out-of-frame guidance data history queue stores a maximum of 4 frames of target out-of-frame guidance data;

[0012] The call calculation module is used to: repeatedly call the parsing storage module; when the target external guidance data of the Nth frame is stored in the external guidance data history queue, calculate the time difference DT between the generation time of the target external guidance data of the Nth frame and the generation time of the target external guidance data of the (N-1)th frame; search for the verification threshold unit corresponding to the time difference DT in the verification threshold list; if the verification threshold unit corresponding to the time difference DT is found, use the position change of the verification threshold unit corresponding to the time difference DT as the verification threshold, N≥5, where N is a positive integer; if the verification threshold unit corresponding to the time difference DT is not found, calculate the verification threshold corresponding to the time difference DT based on the first and last verification threshold units in the verification threshold list and using the three-point interpolation method; wherein the verification threshold list includes at least two verification threshold units, each verification threshold unit includes a time length and a position change, and the verification threshold units in the verification threshold list are arranged in ascending order based on the time length from smallest to largest;

[0013] The anomaly detection module is used to: verify the target external guidance data of the Nth frame according to the verification threshold corresponding to the target external guidance data of the Nth frame, and determine whether the target external guidance data of the Nth frame is abnormal data.

[0014] The data correction module is used to: when the target guidance data of the Nth frame is abnormal, recalculate the three position components and the three velocity components of the target guidance data of the Nth frame to obtain the corrected target guidance data of the Nth frame.

[0015] The present invention provides a storage medium storing instructions that, when read by a computer, cause the computer to execute a real-time error correction method for radar external guidance data as described above.

[0016] The beneficial effects of this invention are as follows:

[0017] This solved the problem of occasional jumps in radar external guidance data, improving the reliability of radar operation. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating a real-time error correction method for radar external guidance data according to an embodiment of the present invention.

[0019] Figure 2 This is a flowchart illustrating the error detection method.

[0020] Figure 3 This is a flowchart illustrating the error correction method.

[0021] Figure 4 This is a schematic diagram of the structure of a real-time error correction system for radar external guidance data according to an embodiment of the present invention. Detailed Implementation

[0022] like Figure 1 As shown, a real-time error correction method for radar external guidance data according to an embodiment of the present invention includes the following steps:

[0023] S1. Parse the current frame out-of-frame guidance data sent to the target radar to obtain the current frame target out-of-frame guidance data in a usable format, and store the target out-of-frame guidance data in the out-of-frame guidance data history queue. The out-of-frame guidance data history queue can store up to 4 frames of target out-of-frame guidance data.

[0024] S2. Repeat S1. When the target external guidance data of the Nth frame is stored in the external guidance data history queue, calculate the time difference DT between the generation time of the target external guidance data of the Nth frame and the generation time of the target external guidance data of the (N-1)th frame. Search for the verification threshold unit corresponding to the time difference DT in the verification threshold list. If the verification threshold unit corresponding to the time difference DT is found, use the position change of the verification threshold unit corresponding to the time difference DT as the verification threshold. N≥5, N is a positive integer. If the verification threshold unit corresponding to the time difference DT is not found, calculate the verification threshold corresponding to the time difference DT based on the first and last verification threshold units in the verification threshold list and using the three-point interpolation method. The verification threshold list includes at least two verification threshold units. Each verification threshold unit includes a time length and a position change. The verification threshold units in the verification threshold list are arranged in ascending order based on the time length from smallest to largest.

[0025] S3. Verify the target external guidance data of frame N according to the verification threshold corresponding to the target external guidance data of frame N, and determine whether the target external guidance data of frame N is abnormal data:

[0026] S4. When the target guidance data in the Nth frame is abnormal, recalculate the three position components and the three velocity components in the three directions of the target guidance data in the Nth frame to obtain the corrected target guidance data in the Nth frame.

[0027] Optionally, in the above technical solution, S4 includes:

[0028] Using the position components of each frame of target external guidance data in the geocentric coordinate system in the historical queue of external guidance data, and using the first formula to calculate the three position components of the Nth frame of target external guidance data: X, Y, and Z, the following formula is used:

[0029] X=(9×X3-3×X2-5×X1+3×X0) / 4, Y=(9×Y3-3×Y2-5×Y1+3×Y0) / 4,

[0030] Z = (9×Z3 - 3×Z2 - 5×Z1 + 3×Z0) / 4, where X0, Y0, and Z0 are the three positional components of the first frame of target external guidance data in the external guidance data history queue; X1, Y1, and Z1 are the three positional components of the second frame of target external guidance data in the external guidance data history queue; X2, Y2, and Z2 are the three positional components of the third frame of target external guidance data in the external guidance data history queue; and X3, Y3, and Z3 are the three positional components of the fourth frame of target external guidance data in the external guidance data history queue.

