Radar navigation error estimation method and system based on non-cooperative target

Abstract

The application discloses a radar navigation error estimation method and system based on a non-cooperative target, and the method comprises the following steps: a radar to be corrected and a reference radar acquire first estimation information and second estimation information at t0 respectively, and send the first estimation information and the second estimation information at t0 to an information processing center; the information processing center estimates error parameters of the radar to be corrected according to the first estimation information and the second estimation information at t0; and the information processing center corrects the first estimation information at t0 according to the error parameters to obtain motion parameters of the target at t0. According to the method provided by the application, the first estimation information or the second estimation information of the target at the same time obtained by the radar to be corrected and the reference radar is used to correct the first estimation information of the radar to be corrected, and the motion parameters of the target are determined, so that the radar navigation error estimation precision in a motion scene can be improved without the need of synchronous measurement of the target by each radar.

Description

Technical Field

[0001] This invention belongs to the field of signal processing technology, specifically relating to a radar navigation error estimation method and system based on non-cooperative targets. Background Technology

[0002] For radars mounted on moving platforms, navigation errors in the inertial navigation system accumulate over time. Therefore, with prolonged operation, navigation accuracy can diverge, hindering precise target localization. Consequently, it's necessary to estimate the radar's navigation error and then correct its motion parameters to improve target positioning accuracy. A common navigation error estimation method is based on cooperative targets. Cooperative targets refer to targets whose true position can be obtained not only through direct sensor measurement but also through other means, such as a pre-known fixed target or a target whose precise coordinates are reported via wireless link. Non-cooperative targets, on the other hand, are targets whose precise position cannot be obtained without sensor detection. Therefore, navigation error estimation based on non-cooperative targets typically involves measuring the target with multiple sensors and then estimating the sensor navigation errors.

[0003] Traditional navigation error estimation methods based on non-cooperative targets include those using Kalman filters to estimate fixed deviations in sensor navigation errors and those using neural networks to estimate fixed deviations in sensor position coordinates. Additionally, there are methods for correcting platform navigation errors through multi-platform mutual measurements. For example, patent application No. 202210263702.3, entitled "Error Correction System and Error Correction Method for Inertial Navigation Device," discloses a navigation error correction method for an inertial navigation device. This method calculates angular residuals based on the difference between the azimuth and pitch angles of other objects relative to the device observed by the device and the azimuth and pitch angles calculated from the position coordinates of other objects transmitted via a wireless link. This residual is then used to correct the navigation error of the device's inertial navigation system. Traditional methods estimate navigation errors by calculating the angular difference between the machine's position measurement of other aircraft and the positioning information of other aircraft. Therefore, if the machine and other aircraft are in motion, the machine's position measurement of other aircraft and the position information transmitted by other aircraft via wireless link need to be synchronized in time to ensure that the relative position of the machine and other aircraft is fixed during navigation error correction, thus ensuring the accuracy of navigation error estimation. However, in practice, it is difficult to ensure strict synchronization between the machine's position measurement of other aircraft and the position information transmitted by other aircraft via wireless link, which leads to a decrease in the accuracy of navigation error estimation.

[0004] Therefore, existing radar navigation error estimation methods based on non-cooperative targets cannot guarantee information synchronization when the radar and other non-cooperative targets are in motion, resulting in low estimation accuracy of such methods in moving scenarios. Summary of the Invention

[0005] This invention provides a radar navigation error estimation method and system based on non-cooperative targets, which can solve the problems of high communication bandwidth requirements and low estimation accuracy in motion scenarios according to current error estimation methods.

[0006] In a first aspect, embodiments of the present invention provide a radar navigation error estimation method based on non-cooperative targets. The method is applied to a radar error estimation system, which includes a reference radar, at least one radar to be corrected, and an information processing center. The method includes:

[0007] The radar to be corrected and the reference radar acquire first and second estimation information at time t0, respectively. The first estimation information describes the motion state of the radar to be corrected and the motion state of multiple targets observed by the radar to be corrected, while the second estimation information describes the motion state of the reference radar and the motion state of the targets observed by the reference radar. The radar to be corrected and the reference radar send the first and second estimation information at time t0 to the information processing center. The information processing center estimates the error parameters of the radar to be corrected based on the first and second estimation information at time t0. Based on the error parameters, the information processing center corrects the first estimation information at time t0 to obtain the motion parameters of the target at time t0, where the motion parameters describe the motion state of the target.

