A method for target acquisition based on continuous wave measuring radar

Abstract

The application discloses a target capturing method based on a continuous wave measuring radar, which comprises the following steps: S1, calculating a theoretical trajectory according to a shooting condition, and generating guide data through coordinate conversion; S2, correcting the azimuth and the elevation in the guide data which exceed a preset value of a servo turning ability, and advancing an initial pointing; S3, detecting radar servo by freely switching between a guide tracking mode and an autonomous tracking mode; and S4, using historical test results as guide data for a test task with no change in the shooting condition, and ensuring the reliability of trajectory prediction. The method reduces the probability of target loss caused by servo ability, ensures that the target can be continuously tracked after the target is lost, increases the probability of re-supply, improves the target capturing probability and data integrity, and maximally ensures the reliability of guide data by using historical measurement data as guide data.

Description

Technical Field

[0001] This invention relates to the field of radar design. More specifically, it relates to a target acquisition method based on continuous wave measurement radar. Background Technology

[0002] Continuous wave radar plays a crucial role in current range measurement radar systems, primarily used to measure the velocity and spatial position of various targets such as artillery shells, rockets, and drones. A typical example is the WEIBEL radar produced in Denmark. These radars typically have only a fixed directional beam perpendicular to the array, employ mechanical tracking, and lack airspace search capabilities. Therefore, their ability to acquire and reacquire high-speed targets like artillery shells is relatively poor.

[0003] Typically, before a projectile measurement mission, the projectile trajectory is predicted based on firing conditions (firing angle, firing direction, projectile type, muzzle velocity, etc.). A point (waiting point) is selected along its path, and the continuous wave measurement radar beam is aligned with that point. The radar waits for the projectile to fire, pass through the radar beam, and acquire it. Multiple waiting points can also be set. If the radar misses the first waiting point or loses the target during tracking, the servo can be controlled to switch to the next suitable waiting point to continue waiting and acquiring the target.

[0004] However, the inventors have discovered at least the following problems in the existing technology: For high-speed projectile targets, due to limitations in servo capability, deviations in waiting point selection, etc., the risk of target loss is relatively high, and there is a lack of means to re-acquire the target after it is lost. The target flight time is short, the operation space for switching to the next waiting point is extremely small, and the accuracy of theoretical trajectory prediction is low, which seriously affects the target acquisition rate, the integrity of measurement data, and the mission success rate.

[0005] Therefore, there is a need to provide a target acquisition method based on continuous wave measurement radar. Summary of the Invention

[0006] The purpose of this invention is to provide a target acquisition method based on continuous wave measurement radar to solve at least one of the problems existing in the prior art.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] The first aspect of this invention provides a target acquisition method based on continuous wave measurement radar, the method comprising:

[0009] S1. Calculate the theoretical trajectory based on the firing conditions and generate guidance data through coordinate transformation;

[0010] S2. Correct the azimuth and pitch angles in the guidance data that exceed the preset value of the servo turning capability, and advance the initial pointing.

[0011] S3. It can freely switch between guided tracking and autonomous tracking modes to detect radar servos.

[0012] S4. For test missions where firing conditions remain unchanged, use historical test results as guiding data to ensure the reliability of ballistic prediction.

[0013] Optionally, generating guidance data through coordinate transformation includes transforming the projectile position coordinates in the Cartesian coordinate system to a geodetic polar coordinate system with the radar array as the origin, based on the projectile position coordinates and the relative positional relationship between the radar and the gun muzzle, to form the guidance data.

[0014] Optionally, the radar servo-adjusted angular velocity is obtained based on the angle information in the guidance data before correcting the azimuth and elevation angles.

[0015] Optionally, correcting the azimuth angle in the guidance data includes...

[0016] Obtain the maximum turning speed ω of the radar servo azimuth dimension amax The rotational angular velocity ω at each time point is obtained based on the azimuth angle in the guidance data. a Get ω amax =ω a The corresponding time point t under the circumstances am and azimuth A m and t am The previous azimuth guidance data has been corrected to a = A m -(t am -t)·ω amax ,0≤t≤t am .

