Flight target homing system and homing method

Abstract

The application discloses a flight target tracking system and a tracking method, and comprises the following steps: S1, detecting a flight target by a radar to obtain first target data of the flight target and obtaining radar geographic position data by a radar self-positioning module; S2, distributing a tracking device to the flight target by a command terminal, and sending the first target data and the radar geographic position data to the tracking device, wherein the command terminal corresponds to at least one tracking device. The detection result of the radar is used as a tracking basis, the influence of environmental factors on tracking operation is reduced, the problem of poor environmental adaptability of a traditional tracking device is solved, the position of the flight target relative to the tracking device is obtained by a target coordinate conversion method based on Gauss-Kruger projection, the movement of the flight target is predicted by a least square method, and the precision of the tracking device in tracking the flight target is improved.

Description

Technical Field

[0001] This invention relates to the field of flight target tracking technology, and more particularly to flight target tracking methods and systems. Background Technology

[0002] The main methods for controlling flying targets include monitoring techniques such as spectrum monitoring and electro-optical tracking, and countermeasures such as radio suppression, laser destruction, and net capture. Currently, the main tracking equipment includes the following:

[0003] 1) Acoustic tracking equipment uses acoustic sensors to identify acoustic signatures such as engine and rotor noise of a flight target, thereby confirming the target's location. However, weather conditions such as wind, rain, and snow can affect the speed and direction of sound propagation, significantly reducing the accuracy and precision of acoustic tracking. Furthermore, noise can mask the sound of a flight target in certain environments, impacting the tracking effectiveness of this type of equipment.

[0004] 2) Visible light-based tracking devices use computer vision technology to track flying targets. Their workflow mainly includes image acquisition, target detection, target tracking, and image output. However, these devices are sensitive to environmental factors such as weather conditions, cloud cover, and atmospheric turbulence, which can interfere with their performance and tracking accuracy, leading to poor results. If the target's movement is too complex or its speed too fast, the device may fail to track it in time. Furthermore, visible light-based tracking devices require sufficient light to identify targets; their performance is affected under low-light conditions.

[0005] 2) Infrared tracking devices track targets by detecting the infrared radiation from heat sources. These devices can operate at night and in dimly lit environments, but may experience inaccurate tracking or malfunction when the ambient temperature varies significantly.

[0006] The existing tracking devices mentioned above use methods such as sound, visible light, infrared, and spectrum to track targets. In actual use, the methods for tracking flying targets are all affected by environmental factors, which limits the application scenarios of target tracking. Moreover, environmental factors can easily affect the accuracy of target tracking, making it difficult to predict the flight dynamics of flying targets in a timely manner. Summary of the Invention

[0007] To address the technical problems existing in the background art, this invention proposes a flight target tracking system and tracking method.

[0008] The flight target tracking method proposed in this invention includes the following steps:

[0009] S1. Obtain the first target data of the flying target by detecting the flying target through radar and obtain the radar's geographical location data through the radar's own positioning module;

[0010] S2. The command terminal allocates tracking devices to the flight target and sends the first target data and radar geographical location data to the tracking device. The command terminal corresponds to at least one tracking device.

[0011] S3. Receive the first target data, radar geographical location data, and tracking device geographical location data through the tracking device, and perform flight target coordinate transformation and flight target position prediction to obtain the angle difference between the flight target and the current pointing of the tracking device, as well as the flight target's position prediction relative to the tracking device.

[0012] S4. The angle difference between the flight target and the current pointing of the tracking device, as well as the predicted position of the flight target relative to the tracking device, are transmitted to the mobile terminal and the display end of the tracking device through the tracking device.

[0013] Preferably, the first target data specifically includes: the azimuth angle of the flying target relative to the radar. The elevation angle θ1 and slant range R1 are specified. The radar's geographical location data are specifically: the radar's latitude, longitude, and altitude coordinates are (L2, B2, H2).

[0014] Preferably, in S3, the "flight target coordinate transformation" specifically includes:

[0015] Acquire radar location data, first target data, and tracking device location data;

[0016] The coordinate transformation of the flying target was performed using the Gauss-Krüger projection method to obtain the second target data of the flying target;

[0017] Based on the second target data and the geographical location data of the tracking device, the angle difference between the flight target and the current pointing direction of the tracking device is obtained.