[0031] The velocity components in the three directions of the target's external guidance data in the Nth frame are calculated using the second formula: V x V y and V z The second formula is:

[0032] V x = (X-X0) / dt, V y = (Y-Y0) / dt, V z = (Z-Z0) / dt, where dt is the time difference between the generation time of the Nth frame of target external guidance data and the generation time of the first frame of target external guidance data in the external guidance data history queue.

[0033] Optionally, in the above technical solution, S3 includes:

[0034] If the absolute values ​​of the component differences between the Nth frame target guidance data and the (N-1th frame target guidance data) at the three positions in the geocentric coordinate system are all less than the verification threshold corresponding to the Nth frame target guidance data, then the Nth frame target guidance data is determined to be normal data; otherwise, the Nth frame target guidance data is determined to be abnormal data.

[0035] Optionally, the above technical solution also includes:

[0036] If four consecutive frames of target external guidance data are all abnormal data, the external guidance data history queue will be automatically cleared, N will be reset to 0, and execution will return to S2.

[0037] Optionally, the above technical solution also includes:

[0038] When the external boot data history queue is automatically cleared three times in a row, a reminder is issued that the verification threshold list is set in an unreasonable manner. The position change of each verification threshold unit in the verification threshold list is multiplied by 2 to obtain a new external boot data history queue, and the verification is re-performed using the new external boot data history queue.

[0039] Optionally, the above technical solution also includes:

[0040] When the target external guidance data of the Nth frame is normal data, the target external guidance data of the Nth frame is directly stored at the end of the external guidance data history queue.

[0041] When the target external guidance data in frame N is abnormal, the target external guidance data in frame N is corrected and then stored at the end of the external guidance data history queue.

[0042] When the external guidance data history queue is full, the target external guidance data newly added to the tail of the external guidance data history queue will push the target external guidance data located at the head of the external guidance data history queue out, thereby updating the external guidance data history queue.

[0043] The present invention provides a real-time error correction method for radar external guidance data, which solves the problem of occasional jumps in radar external guidance data and improves the reliability of radar use.

[0044] The following is an illustration using a complete embodiment, such as... Figure 2 and Figure 3 As shown, it includes:

[0045] S10. Set the verification threshold unit based on empirical values ​​and store it in the verification threshold list:

[0046] A verification threshold list is pre-set based on empirical values ​​of conventionally received external guidance data. The verification threshold list contains a series of verification threshold units, each of which consists of a time length and a position change corresponding to that time length. The series of verification threshold units are arranged in ascending order based on the time length in the verification threshold list, and the verification threshold list contains at least two verification threshold units with different time lengths.

[0047] S20. Parse the received external boot data into a usable format:

[0048] The current frame out-of-frame guidance data sent to the target radar is parsed to obtain the current frame target out-of-frame guidance data in a usable format;

[0049] S30. Repeat S20 to store the target external guidance data of the first four frames into the external guidance data history queue.

[0050] S40. Starting from the fifth frame of target external guidance data, calculate the time difference DT between the generation time of the fifth frame of target external guidance data and the generation time of the previous frame of target external guidance data. That is, when the Nth frame of target external guidance data is stored in the external guidance data history queue, calculate the time difference DT between the generation time of the Nth frame of target external guidance data and the generation time of the (N-1)th frame of target external guidance data, where N≥5 and N is a positive integer.

[0051] S50. Determine whether the verification threshold unit corresponding to the time difference DT is found in the verification threshold list. If not, execute S51; if yes, execute S52.

[0052] S51. Based on the first and last verification threshold units in the verification threshold list, calculate the verification threshold corresponding to the time difference DT using the three-point interpolation method.

[0053] S52. Use the position change of the verification threshold unit corresponding to the time difference DT as the verification threshold;

[0054] S60. Calculate the component differences between the target external guidance data in frame N and frame N-1 in the geocentric coordinate system at three positions, denoted as d. X d Y and d Z ;

[0055] S70, Determine d X absolute value, d Y The absolute value and d Z If the absolute value of each is less than the verification threshold G corresponding to the target external guidance data of the Nth frame, then the target external guidance data of the Nth frame is determined to be normal data and S71 is executed; otherwise, the target external guidance data of the Nth frame is determined to be abnormal data and S72 is executed.