[0008] According to the method provided by the present invention, the first estimation information of the radar to be rectified is corrected by the first estimation information or the second estimation information of the target obtained by the radar to be rectified and the reference radar at the same time, and the motion parameters of the target at time t0 are determined. It does not require each radar to measure the target synchronously, which can reduce the impact of data transmission delay on the accuracy of radar navigation error estimation, thereby improving the accuracy of radar navigation error estimation in motion scenarios.

[0009] In one possible implementation of the first aspect, the radar to be rectified can acquire first observation information and second observation information of the radar to be rectified; then, based on the first and second observation information of the radar to be rectified, a first estimated information of the radar to be rectified is determined. The reference radar can acquire first and second observation information of the reference radar; then, based on the first and second observation information of the reference radar, a second estimated information of the reference radar is determined.

[0010] For example, the first observation information of the radar to be corrected includes all historical angle information and all historical distance information of the target obtained by the radar to be corrected from observing the target.

[0011] For example, the second observation information of the radar to be corrected includes all historical location information and all historical time information of the radar to be corrected.

[0012] For example, the first observation information of the reference radar includes all historical angle information and all historical distance information of the target obtained by the reference radar from observing the target.

[0013] For example, the second observation information of the reference radar includes all historical location information and all historical time information of the reference radar.

[0014] In one possible implementation of the first aspect, the first estimation information at time t0 may include the first estimated position and first estimated velocity of the target observed by the radar to be corrected at time t0, and the estimated position and estimated velocity of the radar to be corrected at time t0.

[0015] For example, the first estimated information at time t0 can satisfy the following formula:

[0016]

[0017]

[0018]

[0019]

[0020] in, Let n be the estimated position of the nth radar to be corrected at time t0, where n = 1, 2, ..., N. Let be the estimated velocity of the nth radar to be calibrated at time t0, N be the total number of radars to be calibrated, L be the total number of observations by the radars to be calibrated, and M be the total number of targets. ML This represents a vector of length ML consisting entirely of 1s. For the position measurement matrix, Let t0 be the time variance. The mean value over time t0, t n Let t be the time measurement vector. n,m The time measurement matrix, including the time variance at time t0, the time mean at time t0, the measurement time vector, and the time measurement matrix, is determined based on the historical time information of the radar to be calibrated. The position measurement matrix is ​​determined based on the historical position information of the radar to be calibrated. Let m be the first estimated position and first estimated velocity of the m-th target obtained from the n-th radar observation to be corrected, where m = 1, 2, ..., M. LLet A be a vector of length L consisting entirely of 1s. n,m Let E be the coefficient matrix. n,m Let α be the direction matrix. n,m Let I be the range measurement vector, where I represents a 3×3 identity matrix. The direction matrix is ​​a direction vector constructed based on the historical angle information of the target obtained from radar observations of the target to be corrected. The range measurement vector is determined based on the historical range information of the target obtained from radar observations of the target to be corrected.

[0021] In one possible implementation of the first aspect, the second estimation information at time t0 may include the second estimated position and second estimated velocity of the target at time t0 as observed by the reference radar, and the estimated position and estimated velocity of the reference radar at time t0. The information processing center can obtain the error parameters of the radar to be corrected based on the first error estimation model and the first and second estimation information at time t0.

[0022] For example, error parameters include navigation error and the rate of change of navigation error.

[0023] For example, the first error estimation model can satisfy the following formula:

[0024]

[0025]

[0026]

[0027]

[0028] in, For error parameters, Let be the navigation error of the nth radar to be corrected at time t0. Let be the rate of change of navigation error of the nth radar to be corrected at time t0. The estimated position and estimated velocity of the radar to be corrected at time t0 are given. Reference radar's estimated position and estimated velocity at time t0, The first estimated position and first estimated velocity of the target at time t0. Let be the second estimated position and the second estimated velocity of the target at time t0.

