A tracking method and device based on a single-array two-dimensional phased array radar

Abstract

The application provides a tracking method and device based on a single-array two-dimensional phased array radar, and belongs to the technical field of radars. The method comprises the following steps: in response to receiving a search control command of a display control terminal, the single-array two-dimensional phased array radar performs search detection on a target and sends detected detection point information to the display control terminal; the display control terminal determines a target that needs to be tracked according to the detection point information and sends a tracking control command to the single-array two-dimensional phased array radar, so as to realize follow-up tracking of the target; the display control terminal calculates an angle difference, and when the angle difference exceeds a first threshold value, a turntable control command is sent to a turntable; the turntable rotates according to the turntable control command, so that the center of the array of the antenna of the single-array two-dimensional phased array radar on the turntable is aligned with the target that needs to be tracked. The device comprises a single-array two-dimensional phased array radar, a display control terminal and a turntable. The application expands the azimuth search range of the single-array two-dimensional phased array radar and realizes large-angle tracking of the target.

Description

Technical Field

[0001] This application belongs to the field of radar technology, specifically relating to a tracking method and device based on a single-array two-dimensional phased array radar. Background Technology

[0002] Single-array two-dimensional phased array radars generally have two detection modes: search detection and tracking detection. During tracking detection, the single-array two-dimensional phased array radar is fixed in a certain direction, so the detection range is limited to the azimuth beam scanning range and it cannot track over a wide angle. When tracking a target that is not flying radially, the target's flight path is likely to exceed the azimuth beam scanning range, causing the radar to be unable to continue tracking. Even if a turntable is installed on the single-array two-dimensional phased array radar, it can only be driven by the turntable to rotate the single-array two-dimensional phased array radar at a fixed period. Such a technical solution does not meet the needs of real-time tracking detection. Summary of the Invention

[0003] Based on the above technical problems, this application proposes a tracking method and device based on a single-array two-dimensional phased array radar, which solves the technical problem of the small tracking angle range of a single-array two-dimensional phased array radar.

[0004] Firstly, this application proposes a tracking method based on a single-array two-dimensional phased array radar, comprising:

[0005] In response to receiving the search control command from the display and control terminal, the single-array two-dimensional phased array radar searches for and detects the target and sends the information of the detected points to the display and control terminal.

[0006] The display and control terminal determines the target to be tracked based on the detection point information and sends the tracking control command to the single-array two-dimensional phased array radar so that the single-array two-dimensional phased array radar can perform follow-up tracking on the target to be tracked.

[0007] The display and control terminal calculates the first angle between the line connecting the target to be tracked and the single-array two-dimensional phased array radar and the specified direction, and the second angle between the front face of the antenna of the single-array two-dimensional phased array radar and the specified direction. It also calculates the angle difference between the first angle and the second angle. When the angle difference exceeds the first threshold, the display and control terminal sends a turntable control command to the turntable.

[0008] The turntable rotates according to the turntable control command, so that the center of the antenna of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked.

[0009] During the rotation of the turntable according to the turntable control command, the single-array two-dimensional phased array radar maintains all track points of the target to be tracked and sends the tracking beam to the display and control terminal in real time.

[0010] During the tracking process of the single-array two-dimensional phased array radar on the target to be tracked, the display and control terminal counts the target loss. If the count does not exceed the second threshold, the display and control terminal sends a search control command to the single-array two-dimensional phased array radar to execute the steps of searching and detecting the target and sending the searched detection point information to the display and control terminal in response to receiving the search control command from the display and control terminal.

[0011] During the target search and detection process of the single-array two-dimensional phased array radar, the display and control terminal receives the turntable azimuth information transmitted by the turntable in real time and saves the latest turntable azimuth information.

[0012] The step of counting target loss for the target to be tracked includes:

[0013] The display and control terminal associates the detection point information with the target to be tracked using a flight path;

[0014] If the association is successful, the target loss count is set to zero;

[0015] If the association fails and the turntable is not rotating, the target loss count is incremented by 1.

[0016] If the association fails and the detection point information does not contain the target that needs to be tracked, the target loss count is incremented by 1.