[0017] Optionally, correcting the pitch angle in the guidance data includes...

[0018] Obtain the maximum turning speed ω in the radar servo pitch dimension. emax The rotational angular velocity ω at each time point is obtained based on the pitch angle in the guidance data. e Get ω emax =ω e The corresponding time point t under the circumstances em and pitch angle E m and t em The previous pitch angle guidance data has been corrected to e = E m -(t em -t)·ω emax ,0≤t≤t em .

[0019] Optionally, S3 includes

[0020] In the event that the target is not acquired or is lost, the radar servo automatically selects the guidance and tracking mode and uses the data of the theoretical ballistics to control the servo to track and illuminate until the target is acquired or the guidance data ends.

[0021] Once a target is acquired, the radar servo automatically switches to autonomous tracking mode, filters the target angle measurement results, and controls the servo to track and detect the target.

[0022] Optionally, historical test data with the same firing conditions before the test can be used as the theoretical trajectory, wherein the firing conditions of multiple shells of the theoretical trajectory remain unchanged and the trajectories basically overlap.

[0023] Optionally, S4 includes judging the firing conditions: if the firing conditions have not changed, then use the historical measurement results to generate a guidance data file and proceed to S2; if the firing conditions have changed, then proceed to S1 and recalculate the theoretical trajectory.

[0024] A second aspect of the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method described in the first aspect of the present invention.

[0025] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect of the present invention.

[0026] The beneficial effects of this invention are as follows:

[0027] This invention provides a target acquisition method based on continuous wave measurement radar. By generating guidance data and correcting the initial pointing of the guidance data in advance, the probability of target loss due to servo capability is reduced. By adopting an automatic switching between guided tracking and autonomous tracking modes, the method ensures that tracking can continue after the target is lost, increasing the re-acquisition probability and improving the target acquisition probability and data integrity. Under the condition that the firing conditions remain unchanged, a method of using historical measurement data as guidance data is proposed to maximize the reliability of the guidance data. Attached Figure Description

[0028] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0029] Figure 1 The flowchart of the target acquisition method based on continuous wave measurement radar of the present invention is shown;

[0030] Figure 2 This diagram illustrates example azimuth and elevation guidance data under typical firing conditions in an embodiment of the present invention.

[0031] Figure 3A comparison diagram showing the guidance data before and after correction in an embodiment of the present invention is shown;

[0032] Figure 4 A schematic diagram of the structure of a computer device according to an embodiment of the present invention is shown. Detailed Implementation

[0033] To more clearly illustrate the present invention, the following description, in conjunction with preferred embodiments and accompanying drawings, further explains the invention. Similar components in the drawings are indicated by the same reference numerals. Those skilled in the art should understand that the specific description below is illustrative rather than restrictive and should not be construed as limiting the scope of protection of the present invention.

[0034] Example 1

[0035] This invention addresses the low target acquisition probability of projectiles tracked by continuous-wave measurement radar using mechanical tracking systems, caused by limited servo rotation capability, a lack of target re-acquisition methods after loss, and low accuracy of theoretical trajectory prediction. Therefore, it proposes a target acquisition method based on continuous-wave measurement radar. The method specifically includes:

[0036] S1: Calculate the theoretical trajectory based on the firing conditions and generate guidance data through coordinate transformation;

[0037] After obtaining the theoretical trajectory, the projectile's position coordinates are transformed from the Cartesian coordinate system to the geodetic polar coordinate system with the radar array as the origin, based on the projectile's position coordinates and the relative positional relationship between the radar and the gun muzzle, thus forming a guidance data file.

[0038] S2. Correct the azimuth and pitch angles in the guidance data that exceed the preset value of the servo turning capability, and advance the initial pointing.

[0039] The radar servo turning angular velocity is obtained based on the angle information in the guidance data, and the azimuth and elevation angles in the guidance data that exceed the preset values ​​of the servo turning capability are corrected.

[0040] Correcting the azimuth angle: Determining the maximum turning speed ω of the radar servo azimuth dimension. amax Based on the azimuth information, the rotational angular velocity ω corresponding to each time point is calculated. a Find ω a =ω amax The corresponding time point t am and azimuth A m and t am The previous azimuth guidance information has been corrected to a = A m -(t am -t)·ω amax ,0≤t≤t am .