[0018] Preferably, the second target data specifically includes: the azimuth angle of the flight target relative to the tracking device. Pitch angle θ2, slant range R2, and the coordinates (X) of the flight target with the tracking device as the origin. MZ ,Y MZ Z MZ The geographical location data of the tracking device specifically includes: the latitude, longitude, and altitude coordinates of the tracking device are (L1, B1, H1), and the azimuth angle currently pointed to by the tracking device. Pitch angle θ z The angle difference specifically includes the azimuth angle difference. Pitch angle difference δθ.

[0019] Preferably, the "position prediction of the flight target" specifically refers to:

[0020] Based on the coordinates (X) of n flight targets with the tracking device as the origin. MZ ,Y MZ Z MZ The least squares method and interpolation algorithm are used to predict the next moment's target position and the pitch angle difference Δθ and azimuth angle difference of the target relative to the current orientation of the tracking device.

[0021] Preferably, the tracking device tracks the flight target in a one-to-one correspondence.

[0022] The flight target tracking system proposed in this invention includes:

[0023] The flight target data acquisition module is used to detect flight targets using radar and obtain the first target data and radar geographical location data of the flight targets.

[0024] The flight target data allocation module is used to allocate flight target tracking devices through the command terminal, and send the first target data and radar geographical location data to the tracking devices. The command terminal corresponds to at least one tracking device.

[0025] The flight target data processing module is used to receive first target data, radar geographical location data, and tracking device geographical location data through the tracking device, and to perform flight target coordinate transformation and flight target position prediction to obtain the angle difference between the flight target and the current pointing of the tracking device, as well as the predicted position of the flight target relative to the tracking device.

[0026] The flight target data transmission module transmits the angle difference between the flight target and the current pointing of the tracking device, as well as the predicted position of the flight target relative to the tracking device, to the mobile terminal and the display end of the tracking device through the tracking device.

[0027] Preferably, the first target data specifically includes: the azimuth angle of the flying target relative to the radar. The elevation angle θ1 and slant range R1 are specified. The radar's geographical location data are specifically: the radar's latitude, longitude, and altitude coordinates are (L2, B2, H2).

[0028] Preferably, the "flight target coordinate transformation" specifically includes:

[0029] Acquire radar location data, first target data, and tracking device location data;

[0030] The coordinate transformation of the flying target was performed using the Gauss-Krüger projection method to obtain the second target data of the flying target;

[0031] Based on the second target data and the geographical location data of the tracking device, the angle difference between the flight target and the current pointing direction of the tracking device is obtained.

[0032] Preferably, the second target data specifically includes: the azimuth angle of the flight target relative to the tracking device. Pitch angle θ2, slant range R2, and the coordinates (X) of the flight target with the tracking device as the origin. MZ ,Y MZ Z MZ The geographical location data of the tracking device specifically includes: the latitude, longitude, and altitude coordinates of the tracking device are (L1, B1, H1), and the azimuth angle currently pointed to by the tracking device. Pitch angle θ z The angle difference specifically includes the azimuth angle difference. Pitch angle difference δθ.

[0033] In this invention, the proposed flight target tracking system and method involve a command terminal controlling a radar to search for a flight target. Upon target detection, the command terminal transmits the target's air situation data and radar location data to an idle tracking device via an Ethernet link. The tracking device, upon receiving the data from the command terminal, combines it with its location data obtained from a GPS module to perform target coordinate transformation and prediction. Simultaneously, based on angular velocity and acceleration information measured by a three-axis fiber optic gyroscope and a three-axis accelerometer, it calculates the azimuth and pitch angles of the device's current orientation, obtaining the difference between the actual target's azimuth and pitch angles and outputting this value to the device's display via a serial port and to a mobile terminal via a WiFi module. Ground patrol personnel adjust the device's orientation based on the tracking information output by the tracking device to quickly detect and track the flight target. Using radar detection results as the basis for tracking reduces the impact of environmental factors on tracking operations and solves the problem of poor environmental adaptability of traditional tracking devices. The position of the flying target relative to the tracking device is obtained by a target coordinate transformation method based on Gauss-Krüger projection, and the movement of the flying target is predicted by the least squares method, which improves the accuracy of the tracking device in tracking the flying target. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the workflow of the flight target tracking method proposed in this invention;

[0035] Figure 2 This is a schematic diagram of the tracking device for the flight target tracking method proposed in this invention;

[0036] Figure 3 This is a schematic diagram of the target coordinate transformation workflow of the flight target tracking method proposed in this invention.