[0017] The turntable rotates according to the turntable control command, so that the center of the antenna of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked, including:

[0018] The turntable stops rotating after rotating to the target position according to the turntable control command.

[0019] The center of the antenna array of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked.

[0020] After the turntable rotates according to the turntable control command, so that the center of the antenna array of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked, the display and control terminal recalculates the first angle between the target to be tracked and the specified direction, the second angle between the center of the antenna array of the single-array two-dimensional phased array radar and the specified direction, and recalculates the angle difference between the first angle and the second angle. When the angle difference exceeds the first threshold, the display and control terminal sends a turntable control command to the turntable.

[0021] Secondly, this application proposes a tracking device based on a single-array two-dimensional phased array radar, comprising:

[0022] A single-array two-dimensional phased array radar is used to search for and detect targets and send the information of the detected points to the display and control terminal in response to receiving search and control commands from the display and control terminal.

[0023] The display and control terminal is used to determine the target to be tracked based on the detection point information and send a tracking control command to the single-array two-dimensional phased array radar so that the single-array two-dimensional phased array radar can perform follow-up tracking of the target to be tracked; calculates the first angle between the line connecting the target to be tracked and the single-array two-dimensional phased array radar and the specified direction, and the second angle between the front face of the antenna of the single-array two-dimensional phased array radar and the specified direction, and calculates the angle difference between the first angle and the second angle. When the angle difference exceeds a first threshold, the display and control terminal sends a turntable control command to the turntable.

[0024] A turntable is used to rotate according to the turntable control command, so that the center of the antenna of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked.

[0025] Thirdly, this application proposes a computer program product, comprising: a computer program / instructions, which, when executed by a processor, implement the steps of the tracking method based on a single-array two-dimensional phased array radar.

[0026] Fourthly, this application proposes an electronic device, comprising: one or more processors, and a memory storing instructions that, when executed by the one or more processors, cause the one or more processors to perform the tracking method based on a single-array two-dimensional phased array radar.

[0027] Fifthly, this application proposes a computer-readable storage medium storing executable instructions that, when executed, cause a processor to perform the tracking method based on a single-array two-dimensional phased array radar.

[0028] Beneficial effects:

[0029] This application proposes a tracking method and apparatus based on a single-array two-dimensional phased array radar, which breaks through the azimuth search range of a single-array two-dimensional phased array radar and achieves large-angle tracking of targets. It also overcomes the limitation of using a turntable to rotate the single-array two-dimensional phased array radar at a fixed period, allowing the turntable to rotate according to turntable control commands. This enables the single-array two-dimensional phased array radar to dynamically track the target and can detect and determine in real time whether the target is near the center angle range of the single-array two-dimensional phased array radar antenna array. Furthermore, it can adjust the turntable in real time to ensure the target is near the center angle of the single-array two-dimensional phased array radar antenna array. Attached Figure Description

[0030] Figure 1 This is a flowchart of a tracking method based on a single-array two-dimensional phased array radar according to Embodiment 1 of this application;

[0031] Figure 2 This is a schematic diagram of the first included angle and the second included angle in an embodiment of this application;

[0032] Figure 3 This is a flowchart of a tracking method based on a single-array two-dimensional phased array radar according to Embodiment 2 of this application;

[0033] Figure 4 This is a block diagram illustrating the principle of a tracking device based on a single-array two-dimensional phased array radar, as described in Embodiment 3 of this application. Detailed Implementation

[0034] The present disclosure will be further described below with reference to the embodiments shown in the accompanying drawings.

[0035] Single-array two-dimensional phased array radars generally have two detection modes: search detection and tracking detection. During tracking detection, the single-array two-dimensional phased array radar is fixed in a certain direction, so the detection range is limited to the azimuth beam scanning range and it cannot track over a wide angle. When tracking a target that is not flying radially, the target's flight path is likely to exceed the azimuth beam scanning range, causing the radar to be unable to continue tracking. Even if a turntable is installed on the single-array two-dimensional phased array radar, it can only be driven by the turntable to rotate the single-array two-dimensional phased array radar at a fixed period. Such a technical solution does not meet the needs of real-time tracking detection.