[0041] Correcting the elevation angle: Determining the maximum turning speed ω of the radar servo elevation dimension. emax Calculate the rotational angular velocity ω corresponding to each time point based on the pitch angle in the guidance information. e Find ω e =ω emax The corresponding time point t em and pitch angle E m and t em The previous pitch angle guidance information has been corrected to e = E m -(t em -t)·ω emax ,0≤t≤t em .

[0042] S3. It can freely switch between guided tracking and autonomous tracking modes to detect radar servos.

[0043] If the target is not acquired or is lost, the radar servo automatically selects the guidance and tracking mode, using the theoretical trajectory data to control the servo for tracking and illumination until the target is acquired or the guidance data ends; if the target is acquired, the radar servo automatically switches to the autonomous tracking mode, and controls the servo to track and detect the target after filtering based on the target angle measurement results.

[0044] S4. For test missions where firing conditions remain unchanged, use historical test results as guiding data to ensure the reliability of ballistic prediction.

[0045] The firing conditions are assessed: if the firing conditions remain unchanged, a guidance data file is generated using historical measurement results, and the process proceeds to S2; if the firing conditions change, the process proceeds to S1, and the theoretical trajectory is recalculated.

[0046] For shell testing missions, a typical test involves multiple shells fired under identical conditions. In this case, the trajectories of the multiple shells largely overlap. Therefore, historical test data with the same firing conditions is used as guidance data to generate theoretical trajectories before testing, improving prediction accuracy and increasing the probability of target acquisition.

[0047] This invention provides a method that reduces the probability of target loss due to servo capability by generating guidance data and correcting the initial direction of the guidance data in advance; it adopts an automatic switching method between guided tracking and autonomous tracking modes to ensure that the target can continue to be tracked after it is lost, increasing the re-acquisition probability, improving the target acquisition probability and data integrity; under the condition that the firing conditions remain unchanged, it proposes a method to use historical measurement data as guidance data, which maximizes the reliability of the guidance data.

[0048] In one specific embodiment, the steps for the continuous wave measurement radar to acquire a target are as follows:

[0049] Step 1: Calculate the theoretical trajectory based on the firing conditions and generate guidance data.

[0050] Establish a rectangular coordinate system with the muzzle 'o' as the origin, 'ox' as the horizontal axis pointing forward, 'oy' as the vertical axis pointing upward, and 'oz' as the horizontal axis, satisfying the right-hand rule. The equations of motion for the center of mass of the rectangular coordinate system are as follows:

[0051]

[0052] Where x, y, and z are the three-axis coordinates; v x v y v z For three-axis velocity, t represents the flight time, with time 0 being the moment the cannonball leaves the muzzle; c t c is the ballistic coefficient related to the projectile type. x The drag coefficient is the drag coefficient of the 43-year drag law; w x For longitudinal wind speed, w z Crosswind speed; ρ is the air density, ρ ON ρ is the standard air density at ground level; p is the air pressure, and the standard air pressure at ground level is p. ON =1000hPa, τ is the virtual temperature, the virtual temperature of the ground τ ON =288.9K; R1=R d / g=29.27, R d =287.05 J / (kg·K) is the gas constant for dry air, and g = 9.80655 m / s². 2 This is the acceleration due to gravity.

[0053] The initial condition for integration is that at t=0, x=y=z=0, v x =v0cosθ0,v y =v0sinθ0,v z =0. Where v0 is the initial velocity of the projectile, and θ0 is the angle of attack.

[0054] After obtaining the projectile's position coordinates (x, y, z), based on the relative position of the radar and the gun muzzle and the firing direction, it is converted to a geodetic polar coordinate system with the radar array as the origin, forming a guidance data file containing information on flight time, distance, azimuth, and elevation angle. Figure 2 The image shows the azimuth and elevation guidance data under a typical shell test scenario.

[0055] Step 2: Correct the azimuth and pitch control values ​​in the guidance data.