[0056] S71. Store the target external guidance data of the Nth frame directly into the tail of the external guidance data history queue.

[0057] S72. Correct the target external guidance data in the Nth frame.

[0058] S80. When the target external guidance data of the Nth frame is determined to be abnormal data, obtain the number of consecutive target external guidance data that are abnormal data.

[0059] S90. Determine whether the number of consecutive abnormal target external guidance data is greater than or equal to 4. If yes, execute S91; otherwise, execute S92.

[0060] S91, Automatically clear the external boot data history queue and execute S911;

[0061] S911. Determine if the number of times the external boot data history queue has been automatically cleared consecutively is greater than or equal to 3 times. If yes, execute S9111; otherwise, execute S9112.

[0062] S9111: Issue a reminder to the user that the verification threshold list is set unreasonably, multiply the position change of each verification threshold unit in the verification threshold list by 2 to obtain a new external guidance data history queue, and re-verify using the new external guidance data history queue.

[0063] S9112. Store the target external guidance data of the Nth frame into the external guidance data history queue, reset N=0, and return to execute S20;

[0064] S92. Calculate the three positional components of the target external guidance data in the Nth frame using the first formula: X, Y, and Z. Specifically:

[0065] Using the position components of each frame of target external guidance data in the geocentric coordinate system in the historical queue of external guidance data, and using the first formula to calculate the three position components of the Nth frame of target external guidance data: X, Y, and Z, the following formula is used:

[0066] X = (9×X3 - 3×X2 - 5×X1 + 3×X0) / 4, Y = (9×Y3 - 3×Y2 - 5×Y1 + 3×Y0) / 4, Z = (9×Z3 - 3×Z2 - 5×Z1 + 3×Z0) / 4, where X0, Y0, and Z0 are the three positional components of the first frame of target external guidance data in the external guidance data history queue; X1, Y1, and Z1 are the three positional components of the second frame of target external guidance data in the external guidance data history queue; X2, Y2, and Z2 are the three positional components of the third frame of target external guidance data in the external guidance data history queue; and X3, Y3, and Z3 are the three positional components of the fourth frame of target external guidance data in the external guidance data history queue. Then, S921 is executed.

[0067] S921. Calculate the velocity components of the target guidance data in the Nth frame using the second formula: V x V y and V z The second formula is:

[0068] V x = (X-X0) / dt, V y = (Y-Y0) / dt, V z = (Z-Z0) / dt, where dt is the time difference between the generation time of the Nth frame of target external guidance data and the generation time of the first frame of target external guidance data in the external guidance data history queue, and then execute S921;

[0069] S922. Obtain the corrected target external guidance data for the Nth frame and store it in the external guidance data history queue. Specifically:

[0070] The original three position components of the target external guidance data in frame N are replaced with the three position components of the target external guidance data in frame N calculated by S92. The original three directional velocity components of the target external guidance data in frame N are replaced with the three directional velocity components calculated by S921. The corrected target external guidance data in frame N is obtained and stored at the tail of the external guidance data history queue.

[0071] The following describes another embodiment of the real-time error correction method for radar external guidance data according to the present invention, including:

[0072] S100. Set a check threshold list based on empirical values ​​of conventionally received external guidance data:

[0073] The verification threshold list includes multiple verification threshold units, each consisting of a time length and a corresponding position change. The time length is in seconds, and the position change is in meters. Generally, the longer the time length, the larger the verification threshold value. The series of verification threshold units are arranged in ascending order of time length in the verification threshold list, and the list contains at least two verification threshold units with different time lengths.

[0074] Different verification threshold lists can be set for different typical targets:

[0075] 1) For example, for aircraft-type targets, the verification threshold list is as follows: Verification threshold unit 1 (0.05 seconds, 25 meters), Verification threshold unit 2 (1 second, 500 meters).

[0076] 2) For example, for satellite targets, the verification threshold list is as follows: verification threshold unit 1 (0.05 seconds, 500 meters) and verification threshold unit 2 (1 second, 10,000 meters).

[0077] S101. Parse the external guidance data sent to the target radar in a format available to the radar:

[0078] Regardless of the format of the external guidance data, it must be uniformly converted to the geocentric coordinate system before verification. The elements of the external guidance data should include:

[0079] Batch number: Indicates the external guide data for different batches;

[0080] Beijing time: The time corresponding to the current location, in seconds relative to midnight of the current day;

[0081] X, Y, Z: Geocentric coordinate system position, in meters;

[0082] V x V z V z : Geocentric velocity, measured in meters per second.