[0036] Therefore, this application proposes a tracking method and apparatus based on a single-array two-dimensional phased array radar. The single-array two-dimensional phased array radar is placed on a turntable and rotates not at a fixed period, but based on the angle difference calculated by the display and control terminal. When the angle difference exceeds a first threshold, the display and control terminal sends a turntable control command to the turntable. The turntable rotates according to the turntable control command, so that the center of the antenna array of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked. This application breaks through the limitations of the azimuth search range of a single-array two-dimensional phased array radar, achieving large-angle tracking of the target; it overcomes the limitation of only using a turntable to rotate the single-array two-dimensional phased array radar at a fixed period, allowing the turntable to rotate according to the turntable control command, enabling the single-array two-dimensional phased array radar to dynamically track the target, and can detect and determine in real time whether the target is near the center angle range of the single-array two-dimensional phased array radar antenna array; and it can adjust the turntable in real time to keep the target near the center angle of the single-array two-dimensional phased array radar antenna array.

[0037] Example 1:

[0038] This embodiment proposes a tracking method based on a single-array two-dimensional phased array radar, such as... Figure 1 As shown, it includes:

[0039] Step S1: In response to receiving the search control command from the display and control terminal, the single-array two-dimensional phased array radar searches for and detects the target and sends the information of the detected points to the display and control terminal.

[0040] When the single-array two-dimensional phased array radar is powered on, the display and control terminal first sends a search control command to the single-array two-dimensional phased array radar. The single-array two-dimensional phased array radar performs search and detection. At this time, the turntable does not rotate. The detection range of the single-array two-dimensional phased array radar is within the maximum range of azimuth scanning. The single-array two-dimensional phased array radar sends the information of the searched detection points to the display and control terminal.

[0041] Step S2: The display and control terminal determines the target to be tracked based on the detection point information and sends the tracking control command to the single-array two-dimensional phased array radar so that the single-array two-dimensional phased array radar can perform follow-up tracking on the target to be tracked.

[0042] Step S3: The display and control terminal calculates the first angle between the line connecting the target to be tracked and the single-array two-dimensional phased array radar and the specified direction, and the second angle between the front face of the antenna of the single-array two-dimensional phased array radar and the specified direction, and calculates the angle difference between the first angle and the second angle. When the angle difference exceeds the first threshold, the display and control terminal sends a turntable control command to the turntable.

[0043] In this embodiment, the specified direction is true north at 0 degrees. Other specified directions can be selected in other implementations, as long as it is a fixed direction, such as... Figure 2 As shown, the first angle between the line connecting the target to be tracked and the single-array two-dimensional phased array radar and true north (0 degrees) is the angle between the antenna face of the single-array two-dimensional phased array radar and true north (0 degrees) is the angle between the antenna face and true north (0 degrees). Figure 2 The angle difference between the first included angle and the second included angle can be easily obtained. In this embodiment, when the angle difference exceeds the first threshold, the display and control terminal sends a turntable control command to the turntable, and the turntable drives the antenna of the single-array two-dimensional phased array radar to rotate.

[0044] The target to be tracked can be represented by the attitude prediction value of the target to be tracked. Since the target to be tracked may not be detected in real time at the time corresponding to the turntable orientation information, the attitude prediction value of the target at the time corresponding to the turntable orientation information needs to be used. The attitude prediction value of the target to be tracked includes the target's position, direction, and height. The attitude prediction value of the target to be tracked is the prediction result obtained by performing Kalman prediction on the target to be tracked at the time corresponding to the turntable orientation information.

[0045] Step S4: The turntable rotates according to the turntable control command, so that the center of the antenna of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked.

[0046] Step S5: During the rotation of the turntable according to the turntable control command, the single-array two-dimensional phased array radar maintains all track points of the target to be tracked and sends the tracking beam to the display and control terminal in real time.

[0047] In this embodiment, all track points need to be maintained. In the prior art, when the radar loses the target for 3 cycles, the target's track point information is deleted. However, since this embodiment is a tracking process that follows the target's movement, the target's track point information cannot be deleted in order to track accurately.