[0037] Figure 4 This is a schematic diagram of the flight target position prediction workflow of the flight target tracking method proposed in this invention.

[0038] Figure 5 This is a schematic diagram of the composition and structure of the flight target tracking system proposed in this invention. Detailed Implementation

[0039] Reference Figure 1-5 The flight target tracking method proposed in this invention includes the following steps:

[0040] S1. Obtain the first target data of the flying target by detecting the flying target through radar and obtain the radar's geographical location data through the radar's own positioning module;

[0041] S2. The command terminal allocates tracking devices to the flight target and sends the first target data and radar geographical location data to the tracking device. The command terminal corresponds to at least one tracking device.

[0042] S3. Receive the first target data, radar geographical location data, and tracking device geographical location data through the tracking device, and perform flight target coordinate transformation and flight target position prediction to obtain the angle difference between the flight target and the current pointing of the tracking device, as well as the flight target's position prediction relative to the tracking device.

[0043] S4. The angle difference between the flight target and the current pointing of the tracking device, as well as the predicted position of the flight target relative to the tracking device, are transmitted to the mobile terminal and the display end of the tracking device through the tracking device.

[0044] In the specific operation of the flight target tracking method in this embodiment, as shown in steps S1-S4, the command terminal controls the radar to search for the flight target. After the flight target is detected, the command terminal sends the flight target air situation data and radar geographical location data to the idle tracking device via an Ethernet link. After receiving the data from the command terminal, the tracking device combines the tracking device's geographical location data obtained by the GPS module to perform target coordinate transformation and prediction. At the same time, based on the angular velocity and acceleration information measured by the three-axis fiber optic gyroscope and the three-axis accelerometer, it calculates the azimuth and pitch angle of the device's current orientation, obtains the difference between the actual target and the device's current azimuth and pitch angle, outputs it to the device display terminal via a serial port, and sends it to the mobile terminal via a WiFi module. Ground patrol personnel adjust the device's orientation according to the tracking information output by the tracking device to quickly detect and track the flight target.

[0045] The command terminal communicates with the radar, the command terminal communicates with the tracking device, and the tracking device communicates with the mobile terminal.

[0046] The command terminal sends commands to the radar controller to control the radar's activation, deactivation, scanning, and tracking. The command terminal receives data on the first target detected by the radar and assigns it to an available tracking device. The mobile terminal is handheld by patrol personnel and connects to the tracking device via WiFi.

[0047] The tracking device includes: a three-axis accelerometer, a three-axis fiber optic gyroscope, a WiFi module, a display, a GPS module, a GPS antenna, a power module, and a microprocessor.

[0048] The GPS module collects the latitude, longitude, and altitude information of the tracking device in real time and sends it to the microcontroller via serial port.

[0049] The microcontroller reads the device's angular velocity measured by the three-axis fiber optic gyroscope and the device's acceleration measured by the three-axis accelerometer via the serial port, and then calculates the azimuth and pitch angles of the device's current orientation based on the angular velocity and acceleration.

[0050] The microcontroller controls the WiFi module via a serial port to configure and connect to the wireless network, and then sends tracking and guidance information to the mobile terminal.

[0051] The power module converts the 12V input voltage of the lithium battery into a 5V output voltage to power the three-axis fiber optic gyroscope, three-axis accelerometer, GPS module, WiFi module, display, and microprocessor.

[0052] The microcontroller sends tracking and guidance information to the display via serial port, providing ground patrol personnel with tracking and guidance of flying targets.