[0083] S102. Obtain the corresponding verification threshold based on the external guidance data for each frame, specifically:

[0084] Based on the current batch number, locate the storage queue corresponding to the boot data for that batch number; if the boot data for that batch does not exist, create a new storage queue to store the boot data outside that batch.

[0085] 1) For a certain batch of target external guidance data, the first four frames of target external guidance data are not verified, and the first four frames of target external guidance data are directly stored in the external guidance data history queue.

[0086] 2) Starting from the fifth frame of target guidance data until the last frame of target guidance data, calculate the time difference DT between each frame of target guidance data and its previous frame. Search the verification threshold list based on the time length represented by DT. If DT exists in the verification threshold list, use the position change of the verification threshold cell corresponding to DT as the verification threshold. If DT does not exist in the verification threshold list, calculate the verification threshold corresponding to DT using three-point interpolation based on the first and last verification threshold cells in the list. The specific method for calculating the verification threshold using three-point interpolation is as follows:

[0087] G = G min +(G max -G min )*(CC min ) / (C max -C min ), where G is the calculated check threshold, C min It is the time length in the first check threshold unit, G min It is the verification threshold in the first verification threshold unit, C max It is the time length in the last check threshold unit, G max It is the verification threshold in the last verification threshold unit;

[0088] For example, a pre-set verification threshold list can be provided, containing two verification threshold units: verification threshold unit 1 (0.05 seconds, 25 meters) and verification threshold unit 2 (1 second, 500 meters).

[0089] For the guidance data with batch number 1, the time difference between the fifth frame of the target-outside guidance data and the fourth frame of the target-outside guidance data is 0.05 seconds. Therefore, the threshold for verifying the position change of the fifth frame of guidance data is 25 meters.

[0090] Furthermore, if the time difference between the generation time of the target external guidance data in the sixth frame and the generation time of the target external guidance data in the fifth frame is 0.1 seconds, this time length is not in the verification threshold list. Therefore, the formula G = G is used. min +(G max -Gmin )*(CC min ) / (C max -C min The calculated position change for verification is 50 meters.

[0091] S103. Use the position change G obtained in S102 to verify the current frame guidance data.

[0092] If the target external guidance data of the current frame is determined to be normal data, the target external guidance data of the current frame is directly stored at the tail of the external guidance data history queue. If the target external guidance data of the current frame is determined to be abnormal data, the target external guidance data of the current frame is corrected and stored at the tail of the external guidance data history queue. The external guidance data history queue can store a maximum of four frames of external guidance data. When it is full, the data frames newly stored at the tail of the external guidance data history queue can push out the old data frames at the head of the queue, thereby replacing the external guidance data history queue.

[0093] The specific verification process is as follows:

[0094] Calculate the differences dX, dY, and dZ of the target guidance data in the current frame and the target guidance data in the previous frame in the geocentric coordinate system:

[0095] dX=X n -X n-1

[0096] dY=Y n -Y n-1

[0097] dZ=Z n -Z n-1

[0098] Among them, X n Y n Z n These are the three positional components of the target external guidance data in the current frame; X n-1 Y n-1 Z n-1 These are the three positional components of the target external guidance data from the previous frame; when dX > G, set the X value anomaly flag ErrX = 1, otherwise ErrX = 0. When dY > G, set the Y value anomaly flag ErrY = 1, otherwise ErrY = 0; when dZ > G, set the Z value anomaly flag ErrZ = 1, otherwise ErrZ = 0, and the total anomaly flag Err = ErrX ∪ ErrY ∪ ErrZ;

[0099] If Err = 1, it is determined that there is an anomaly in the current external guidance data, and the process of correcting the external guidance data is initiated.

[0100] If Err = 0, it is determined that there is no abnormality in the current target external guidance data, and the external guidance data history queue corresponding to this batch of target external guidance data is directly stored.

[0101] For example, the positional change of the fifth frame of target guidance data used to verify the target external guidance data is 25 meters. The three positional components of the fifth frame of target guidance data and the fourth frame of target guidance data in the geocentric coordinate system are as follows:

[0102] dX = 20;

[0103] dY = 23;

[0104] dZ = 18;

[0105] The absolute values ​​of the differences between the three position components are all less than 25 meters, therefore the target guidance data in the fifth frame is determined to be normal data.

[0106] For example, to verify the positional change of the target guidance data in the sixth frame is 50 meters, the three positional components of the target guidance data in the sixth frame and the target guidance data in the fifth frame in the geocentric coordinate system are as follows:

[0107] dX = 48;

[0108] dY = 52;

[0109] dZ = 39;

[0110] Since the absolute value of dY is greater than 50, the target external guidance data in the sixth frame is determined to be abnormal data.