[0048] Steps S1 to S5 above are not the only specified order. This embodiment only lists a feasible embodiment. Usually, when a single-array two-dimensional phased array radar is first turned on, it is executed in the above order.

[0049] This embodiment proposes a tracking method based on a single-array two-dimensional phased array radar. When the single-array two-dimensional phased array radar is powered on, the display and control terminal first sends a search control command to the radar. The radar then performs a search and detection. Based on the detected point information, the display and control terminal determines the target to be tracked and sends a tracking control command to the radar, enabling it to perform follow-up tracking. The display and control terminal then sends a control command to a turntable based on the calculated angle difference. The turntable rotates according to the control command, aligning the antenna center of the single-array two-dimensional phased array radar on the turntable with the target. During this rotation, the radar maintains all track points of the target and transmits the tracking beam to the display and control terminal in real time. This embodiment breaks through the azimuth search range of a single-array two-dimensional phased array radar, enabling large-angle tracking of the target; it also breaks through the previous method of using a turntable to rotate a single-array two-dimensional phased array radar at a fixed period, allowing the turntable to rotate according to turntable control commands, thus enabling the single-array two-dimensional phased array radar to perform follow-up tracking of the target to be tracked.

[0050] Example 2:

[0051] This embodiment proposes a tracking method based on a single-array two-dimensional phased array radar. This embodiment details how the single-array two-dimensional phased array radar tracks the target during the rotation of the turntable, such as... Figure 3 As shown, it includes:

[0052] Step S100: During the target search and detection process of the single-array two-dimensional phased array radar, the display and control terminal receives the turntable azimuth information transmitted by the turntable in real time and saves the latest turntable azimuth information.

[0053] In this embodiment, the display and control terminal receives turntable orientation information in 100ms cycles and saves the latest turntable orientation information.

[0054] After the display and control terminal sends a search control command to the single-array two-dimensional phased array radar, the single-array two-dimensional phased array radar searches for and detects the target and sends the information of the detected points to the display and control terminal. During the search and detection of the target by the single-array two-dimensional phased array radar, the turntable may be executing the turntable control command sent by the display and control terminal and rotating according to the turntable control command. Therefore, at this time, the display and control terminal receives the turntable azimuth information transmitted by the turntable in real time and saves the latest turntable azimuth information. Furthermore, the angle difference calculated in step S104 is calculated based on the latest turntable azimuth information saved by the display and control terminal.

[0055] Step S101: The display and control terminal determines whether the tracking control command sending cycle has been reached;

[0056] In this embodiment, the tracking control command sending period is 50ms, and the tracking control command includes the target's azimuth, the target's pitch angle, the target's distance, etc.

[0057] Step S102: If the display and control terminal determines that the tracking control command sending cycle has been reached, the display and control terminal determines whether the angle difference exceeds the first threshold.

[0058] Step S103: If the display and control terminal determines that the tracking control command sending cycle has not been reached, then proceed to step S100; In this embodiment, when the display and control terminal determines that the tracking control command sending cycle has not been reached, it returns to step S100, and the display and control terminal continues to receive the turntable orientation information transmitted by the turntable in real time and save the latest turntable orientation information.

[0059] Step S104: If the angle difference exceeds the first threshold, the display and control terminal sends a turntable control command to the turntable;

[0060] The angle difference is the angle difference between the first included angle and the second included angle. The first included angle is the angle between the line connecting the target to be tracked and the single-array two-dimensional phased array radar and the specified direction. The second included angle is the angle between the frontal orientation of the antenna of the single-array two-dimensional phased array radar and the specified direction. In this embodiment, the target to be tracked can still be represented by the attitude prediction value of the target to be tracked, because the target to be tracked may not be detected in real time at the time corresponding to the turntable azimuth information. Therefore, it is necessary to use the attitude prediction value of the target at the time corresponding to the turntable azimuth information. The attitude prediction value of the target to be tracked includes the target's position, direction, and altitude. The attitude prediction value of the target to be tracked is the prediction result obtained by performing Kalman prediction on the target to be tracked at the time corresponding to the turntable azimuth information. Kalman prediction is a conventional technical solution for those skilled in the art, and the specific implementation details of Kalman prediction will not be elaborated in this application.