[0053] Specifically, such as Figure 1 and Figure 3 As shown, the first target data specifically includes: the azimuth angle of the flying target relative to the radar. The elevation angle θ1 and slant range R1 are specified. The radar's geographical location data are as follows: the radar's latitude, longitude, and altitude coordinates are (L2, B2, H2).

[0054] Specifically, such as Figure 1 and Figure 3 As shown, in S3, "flight target coordinate transformation" specifically includes:

[0055] Acquire radar location data, first target data, and tracking device location data;

[0056] The coordinate transformation of the flying target was performed using the Gauss-Krüger projection method to obtain the second target data of the flying target;

[0057] Based on the second target data and the geographical location data of the tracking device, the angle difference between the flight target and the current pointing direction of the tracking device is obtained.

[0058] Specifically, such as Figure 1 As shown, the second target data specifically includes: the azimuth angle of the flight target relative to the tracking device. Pitch angle θ2, slant range R2, and the coordinates (X) of the flight target with the tracking device as the origin. MZ ,Y MZ Z MZ The specific geographic location data of the tracking device includes: the latitude, longitude, and altitude coordinates of the tracking device (L1, B1, H1), and the azimuth angle currently pointed to by the tracking device. Pitch angle θ z The angle difference specifically includes the azimuth angle difference. Pitch angle difference δθ.

[0059] In this embodiment, "the coordinate transformation of the flight target is performed using the Gauss-Krüger projection method to obtain the second target data of the flight target; based on the second target data and the geographical location data of the tracking device, the angle difference between the flight target and the current pointing direction of the tracking device is obtained." Specifically, this includes:

[0060] The radar coordinates (L2, B2, H2) are obtained by detecting a flying target. The azimuth angle of the target relative to the radar is also given. Pitch angle θ1, slant distance R1.

[0061] Using the GPS module, three-axis fiber optic gyroscope, three-axis accelerometer, and microprocessor of the tracking device, the latitude, longitude, and altitude coordinates of the tracking device (L1, B1, H1) and the azimuth angle currently pointed to by the tracking device are obtained. Pitch angle θ2, slant distance R2.

[0062] The target coordinate transformation specifically includes the following steps:

[0063] 1) Calculate the Gauss-Rüger projection zone number and central meridian for both the radar and the instrument:

[0064]

[0065] In the formula, N3 is the three-degree zone number, L is the longitude of the radar and the device; L3 is the central meridian within the zone; then L1′ is the central meridian of the tracking device, and L2′ is the central meridian of the radar.

[0066] 2) Determine whether the radar and the device are in the same zone, calculate the difference between the longitude of the two points and their respective central meridians, compare the magnitudes of L1-L1′ and L2-L2′, and take the central meridian corresponding to the pair with the smaller deviation as the common meridian L0.

[0067] 3) Calculate the Gauss-Rüger plane coordinates (x, y) for both the radar and the tracking device:

[0068]

[0069] Let s be the arc length of the meridian from latitude to the equator, a be the equatorial radius (which can be taken as the major axis radius of the Earth's ellipsoid), and e be the first eccentricity of the Earth's ellipsoid. Then the x and y coordinates of the target point are:

[0070]

[0071]

[0072] Let L0 be the longitude of the central meridian. In the above formula, δl=L-L0 is the difference between the longitude of the target point and the longitude of the central meridian. The calculated ellipsoidal parameters are taken from the WGS-84 coordinate system. The semi-major axis of the Earth ellipsoid is r, the ellipsoidal flattening is f, the semi-minor axis of the ellipsoid is b, and the first eccentricity is e, and the second eccentricity is e′.

[0073]

[0074] 4) Based on steps 1) to 3), obtain the tracking device coordinates (X1, Y1) with altitude H1 in the Gauss-Kruger plane coordinate system, and the radar coordinates (X2, Y2) with altitude H2. Then, obtain the target's coordinates in the northeast-central coordinate system with the radar as the origin, where X represents east (horizontal coordinate), Y represents north (vertical coordinate), and Z represents altitude.