[0111] S104. Correcting abnormal data:

[0112] When the target external guidance data in the current frame is determined to be anomalous data, the method for correcting the anomalous data is as follows:

[0113] 1) Utilize the position components of each frame of target external guidance data in the geocentric coordinate system in the historical queue of external guidance data, and calculate the three position components of the Nth frame of target external guidance data: X, Y, and Z using the first formula:

[0114] X = (9×X3 - 3×X2 - 5×X1 + 3×X0) / 4, Y = (9×Y3 - 3×Y2 - 5×Y1 + 3×Y0) / 4, Z = (9×Z3 - 3×Z2 - 5×Z1 + 3×Z0) / 4, where X0, Y0, and Z0 are the three positional components of the first frame of target external guidance data in the external guidance data history queue; X1, Y1, and Z1 are the three positional components of the second frame of target external guidance data in the external guidance data history queue; X2, Y2, and Z2 are the three positional components of the third frame of target external guidance data in the external guidance data history queue; and X3, Y3, and Z3 are the three positional components of the fourth frame of target external guidance data in the external guidance data history queue.

[0115] The velocity components in the three directions of the target's external guidance data in the Nth frame are calculated using the second formula: V x V y and V z The second formula is:

[0116] V x = (X-X0) / dt, V y = (Y-Y0) / dt, V z = (Z-Z0) / dt, where dt is the time difference between the generation time of the Nth frame of target external guidance data and the generation time of the first frame of target external guidance data in the external guidance data history queue.

[0117] For example, the external guidance data history queue with batch number 1 stores four frames of target external guidance data: P0 to P3, with the following three positional components (for simplicity, all three positional components take the same value):

[0118] P0(X0=6381000, Y0=6381000, Z0=6381000);

[0119] P1(X1=6381020, Y1=6381020, Z1=6381020);

[0120] P2(X2=6381036, Y2=6381036, Z2=6381036);

[0121] P3(X3=6381041, Z3=6381041, Z3=6381041);

[0122] The three positional components of P4 in the current frame's target external guidance data are:

[0123] X=(9×6381041-3×6381036-5×6381020+3×6381000) / 4=6381040.25;

[0124] Similarly, we can obtain Y = 6381040.25 meters; Z = 6381040.25 meters;

[0125] Assuming the time difference between the current out-of-frame boot data and P0 is 0.4 seconds, then the reference speed of the current out-of-frame boot data is:

[0126] V x = (6381040.25 - 6381000) / 0.4 = 100.625 m / s;

[0127] Similarly, V y =100.625 m / s, V z =100.625 m / s;

[0128] Use the current time and the calculated X, Y, Z, and V values. x V y V z This serves as a correction value for the external guidance data at the current time.

[0129] S105. In all cases involving the calculation of time differences, this invention requires determining whether the time has crossed 0. The accumulated seconds of a 24-hour day are 86400 seconds. Let Tn be the time of the external guidance data of the current frame target, and Tn-1 be the time of the external guidance data before Tn.

[0130] If formula T is satisfied n <T n-1 And satisfy (T) n >=0)∩(T n <86400 / 2), and satisfy (T) n-1 >=86400 / 2)∩(T n-1 If <86400), it is determined to have crossed time 0;

[0131] If it crosses time 0, d t =86400+T n -T n-1 ;

[0132] If time 0 has not been crossed, d t =T n -T n-1 ;

[0133] For example, T n = 36000 seconds, which is 10:00 AM Beijing time, T n-1 = 35994 seconds, which does not meet the condition of crossing time zero, therefore the time difference d t =36000-35994=6 seconds;

[0134] For example, T n = 1 second, that is, 0:00:1 second Beijing time, Tn-1 = 86399 seconds, which is 23:59:59 Beijing time, satisfying the condition of crossing the zero time, therefore the time difference d t =86400 + 1 - 86399 seconds = 2 seconds.

[0135] S106. If four consecutive frames of target external guidance data are identified as abnormal data, the external guidance data history queue is automatically cleared, and the verification of each frame of target external guidance data in the parsed available format is restarted.

[0136] S107. If the external guidance data history queue is automatically cleared three times in a row, the user will be prompted that the verification threshold setting is unreasonable. At the same time, the position change of all verification threshold units in the verification threshold list will be multiplied by 2, and the verification process will be restarted.