[0061] Step S105: The turntable rotates according to the turntable control command, so that the center of the antenna of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked, and then proceeds to step S106.

[0062] Step S106: When the angle difference does not exceed the first threshold, the display and control terminal sends a tracking control command to the single-array two-dimensional phased array radar so that the single-array two-dimensional phased array radar can perform follow-up tracking on the target to be tracked.

[0063] In this embodiment, the display and control terminal sends the tracking control command to the single-array two-dimensional phased array radar. According to the tracking control command, the single-array two-dimensional phased array radar controls the transmitting component of the single-array two-dimensional phased array radar to generate the corresponding radio frequency signal. The signal is radiated through the antenna of the single-array two-dimensional phased array radar. After the antenna receives the echo signal, the signal processing component of the single-array two-dimensional phased array radar generates the target point trace.

[0064] Step S107: The display and control terminal determines whether the single-array two-dimensional phased array radar has successfully tracked the target;

[0065] Step S108: If the display and control terminal determines that the single-array two-dimensional phased array radar has successfully tracked the target, then the single-array two-dimensional phased array radar forms the track of the target to be tracked.

[0066] Step S109: The display and control terminal associates the detection point information with the target to be tracked using a flight path;

[0067] Step S110: Determine whether the association was successful;

[0068] Step S111: If the association is successful, the target loss count is set to zero, and proceed to step S100;

[0069] Step S112: If the association fails, proceed to step S113;

[0070] Step S113: If the display and control terminal determines that the single-array two-dimensional phased array radar has failed to track the target, then determine whether the turntable is rotating.

[0071] Step S114: If the turntable is rotating, the single-array two-dimensional phased array radar maintains all track points of the target to be tracked, sends the tracking beam to the display and control terminal in real time, and proceeds to step S100.

[0072] Step S115: If the turntable does not rotate, the display and control terminal counts the target loss of the target to be tracked, and the target loss count is increased by 1.

[0073] In this embodiment, if the association fails and the turntable is not rotating, the target loss count is increased by 1; or, if the association fails and the single-array two-dimensional phased array radar does not include the target to be tracked in the obtained detection point information after searching and detecting the target, the target loss count is increased by 1.

[0074] Step S116: Determine whether the count exceeds the second threshold;

[0075] Step S117: If the second threshold is not exceeded, proceed to step S100;

[0076] In this embodiment, during the tracking process of the single-array two-dimensional phased array radar on the target to be tracked, the display and control terminal counts the target loss. If the count does not exceed the second threshold, the process returns to step S100. During the target search and detection process of the single-array two-dimensional phased array radar, the display and control terminal continues to receive the turntable azimuth information transmitted by the turntable in real time and saves the latest turntable azimuth information. If the single-array two-dimensional phased array radar is not in the target search and detection process, the display and control terminal sends a search control command to the single-array two-dimensional phased array radar to execute the step of the single-array two-dimensional phased array radar searching and detecting the target and sending the searched detection point information to the display and control terminal in response to receiving the search control command from the display and control terminal.

[0077] Step S118: If the second threshold is exceeded, the current tracking ends.

[0078] Step S105: The turntable rotates according to the turntable control command, so that the center of the antenna array of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked, including:

[0079] Step S105.1: The turntable stops rotating after rotating to the target position according to the turntable control command;

[0080] Step S105.2: The center of the antenna array of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked;

[0081] Step S105.3: After the turntable rotates according to the turntable control command so that the center of the antenna array of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked, the display and control terminal recalculates the first angle between the target to be tracked and the specified direction, the second angle between the center of the antenna array of the single-array two-dimensional phased array radar and the specified direction, and recalculates the angle difference between the first angle and the second angle. When the angle difference exceeds the first threshold, the display and control terminal sends a turntable control command to the turntable.