[0075]

[0076] The target is located in a northeast-northeast coordinate system with the tracking device as the origin:

[0077]

[0078] azimuth angle of the target relative to the tracking device The pitch angle θ2 and slant distance R2 are:

[0079]

[0080] Finally, the difference in azimuth angle between the current direction of the tracking device and the actual target can be obtained. The pitch angle difference δθ is:

[0081]

[0082] Specifically, such as Figure 1 and Figure 4 As shown, "Prediction of the Position of Flying Targets" specifically refers to:

[0083] Based on the coordinates (X) of n flight targets with the tracking device as the origin. MZ ,Y MZ Z MZThe least squares method and interpolation algorithm are used to predict the next moment's target position and the pitch angle difference Δθ and azimuth angle difference of the target relative to the current orientation of the tracking device.

[0084] The specific steps include:

[0085] 1) Assume from t1 to t n Within the time period, n corresponding location values ​​y1 to y2 can be received. n Since the target's speed will not change abruptly in a short period of time, we assume the target's position changes according to the following pattern over time:

[0086] f(t) = a0 + a1t

[0087] In the above formula, f(t) is the predicted value, a0 and a1 are polynomial coefficients, and t is time.

[0088] According to the least squares estimation rule, the error ε is the difference between the actual observed value and the predicted value:

[0089] ε=y i -(a0+a1t i )

[0090] Where i = 1, 2, ..., n, it is assumed that the error follows a normal distribution.

[0091] 2) The least squares method yields the optimal estimate when the sum of squares of ε is minimized:

[0092]

[0093] 3) Differentiating Q in the above equation and setting it to zero, we can simplify to obtain:

[0094]

[0095] 4) Solving for a0 and a1 yields the polynomial coefficients, allowing for estimation of the target's position. Since target position information is transmitted periodically, t can generally be considered... i =iΔT, substituting into the above equation, we get:

[0096]

[0097] If the position values ​​y at n times are known, the relationship between the target position and time can be obtained by solving the two coefficients in the above formula. For the target position at the next time moment, substituting the known coefficients into f(t) will yield the target position at that time.

[0098] In order to update and smooth the angle difference calculated between two target information received by the target guidance device, data interpolation is required.

[0099] Data interpolation specifically includes the following steps:

[0100] Based on the latest three position coordinates received, the correlation coefficient is calculated using the least squares method to obtain a linear equation, and then the equation is periodically recursively calculated based on the frequency output by the positioning and orientation board.

[0101] 1) Assuming the initial t = 3 and the board data update time is δt, then the next interpolation prediction coordinates are:

[0102]

[0103] After each calculation, t = t + δt is updated. This formula is used to continuously calculate before the next target data arrives, automatically updating the predicted value to obtain the final angle difference and smoothing the output data. Upon receiving the latest target position data, the correlation coefficient is recalculated, and the entire process is repeated.

[0104] Specifically, such as Figure 1 and Figure 5 As shown, the tracking device tracks the flight target in a one-to-one correspondence.

[0105] It should be further explained that: the tracking device is allocated through the command terminal. Idle tracking devices can be manually designated or the tracking device can be allocated by obtaining the working status of the tracking device. One tracking device can only track one flight target.

[0106] refer to Figure 1-5 Flight target tracking system, including:

[0107] The flight target data acquisition module is used to detect flight targets using radar and obtain the first target data and radar geographical location data of the flight targets.

[0108] The flight target data allocation module is used to allocate flight target tracking devices through the command terminal, and send the first target data and radar geographical location data to the tracking devices. The command terminal corresponds to at least one tracking device.

[0109] The flight target data processing module is used to receive first target data, radar geographical location data, and tracking device geographical location data through the tracking device, and to perform flight target coordinate transformation and flight target position prediction to obtain the angle difference between the flight target and the current pointing of the tracking device, as well as the predicted position of the flight target relative to the tracking device.

[0110] The flight target data transmission module transmits the angle difference between the flight target and the current pointing of the tracking device, as well as the predicted position of the flight target relative to the tracking device, to the mobile terminal and the display end of the tracking device through the tracking device.