[0137] In the above embodiments, although the steps are numbered S1, S2, etc., they are only specific embodiments given in this application. Those skilled in the art can adjust the execution order of S1, S2, etc. according to the actual situation, which is also within the protection scope of this invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

[0138] like Figure 4 As shown, a real-time error correction system 200 for radar external guidance data according to an embodiment of the present invention includes a parsing and storage module 210, a call calculation module 220, an anomaly judgment module 230 and a data correction module 240.

[0139] The parsing and storage module 210 is used to: parse the current frame out-of-frame guidance data sent to the target radar to obtain the current frame target out-of-frame guidance data in a usable format, and store the target out-of-frame guidance data in the out-of-frame guidance data history queue. The out-of-frame guidance data history queue can store up to 4 frames of target out-of-frame guidance data.

[0140] The calculation module 220 is used to repeatedly call the parsing and storage module 210. When the target external guidance data of the Nth frame is stored in the external guidance data history queue, the time difference DT between the generation time of the target external guidance data of the Nth frame and the generation time of the target external guidance data of the (N-1)th frame is calculated. The verification threshold unit corresponding to the time difference DT is searched in the verification threshold list. If the verification threshold unit corresponding to the time difference DT is found, the position change of the verification threshold unit corresponding to the time difference DT is used as the verification threshold, N≥5, where N is a positive integer. If the verification threshold unit corresponding to the time difference DT is not found, the verification threshold corresponding to the time difference DT is calculated based on the first and last verification threshold units in the verification threshold list and using the three-point interpolation method. The verification threshold list includes at least two verification threshold units. Each verification threshold unit includes a time length and a position change. The verification threshold units in the verification threshold list are arranged in ascending order based on the time length from smallest to largest.

[0141] The anomaly detection module 230 is used to: verify the target external guidance data of the Nth frame according to the verification threshold corresponding to the target external guidance data of the Nth frame, and determine whether the target external guidance data of the Nth frame is abnormal data.

[0142] The data correction module 240 is used to: when the target guidance data of the Nth frame is abnormal, recalculate the three position components and the three velocity components of the target guidance data of the Nth frame to obtain the corrected target guidance data of the Nth frame.

[0143] Optionally, in the above technical solution, the data correction module 240 is specifically used for:

[0144] Using the position components of each frame of target external guidance data in the geocentric coordinate system in the historical queue of external guidance data, and using the first formula to calculate the three position components of the Nth frame of target external guidance data: X, Y, and Z, the following formula is used:

[0145] X = (9×X3 - 3×X2 - 5×X1 + 3×X0) / 4, Y = (9×Y3 - 3×Y2 - 5×Y1 + 3×Y0) / 4, Z = (9×Z3 - 3×Z2 - 5×Z1 + 3×Z0) / 4, where X0, Y0, and Z0 are the three positional components of the first frame of target external guidance data in the external guidance data history queue; X1, Y1, and Z1 are the three positional components of the second frame of target external guidance data in the external guidance data history queue; X2, Y2, and Z2 are the three positional components of the third frame of target external guidance data in the external guidance data history queue; and X3, Y3, and Z3 are the three positional components of the fourth frame of target external guidance data in the external guidance data history queue.

[0146] The velocity components in the three directions of the target's external guidance data in the Nth frame are calculated using the second formula: Vx V y and V z The second formula is:

[0147] V x = (X-X0) / dt, V y = (Y-Y0) / dt, V z = (Z-Z0) / dt, where dt is the time difference between the generation time of the Nth frame of target external guidance data and the generation time of the first frame of target external guidance data in the external guidance data history queue.

[0148] Optionally, in the above technical solution, the anomaly detection module 240 is specifically used for:

[0149] If the absolute values ​​of the component differences between the Nth frame target guidance data and the (N-1th frame target guidance data) at the three positions in the geocentric coordinate system are all less than the verification threshold corresponding to the Nth frame target guidance data, then the Nth frame target guidance data is determined to be normal data; otherwise, the Nth frame target guidance data is determined to be abnormal data.

[0150] Optionally, the above technical solution also includes a clear and reset module;

[0151] The clear and reset module is used to: automatically clear the external guidance data history queue, reset N=0, and re-call the calculation module 220, the anomaly judgment module 230 and the data correction module 240 when four consecutive frames of target external guidance data are all abnormal data;

[0152] Optionally, the above technical solution also includes a reminder reset module, which is used for:

[0153] When the external boot data history queue is automatically cleared three times in a row, a reminder is issued that the verification threshold list is set in an unreasonable manner. The position change of each verification threshold unit in the verification threshold list is multiplied by 2 to obtain a new external boot data history queue, and the verification is re-performed using the new external boot data history queue.