[0082] This embodiment proposes a tracking method based on a single-array two-dimensional phased array radar. During turntable rotation, the method refines the processing steps for each judgment process, including: the display and control terminal receives and saves the turntable azimuth information transmitted by the turntable in real time; if the display and control terminal determines that the tracking control command sending cycle has arrived, it determines whether the angle difference exceeds a first threshold. If the angle difference exceeds the first threshold, the display and control terminal sends a turntable control command to the turntable, which rotates according to the command, aligning the antenna center of the single-array two-dimensional phased array radar on the turntable with the target to be tracked; if the angle difference does not exceed the first threshold, the display and control terminal sends a tracking control command to the single-array two-dimensional phased array radar, enabling it to perform follow-up tracking of the target. Furthermore, it provides judgment conditions for successful target tracking, successful association, whether the turntable is rotating, and whether the count exceeds a second threshold, and clarifies the corresponding process steps for each judgment condition. This embodiment breaks through the azimuth search range of a single-array two-dimensional phased array, enabling large-angle tracking of the target; it enables the single-array two-dimensional phased array radar to perform follow-up tracking of the target to be tracked, and can detect and determine in real time whether the target being tracked is near the center angle range of the single-array two-dimensional phased array radar antenna array; and it can rotate the turntable in real time to make the target being tracked near the center angle of the single-array two-dimensional phased array radar antenna array.

[0083] Example 3:

[0084] This embodiment proposes a tracking device based on a single-array two-dimensional phased array radar, such as... Figure 4 As shown, it includes:

[0085] A single-array two-dimensional phased array radar is used to search for and detect targets and send the information of the detected points to the display and control terminal in response to receiving search and control commands from the display and control terminal.

[0086] In this embodiment, the single-array two-dimensional phased array radar includes: a transmitting / receiving antenna, a transmitting component, a receiving component, and a signal processing component. According to the search control command sent by the display and control terminal, the single-array two-dimensional phased array radar searches for the target. According to the transmitting control command sent by the display and control terminal, the transmitting antenna transmits electromagnetic waves in a time-series manner to detect the target, and the receiving antenna receives the electromagnetic waves from the target. The signal processing component processes the received waveforms to obtain detection point information, which is then sent to the display and control terminal. The single-array two-dimensional phased array radar also receives real-time tracking and detection control commands from the display and control terminal to achieve real-time beam scheduling. The single-array two-dimensional phased array radar sends radar status information to the display and control terminal as needed, so that the display and control terminal can perform corresponding control based on the radar's status.

[0087] The display and control terminal is used to determine the target to be tracked based on the detection point information and send a tracking control command to the single-array two-dimensional phased array radar so that the single-array two-dimensional phased array radar can perform follow-up tracking of the target to be tracked; calculates the first angle between the line connecting the target to be tracked and the single-array two-dimensional phased array radar and the specified direction, and the second angle between the front face of the antenna of the single-array two-dimensional phased array radar and the specified direction, and calculates the angle difference between the first angle and the second angle. When the angle difference exceeds a first threshold, the display and control terminal sends a turntable control command to the turntable.

[0088] A turntable is used to rotate according to the turntable control command, so that the center of the antenna of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked.

[0089] In this embodiment, the turntable carries the single-array two-dimensional phased array radar in rotation. The turntable receives turntable control commands sent by the display and control terminal and performs corresponding rotation or stop operations.

[0090] The single-array two-dimensional phased array radar is also used to maintain all track points of the target to be tracked during the rotation of the turntable according to the turntable control command, and to send the tracking beam to the display and control terminal in real time.

[0091] The display and control terminal is also used to count the target loss of the target during the follow-up tracking process of the single-array two-dimensional phased array radar. If the count does not exceed a second threshold, the display and control terminal sends a search control command to the single-array two-dimensional phased array radar, so that the single-array two-dimensional phased array radar executes the response to receiving the search control command from the display and control terminal, searches for and detects the target, and sends the searched detection point information to the display and control terminal.

[0092] The display and control terminal is also used to receive and save the latest turntable azimuth information transmitted by the turntable in real time during the target search and detection process of the single-array two-dimensional phased array radar.

[0093] The display and control terminal is further configured to associate the detection point information with the target to be tracked; if the association is successful, the target loss count is set to zero; if the association fails and the turntable is not rotating, the target loss count is increased by 1; if the association fails and the detection point information does not contain the target to be tracked, the target loss count is increased by 1.