[0111] Specifically, such as Figure 1 and Figure 3 As shown, the first target data specifically includes: the azimuth angle of the flying target relative to the radar. The elevation angle θ1 and slant range R1 are specified. The radar's geographical location data are as follows: the radar's latitude, longitude, and altitude coordinates are (L2, B2, H2).

[0112] Specifically, such as Figure 1 and Figure 3 As shown, "flight target coordinate transformation" specifically includes:

[0113] Acquire radar location data, first target data, and tracking device location data;

[0114] The coordinate transformation of the flying target was performed using the Gauss-Krüger projection method to obtain the second target data of the flying target;

[0115] Based on the second target data and the geographical location data of the tracking device, the angle difference between the flight target and the current pointing direction of the tracking device is obtained.

[0116] Specifically, such as Figure 1 and Figure 3 As shown, the second target data specifically includes: the azimuth angle of the flight target relative to the tracking device. Pitch angle θ2, slant range R2, and the coordinates (X) of the flight target with the tracking device as the origin. MZ ,Y MZ Z MZ The specific geographic location data of the tracking device includes: the latitude, longitude, and altitude coordinates of the tracking device (L1, B1, H1), and the azimuth angle currently pointed to by the tracking device. Pitch angle θ z The angle difference specifically includes the azimuth angle difference. Pitch angle difference δθ.

[0117] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for tracking and guiding flight targets, characterized in that, Includes the following steps: S1. Obtain the first target data of the flying target by detecting the flying target through radar and obtain the radar's geographical location data through the radar's own positioning module; S2. The command terminal allocates tracking devices to the flight target and sends the first target data and radar geographical location data to the tracking device. The command terminal corresponds to at least one tracking device. S3. Receive the first target data, radar geographical location data, and tracking device geographical location data through the tracking device, and perform flight target coordinate transformation and flight target position prediction to obtain the angle difference between the flight target and the current pointing of the tracking device, as well as the flight target's position prediction relative to the tracking device. S4. The angle difference between the flight target and the current pointing direction of the tracking device, as well as the predicted position of the flight target relative to the tracking device, are transmitted to the mobile terminal and the display end of the tracking device through the tracking device. The first target data specifically includes: the azimuth angle of the flying target relative to the radar. Pitch angle Slope distance The radar's geographical location data specifically includes its latitude, longitude, and altitude coordinates. ; In S3, the flight target coordinate transformation specifically includes: Acquire radar location data, first target data, and tracking device location data; The coordinate transformation of the flying target was performed using the Gauss-Krüger projection method to obtain the second target data of the flying target; Based on the second target data and the geographical location data of the tracking device, the angle difference between the flight target and the current pointing direction of the tracking device is obtained; The second target data specifically includes: the azimuth angle of the flight target relative to the tracking device. Pitch angle Slope distance and the coordinates of the flight target with the tracking device as the origin. The geographical location data of the tracking device specifically includes: the latitude, longitude, and altitude coordinates of the tracking device. The azimuth angle currently pointed to by the guiding device. Pitch angle The angle difference specifically includes the azimuth angle difference. pitch angle difference ; The specific method for predicting the position of the flight target is as follows: Based on the coordinates of n flight targets with the tracking device as the origin The least squares method and interpolation algorithm are used to predict the next moment's target position and the pitch angle difference between the target and the current orientation of the tracking device. Azimuth difference ; The "using the Gauss-Kruger projection method for flight target coordinate transformation" specifically includes: Calculate the three-dimensional projection zone number and central meridian of the radar and tracking device respectively: In the formula It is a third-degree band number. Longitude of the radar and tracking device; The central meridian within the band; then we obtain For the central meridian of the guiding device, The central meridian of the radar; To determine whether the radar and the device are in the same zone, calculate the difference between the longitudes of the two points and their respective central meridians, and compare them. and The central meridian of the pair with the smallest deviation is selected as the common meridian. ; Calculate the Gauss-Rüger plane coordinates of the radar and the tracking device respectively. : It is the arc length of the meridian from latitude to the equator. The radius is the equatorial radius, taken as the major axis radius of the Earth's ellipsoid. If the first eccentricity of the Earth's ellipsoid is true, then the target point... The coordinates are: in, The ellipsoid parameters are taken as the WGS-84 coordinate system parameters, representing the difference between the longitude of the target point and the longitude of the central meridian. Based on the obtained radar plane coordinates ,high and the plane coordinates of the guiding device ,high The target's coordinates in the northeast-northeast coordinate system with the radar as the origin are obtained: The target is located in a northeast-northeast coordinate system with the tracking device as the origin: ; azimuth angle of the target relative to the tracking device Pitch angle Slope distance for: Finally, the azimuth difference between the current direction of the tracking device and the actual target is obtained. pitch angle difference for: .