[0154] Optionally, the above technical solution further includes a storage module, which is used for:

[0155] When the target external guidance data of the Nth frame is normal data, the target external guidance data of the Nth frame is directly stored at the end of the external guidance data history queue.

[0156] When the target external guidance data in frame N is abnormal, the target external guidance data in frame N is corrected and then stored at the end of the external guidance data history queue.

[0157] When the external guidance data history queue is full, the target external guidance data newly added to the tail of the external guidance data history queue will push the target external guidance data located at the head of the external guidance data history queue out, thereby updating the external guidance data history queue.

[0158] The parameters and steps of each unit module in the real-time error correction system for radar external guidance data described above can be referred to the parameters and steps in the embodiments of the real-time error correction method for radar external guidance data described above, and will not be repeated here.

[0159] An embodiment of the present invention provides a storage medium characterized in that the storage medium stores instructions, which, when read by a computer, cause the computer to execute any of the above-mentioned methods for real-time error correction of radar external guidance data.

[0160] Those skilled in the art will know that this invention can be implemented as a system, method, or computer program product.

[0161] Therefore, this disclosure can be implemented in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, the invention can also be implemented as a computer program product in one or more computer-readable media, the computer-readable medium containing computer-readable program code.

[0162] Any combination of one or more computer-readable media may be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0163] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for real-time error correction of radar exogenous guidance data, characterized in that, The method comprises the following steps: S1, parsing the current frame of target external guidance data to be sent to a target radar to obtain current frame target external guidance data in a usable format, and storing the target external guidance data in an external guidance data history queue, wherein the external guidance data history queue stores at most 4 frames of target external guidance data; S2, repeatedly performing S1, when the Nth frame of target external guidance data is stored in the external guidance data history queue, calculating a time difference DT between the generation time of the Nth frame of target external guidance data and the generation time of the (N-1)th frame of target external guidance data, searching for a check threshold unit corresponding to the time difference DT in a check threshold list, if the check threshold unit corresponding to the time difference DT is found, using the position change amount of the check threshold unit corresponding to the time difference DT as a check threshold, N≥5, N is a positive integer, if the check threshold unit corresponding to the time difference DT is not found, calculating the check threshold corresponding to the time difference DT according to the first check threshold unit and the last check threshold unit in the check threshold list and using a three-point interpolation method, wherein the check threshold list comprises at least two check threshold units, each check threshold unit comprises a time length and a position change amount, and the check threshold units in the check threshold list are arranged in ascending order based on the time length; S3, checking the Nth frame of target external guidance data according to the check threshold corresponding to the Nth frame of target external guidance data, and determining whether the Nth frame of target external guidance data is abnormal data; S4, when the Nth frame of target external guidance data is abnormal data, recalculating three position components and three directional velocity components of the Nth frame of target external guidance data to obtain corrected Nth frame of target external guidance data; S4 comprises: using the three directional position components of each frame of target external guidance data in the external guidance data history queue in the geocentric coordinate system, and using a first formula to calculate the three position components X, Y and Z of the Nth frame of target external guidance data, the first formula is: X=(9×X3-3×X2-5×X1+3×X0) / 4, Y=(9×Y3-3×Y2-5×Y1+3×Y0) / 4, Z=(9×Z3-3×Z2-5×Z1+3×Z0) / 4, wherein X0, Y0 and Z0 are the three position components of the first frame of target external guidance data in the external guidance data history queue, X1, Y1 and Z1 are the three position components of the second frame of target external guidance data in the external guidance data history queue, X2, Y2 and Z2 are the three position components of the third frame of target external guidance data in the external guidance data history queue, and X3, Y3 and Z3 are the three position components of the fourth frame of target external guidance data in the external guidance data history queue; The three directional velocity components of the Nth frame of target outer guiding data are calculated using a second formula: V x , V y , and V z , the second formula being: V x = (X - X0) / dt, V y = (Y - Y0) / dt, V z = (Z - Z0) / dt, where dt is the time difference between the generation time of the Nth frame of target exo-guidance data and the generation time of the first frame of target exo-guidance data in the exo-guidance data history queue.

2. The method of claim 1, wherein S3 comprises: when the absolute values of the component differences of the three positions of the Nth frame of target external guidance data and the (N-1)th frame of target external guidance data in the geocentric coordinate system are all less than the check threshold corresponding to the Nth frame of target external guidance data, it is determined that the Nth frame of target external guidance data is normal data, otherwise, it is determined that the Nth frame of target external guidance data is abnormal data.