[0094] The turntable is further configured to rotate to the target position according to the turntable control command and then stop rotating; the center of the antenna of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked; after the turntable rotates according to the turntable control command so that the center of the antenna of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked, the display and control terminal recalculates the first angle between the target to be tracked and the specified direction, the second angle between the center of the antenna of the single-array two-dimensional phased array radar and the specified direction, and recalculates the angle difference between the first angle and the second angle. When the angle difference exceeds a first threshold, the display and control terminal sends a turntable control command to the turntable.

[0095] This embodiment proposes a tracking device based on a single-array two-dimensional phased array radar. By controlling the single-array two-dimensional phased array radar and the turntable through a display and control terminal, the azimuth search range of the single-array two-dimensional phased array is expanded, enabling large-angle tracking of targets. It breaks through the method of only using a turntable to rotate the single-array two-dimensional phased array radar at a fixed period, so that the turntable rotates according to the turntable control command, realizing the single-array two-dimensional phased array radar to track the target. It can also detect and determine in real time whether the target being tracked is near the center angle range of the single-array two-dimensional phased array radar antenna array. Furthermore, it can adjust the turntable in real time to keep the target being tracked near the center angle of the single-array two-dimensional phased array radar antenna array.

[0096] Example 4:

[0097] This embodiment proposes a computer program product, including: a computer program / instruction, which, when executed by a processor, implements the steps of the tracking method based on a single-array two-dimensional phased array radar as described in Embodiment 1 or Embodiment 2.

[0098] Example 5:

[0099] This embodiment proposes an electronic device, including: one or more processors, and a memory, wherein the memory stores instructions, and when the instructions are executed by the one or more processors, the one or more processors execute the tracking method based on a single-array two-dimensional phased array radar.

[0100] The electronic device may be a mobile phone, computer, or tablet computer, etc., and includes a memory and a processor. The memory stores a computer program, which, when executed by the processor, implements the tracking method based on a single-array two-dimensional phased array radar as described in the embodiments. It is understood that the electronic device may also include input / output (I / O) interfaces and communication components.

[0101] The processor is used to execute all or part of the steps in the tracking method based on a single-array two-dimensional phased array radar as described in the above embodiments. The memory is used to store various types of data, which may include, for example, instructions for any application or method in the electronic device, as well as application-related data.

[0102] The processor can be implemented as an Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor, or other electronic components, and is used to execute the tracking method based on a single-array two-dimensional phased array radar described in the above embodiments.

[0103] Example 6:

[0104] This embodiment proposes a computer-readable storage medium storing executable instructions, which, when executed, cause a processor to perform the tracking method based on a single-array two-dimensional phased array radar.

[0105] In the various embodiments of the present invention, the functional units can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.

[0106] Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the tracking method based on a single-array two-dimensional phased array radar described in the various embodiments of this application.

[0107] The aforementioned storage media include: flash memory, hard disk, multimedia card, card-type memory (e.g., SD (Secure Digital Memory Card) or DX (Memory Data Register, MDR) memory, random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, server, APP (Application) application store, and other media capable of storing program verification codes. These media store computer programs, which, when executed by a processor, can implement the various steps of the tracking method based on a single-array two-dimensional phased array radar described above.

[0108] 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.

[0109] 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 based on a single-array two-dimensional phased array radar, characterized in that, include: In response to receiving the search control command from the display and control terminal, the single-array two-dimensional phased array radar searches for and detects the target and sends the information of the detected points to the display and control terminal. The display and control terminal determines the target to be tracked based on the detection point information and sends the tracking control command to the single-array two-dimensional phased array radar so that the single-array two-dimensional phased array radar can perform follow-up tracking on the target to be tracked. The display and control terminal calculates the first angle between the line connecting the target to be tracked and the single-array two-dimensional phased array radar and the specified direction, and the second angle between the front face of the antenna of the single-array two-dimensional phased array radar and the specified direction. It also calculates the angle difference between the first angle and the second angle. When the angle difference exceeds the first threshold, the display and control terminal sends a turntable control command to the turntable. The turntable rotates according to the turntable control command, so that the center of the antenna of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked. During the target search and detection process of the single-array two-dimensional phased array radar, the display and control terminal receives the turntable azimuth information transmitted by the turntable in real time and saves the latest turntable azimuth information. The turntable rotates according to the turntable control command, so that the center of the antenna of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked, including: The turntable stops rotating after rotating to the target position according to the turntable control command. The center of the antenna array of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked. After the turntable rotates according to the turntable control command, so that the center of the antenna array of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked, the display and control terminal recalculates the first angle between the target to be tracked and the specified direction, the second angle between the center of the antenna array of the single-array two-dimensional phased array radar and the specified direction, and recalculates the angle difference between the first angle and the second angle. When the angle difference exceeds the first threshold, the display and control terminal sends a turntable control command to the turntable.