[0056] Depend on Figure 2As can be seen from the typical shell measurement and guidance data, in the first second of the shell's flight, the azimuth and elevation angles change rapidly due to the influence of the radar station location. Due to the limitation of servo turning capability, the beam may not be able to keep up with the target, resulting in target loss. Therefore, the guidance data needs to be corrected.

[0057] Taking azimuth as an example, determine the maximum turning speed ω of the radar servo azimuth dimension. amax Based on the azimuth information, the rotational angular velocity ω corresponding to each time point is calculated. a Find ω a =ω amax The corresponding time point t am and azimuth A m and t am The previous azimuth guidance information has been corrected to a = A m -(t am -t)·ω amax ,0≤t≤t am .

[0058] Taking the elevation angle as an example, determine the maximum turning speed ω of the radar servo elevation dimension. emax Calculate the rotational angular velocity ω corresponding to each time point based on the pitch angle in the guidance information. e Find ω e =ω emax The corresponding time point t em and pitch angle E m and t em The previous pitch angle guidance information has been corrected to e = E m -(t em -t)·ω emax ,0≤t≤t em .

[0059] Initial pointing refers to the first guiding direction of the guidance data, which is the point where the shell is launched, i.e., the muzzle. If the azimuth and elevation angles in the guidance data are not corrected, the beam will initially point to the muzzle, waiting for the shell to be launched. As soon as the shell is launched, the servo will immediately track it. At this time, if the servo wants to track the shell, it needs to turn very fast. Due to the limitation of the servo's turning capability, it is easy to fail to keep up with the target and lose the target. After correcting the guidance data, the initial pointing does not point to the muzzle, but the beam points in front of the muzzle in advance.

[0060] After correction, the process of guiding the data to adjust the beam is carried out. During this process, the target of the projectile must be within the range of the radar beam for the radar to measure it. That is, the beam must cover the entire theoretical trajectory from the muzzle to the landing of the projectile.

[0061] like Figure 3The image shows a comparison of the guidance information before and after correction in a typical shell test scenario in this embodiment. The results show that the correction addresses the portion of the guidance data where the angle adjustment was too rapid, preventing the beam from shifting from pointing directly at the muzzle and instead establishing an initial direction earlier. Theoretically, this method, when using a wide beam in the early stages of radar operation, only discards data for less than 0.1 seconds after the shell leaves the muzzle, thus avoiding target loss due to untimely servo adjustment.

[0062] Step 3: Automatically switch between guided data tracking and detection result tracking.

[0063] If the target is not captured or is lost, the system automatically selects the guided tracking mode and uses the guided data to control the servo for tracking and illumination until the lost target is captured or the current guided data ends. If the target is captured, the system automatically switches to the autonomous tracking mode and uses the filtered measurement results of the target angle to control the servo for tracking and detection.

[0064] Active tracking takes precedence over guided tracking. Guided data is only used when active tracking is not possible. If guided tracking ends and active detection fails to detect the target, the mission ends. If guided tracking ends but active detection can still detect the projectile target, the mission continues until the actively detected target is lost.

[0065] like Figure 1 As shown in the flowchart, if the radar does not acquire the ballistic target, the servo will rely on the guidance data (guided tracking) until the guidance data is gone, which theoretically means the shell has landed. If the radar acquires the ballistic target, the servo will turn and track according to the angle measured by the radar (autonomous tracking) until the shell lands and the target disappears, which means the measurement of this shell is over. At this time, the mission ends and the measurement result is obtained.

[0066] Step 4: Use historical test results as guidance data for generating theoretical ballistics.

[0067] The firing conditions are assessed: if the firing conditions remain unchanged, a guidance data file is generated using historical measurement results, and the process proceeds to S2; if the firing conditions change, the process proceeds to S1, and the theoretical trajectory is recalculated.

[0068] For shell testing missions, a typical test involves multiple shells fired under identical conditions. In this case, the trajectories of the multiple shells largely overlap. Therefore, historical test data with the same firing conditions is used as guidance data to generate theoretical trajectories before testing, improving prediction accuracy and increasing the probability of target acquisition.