3. The real-time error correction method of radar off-course data according to any one of claims 1 to 2, further comprising: when four consecutive target off-course data are all abnormal data, automatically emptying the off-course data history queue, resetting N=0, and returning to perform S2.

4. The real-time error correction method of radar off-course data according to claim 3, further comprising: when the off-course data history queue is automatically emptied for three times, issuing a prompt that the check threshold list setting is unreasonable, multiplying the position change amount of each check threshold unit in the check threshold list by 2 to obtain a new off-course data history queue, and re-checking using the new off-course data history queue.

5. The real-time error correction method of radar off-course data according to any one of claims 1 to 2, further comprising: when the Nth target off-course data is normal data, directly storing the Nth target off-course data at the tail of the off-course data history queue; when the Nth target off-course data is abnormal data, storing the Nth target off-course data at the tail of the off-course data history queue after correction; when the off-course data history queue is full, the target off-course data newly stored at the tail of the off-course data history queue will push out the target off-course data at the head of the off-course data history queue, thereby updating the off-course data history queue.

6. A real-time error correction system for off-radar guidance data, characterized by, comprising an analysis and storage module, a calculation module, an abnormality judgment module, and a data correction module; the analysis and storage module is configured to analyze the current frame of off-course data sent to the target radar to obtain a current frame of target off-course data in a usable format, and store the target off-course data in an off-course data history queue, which can store up to 4 frames of target off-course data; the calculation module is configured to repeatedly call the analysis and storage module, calculate the time difference DT between the generation time of the Nth target off-course data and the generation time of the N-1th target off-course data when the Nth target off-course data is stored in the off-course data history queue, find the check threshold unit corresponding to the time difference DT in a check threshold list, use the position change amount of the check threshold unit corresponding to the time difference DT as a check threshold if the check threshold unit corresponding to the time difference DT is found, N≥5, N being a positive integer, and calculate the check threshold corresponding to the time difference DT using a three-point interpolation method according to the first check threshold unit and the last check threshold unit in the check threshold list if the check threshold unit corresponding to the time difference DT is not found, wherein the check threshold list includes at least two check threshold units, each check threshold unit includes a time length and a position change amount, and the check threshold units in the check threshold list are arranged in ascending order based on the time length; the abnormality judgment module is configured to check the Nth target off-course data according to the check threshold corresponding to the Nth target off-course data, and determine whether the Nth target off-course data is abnormal data. The data correction module is configured to: when the Nth target off-board guidance data is abnormal data, recalculate three position components and three directional velocity components of the Nth target off-board guidance data to obtain corrected Nth target off-board guidance data. The data correction module is specifically configured to: The three directional position components of each frame of target off-board guidance data in the off-board guidance data history queue in the geocentric coordinate system are used to calculate three position components X, Y and Z of the Nth target off-board guidance data by using a first formula, and the first formula is: X=(9×X3-3×X2-5×X1+3×X0) / 4, Y=(9×Y3-3×Y2-5×Y1+3×Y0) / 4, Z=(9×Z3-3×Z2-5×Z1+3×Z0) / 4, wherein X0, Y0 and Z0 are the three position components of the first frame of target off-board guidance data in the off-board guidance data history queue; X1, Y1 and Z1 are the three position components of the second frame of target off-board guidance data in the off-board guidance data history queue; X2, Y2 and Z2 are the three position components of the third frame of target off-board guidance data in the off-board guidance data history queue; and X3, Y3 and Z3 are the three position components of the fourth frame of target off-board guidance data in the off-board guidance data history queue. The second formula is used to calculate the velocity components of the three directions of the Nth frame of target outer guiding data: V x , V y , and V z . The second formula is as follows: V x = (X - X0) / dt, V y = (Y - Y0) / dt, V z = (Z - Z0) / dt, where dt is the time difference between the generation time of the Nth frame of target exo-guidance data and the generation time of the first frame of target exo-guidance data in the exo-guidance data history queue.

7. A real-time error correction system for radar off-board guidance data according to claim 6, characterized in that, The abnormality judgment module is specifically configured to: When the absolute values of the differences between the three position components of the Nth target off-board guidance data and the N-1th target off-board guidance data in the geocentric coordinate system are all less than the check threshold corresponding to the Nth target off-board guidance data, it is determined that the Nth target off-board guidance data is normal data, otherwise, it is determined that the Nth target off-board guidance data is abnormal data.

8. A storage medium, characterized by The storage medium has instructions stored therein, and when a computer reads the instructions, the computer executes the real-time error correction method of the radar off-board guidance data according to any one of claims 1 to 5.

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