2. The tracking method based on a single-array two-dimensional phased array radar according to claim 1, characterized in that, During the rotation of the turntable according to the turntable control command, the single-array two-dimensional phased array radar maintains all track points of the target to be tracked and sends the tracking beam to the display and control terminal in real time.

3. The tracking method based on a single-array two-dimensional phased array radar according to claim 1, characterized in that, During the tracking process of the single-array two-dimensional phased array radar on the target to be tracked, the display and control terminal counts the target loss. If the count does not exceed the second threshold, the display and control terminal sends a search control command to the single-array two-dimensional phased array radar to execute the steps of searching and detecting the target and sending the searched detection point information to the display and control terminal in response to receiving the search control command from the display and control terminal.

4. The tracking method based on a single-array two-dimensional phased array radar according to claim 3, characterized in that, The step of counting target loss for the target to be tracked includes: The display and control terminal associates the detection point information with the target to be tracked using a flight path; If the association is successful, the target loss count is set to zero; If the association fails and the turntable is not rotating, the target loss count is incremented by 1. If the association fails and the detection point information does not contain the target that needs to be tracked, the target loss count is incremented by 1.

5. A tracking device based on a single-array two-dimensional phased array radar, characterized in that, include: A single-array two-dimensional phased array radar is used to search for and detect targets and send the information of the detected points to the display and control terminal in response to receiving search and control commands from the display and control terminal. The display and control terminal is used to determine the target to be tracked based on the detection point information and send the tracking control command to the single-array two-dimensional phased array radar so that the single-array two-dimensional phased array radar can perform follow-up tracking on the target to be tracked. Calculate the first angle between the line connecting the target to be tracked and the single-array two-dimensional phased array radar and the specified direction, and the second angle between the front face of the antenna of the single-array two-dimensional phased array radar and the specified direction. Calculate the angle difference between the first angle and the second angle. When the angle difference exceeds the first threshold, the display and control terminal sends a turntable control command to the turntable. A turntable is used to rotate according to the turntable control command so that the center of the antenna of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked. The display and control terminal is also used to receive turntable azimuth information transmitted by the turntable in real time and save the latest turntable azimuth information during the target search and detection process of the single-array two-dimensional phased array radar. The turntable is further configured to rotate to the target position according to the turntable control command and then stop rotating; the center of the antenna of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked; after the turntable rotates according to the turntable control command so that the center of the antenna of the single-array two-dimensional phased array radar on the turntable is aligned with the target to be tracked, the display and control terminal recalculates the first angle between the target to be tracked and the specified direction, the second angle between the center of the antenna of the single-array two-dimensional phased array radar and the specified direction, and recalculates the angle difference between the first angle and the second angle. When the angle difference exceeds a first threshold, the display and control terminal sends a turntable control command to the turntable.

6. A computer program product, characterized in that, It includes a computer program / instruction that, when executed by a processor, implements the steps of the tracking method based on a single-array two-dimensional phased array radar as described in any one of claims 1-4.

7. An electronic device, characterized in that, include: One or more processors, and a memory storing instructions that, when executed by the one or more processors, cause the one or more processors to perform the tracking method based on a single-array two-dimensional phased array radar as described in any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that, It stores executable instructions that, when executed, cause the processor to perform the tracking method based on a single-array two-dimensional phased array radar as described in any one of claims 1 to 4.

Images