2. The flight target tracking method according to claim 1, characterized in that, The tracking device is matched with the flight target one by one.

3. A flight target tracking system, characterized in that, include: The flight target data acquisition module is used to obtain the first target data and radar geographical location data of the flight target through radar detection. The flight target data allocation module is used to allocate flight target tracking devices through the command terminal, and send the first target data and radar geographical location data to the tracking devices. The command terminal corresponds to at least one tracking device. The flight target data processing module is used to receive first target data, radar geographical location data, and tracking device geographical location data through the tracking device, and to perform flight target coordinate transformation and flight target position prediction to obtain the angle difference between the flight target and the current pointing of the tracking device, as well as the predicted position of the flight target relative to the tracking device. The flight target data transmission module transmits the angle difference between the flight target and the current pointing direction of the tracking device, as well as the predicted position of the flight target relative to the tracking device, to the mobile terminal and the display end of the tracking device through the tracking device. The first target data specifically includes: the azimuth angle of the flying target relative to the radar. Pitch angle Slope distance The radar's geographical location data specifically includes its latitude, longitude, and altitude coordinates. ; The flight target coordinate transformation specifically includes: Acquire radar location data, first target data, and tracking device location data; The coordinate transformation of the flying target was performed using the Gauss-Krüger projection method to obtain the second target data of the flying target; Based on the second target data and the geographical location data of the tracking device, the angle difference between the flight target and the current pointing direction of the tracking device is obtained; The second target data specifically includes: the azimuth angle of the flight target relative to the tracking device. Pitch angle Slope distance and the coordinates of the flight target with the tracking device as the origin. The geographical location data of the tracking device specifically includes: the latitude, longitude, and altitude coordinates of the tracking device. The azimuth angle currently pointed to by the guiding device. Pitch angle The angle difference specifically includes the azimuth angle difference. pitch angle difference ; The specific method for predicting the position of the flight target is as follows: Based on the coordinates of n flight targets with the tracking device as the origin The least squares method and interpolation algorithm are used to predict the next moment's target position and the pitch angle difference between the target and the current orientation of the tracking device. Azimuth difference ; The "using the Gauss-Kruger projection method for flight target coordinate transformation" specifically includes: Calculate the three-dimensional projection zone number and central meridian of the radar and tracking device respectively: In the formula It is a third-degree band number. Longitude of the radar and tracking device; The central meridian within the band; then we obtain For the central meridian of the guiding device, The central meridian of the radar; To determine whether the radar and the device are in the same zone, calculate the difference between the longitudes of the two points and their respective central meridians, and compare them. and The central meridian of the pair with the smallest deviation is selected as the common meridian. ; Calculate the Gauss-Rüger plane coordinates of the radar and the tracking device respectively. : It is the arc length of the meridian from latitude to the equator. The radius is the equatorial radius, taken as the major axis radius of the Earth's ellipsoid. If the first eccentricity of the Earth's ellipsoid is true, then the target point... The coordinates are: in, The ellipsoid parameters are taken as the WGS-84 coordinate system parameters, representing the difference between the longitude of the target point and the longitude of the central meridian. Based on the obtained radar plane coordinates ,high and the plane coordinates of the guiding device ,high The target's coordinates in the northeast-northeast coordinate system with the radar as the origin are obtained: The target is located in a northeast-northeast coordinate system with the tracking device as the origin: ； azimuth angle of the target relative to the tracking device Pitch angle Slope distance for: Finally, the azimuth difference between the current direction of the tracking device and the actual target is obtained. pitch angle difference for: 。

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