[0069] The method proposed in this embodiment first calculates the theoretical trajectory to generate guidance data, and then performs an initial pointing correction on the guidance data in advance, maximizing beam coverage of the theoretical trajectory within the servo capability range. During target tracking, it employs an automatic switching between guided tracking and autonomous tracking modes to ensure continued tracking even after target loss, increasing the probability of re-tracking. For test missions where firing conditions remain unchanged, historical test results are used as guidance data to ensure the reliability of trajectory prediction to the greatest extent. This method increases the success rate and data integrity of continuous wave measurement radar for projectile testing missions to a certain extent.

[0070] Example 2

[0071] like Figure 4 As shown, Embodiment 2 provides a computer device, it is understood that... Figure 4 The computer device 12 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0072] like Figure 4 As shown, the computer device 12 is represented in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and a bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0073] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0074] Computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0075] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 4 Not shown; usually referred to as a "hard drive"). Although Figure 4Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0076] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0077] Computer device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with the computer device 12, and / or with any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed through input / output (I / O) interface 22. Furthermore, computer device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) through network adapter 20. Figure 4 As shown, network adapter 20 communicates with other modules of computer device 12 via bus 18. It should be understood that, although... Figure 4 As not shown, it can be used in conjunction with computer device 12 with other hardware and / or software modules, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0078] The processor unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the method provided in Embodiment 1 of the present invention.

[0079] Example 3

[0080] Example 3 provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in Example 1.

[0081] In practical applications, the computer-readable storage medium can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) 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 embodiment, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0082] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0083] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0084] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0085] In the description of this invention, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0086] It should also be noted that in the description of this invention, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0087] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. All obvious variations or modifications derived from the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. A target acquisition method based on continuous wave measurement radar, characterized in that, The method includes: S1. Calculate the theoretical trajectory based on the firing conditions and generate guidance data through coordinate transformation; S2. Correct the azimuth and pitch angles in the guidance data that exceed the preset value of the servo turning capability, and advance the initial pointing. S3. It can freely switch between guided tracking and autonomous tracking modes to detect radar servos. S4. For test missions where the firing conditions remain unchanged, use historical test results as guiding data to ensure the reliability of ballistic prediction. Correcting the azimuth angle of the guidance data includes Obtain the maximum turning speed of the radar servo azimuth dimension The rotational angular velocity at each time point is obtained based on the azimuth angle in the guidance data. , obtain = The corresponding time point in the case and azimuth and will The previous azimuth guidance data has been corrected to ; Correcting the pitch angle in the guidance data includes Obtain the maximum turning speed of the radar servo pitch dimension The rotational angular velocity at each time point is obtained based on the pitch angle in the guidance data. , obtain = The corresponding time point in the case and pitch angle and will The previous pitch angle guidance data has been corrected to .

2. The method according to claim 1, characterized in that, The process of generating guidance data through coordinate transformation involves transforming the projectile's position coordinates from the Cartesian coordinate system to a geodetic coordinate system with the radar array as the origin, based on the projectile's position coordinates and the relative positional relationship between the radar and the gun muzzle.

3. The method according to claim 1, characterized in that, Before correcting the azimuth and elevation angles, the radar servo turning angular velocity is obtained based on the angle information in the guidance data.

4. The method according to claim 1, characterized in that, The S3 includes In the event that the target is not acquired or is lost, the radar servo automatically selects the guidance and tracking mode and uses the data of the theoretical ballistics to control the servo to track and illuminate until the target is acquired or the guidance data ends. Once a target is acquired, the radar servo automatically switches to autonomous tracking mode, filters the target angle measurement results, and controls the servo to track and detect the target.

5. The method according to claim 1, characterized in that, Historical test data with the same firing conditions before the test are used as theoretical trajectories. The firing conditions of multiple shells for the theoretical trajectories remain unchanged, and the trajectories basically overlap.

6. The method according to claim 1, characterized in that, S4 includes judging the firing conditions: if the firing conditions have not changed, then the historical measurement results are used to generate a guidance data file and proceed to S2; if the firing conditions have changed, then proceed to S1 and recalculate the theoretical trajectory.

7. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method as described in any one of claims 1-6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-6.

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