[0029] In one possible implementation of the first aspect, the motion parameters of the target at time t0 may include the target's position and velocity information at time t0. The information processing center can correct the estimated position and velocity of the radar to be corrected at time t0 based on error parameters, thereby obtaining the corresponding position and velocity information of the radar to be corrected at time t0. Then, based on the position and velocity information of the radar to be corrected at time t0 and the estimated position and velocity of the target at time t0, the target's position and velocity information at time t0 are estimated.

[0030] In one possible implementation of the first aspect, the position and velocity information of the radar to be corrected at time t0 can satisfy the following formula:

[0031]

[0032]

[0033] in, The location information of the radar to be corrected at time t0. The velocity information of the radar to be corrected at time t0.

[0034] In one possible implementation of the first aspect, the information processing center can obtain the target's position and velocity information at time t0 based on the second error estimation model, according to the position and velocity information of the radar to be corrected at time t0 and the estimated position and velocity of the target by the radar to be corrected at time t0.

[0035] For example, the second error estimation model can satisfy the following formula:

[0036]

[0037]

[0038]

[0039]

[0040]

[0041]

[0042] in, This provides the position information of the m-th target at time t0. For the velocity information of the m-th target at time t0, This provides the position information of the nth radar to be corrected at time t0. For the velocity information of the nth radar to be corrected at time t0, Let n be the first estimated position and first estimated velocity of the m-th target for the n-th radar to be corrected.

[0043] According to the method provided by the present invention, the first estimation information of the radar to be rectified is corrected by using the first estimation information or the second estimation information of the target obtained by the radar to be rectified and the reference radar at the same time, thereby determining the motion parameters of the target at time t0. This eliminates the need for synchronous measurement of the target by each radar, reducing the impact of data transmission delay on the accuracy of radar navigation error estimation, and thus improving the accuracy of radar navigation error estimation in moving scenarios. Furthermore, since the first and second estimation information are obtained by processing the observation information directly collected by the radar to be rectified or the reference radar, their magnitude is smaller than that of the observation information, thus reducing the demand for communication bandwidth.

[0044] Secondly, embodiments of the present invention provide a radar navigation error estimation system based on non-cooperative targets. The system includes: a reference radar, at least one radar to be corrected, and an information processing center. The radar to be corrected is used to acquire first estimation information at time t0 and send the first estimation information at time t0 to the information processing center, wherein the first estimation information is used to describe the motion state of the radar to be corrected and the motion state of multiple targets observed by the radar to be corrected. The reference radar is used to acquire second estimation information at time t0 and send the second estimation information at time t0 to the information processing center, wherein the second estimation information is used to describe the motion state of the reference radar and the motion state of the targets observed by the reference radar. The information processing center is used to estimate the error parameters of the radar to be corrected based on the first and second estimation information at time t0. The information processing center is also used to correct the first estimation information at time t0 based on the error parameters to obtain the motion parameters of the target at time t0, wherein the motion parameters are used to describe the motion state of the target.

[0045] Thirdly, embodiments of the present invention provide an information processing center, which includes a receiving unit and a processing unit. The receiving unit can be used to receive first estimated information at time t0 from the radar to be corrected, and second estimated information at time t0 from a reference radar. The processing unit can be used to estimate the error parameters of the radar to be corrected based on the first and second estimated information at time t0. The processing unit can also be used to correct the first estimated information at time t0 based on the error parameters to obtain the motion parameters of the target at time t0.

[0046] For example, the first estimation information is used to describe the motion state of the radar to be corrected and the motion state of multiple targets observed by the radar to be corrected.

[0047] For example, the second estimation information is used to describe the motion state of the reference radar and the motion state of multiple targets observed by the reference radar.

[0048] Fourthly, embodiments of the present invention provide a radar, the radar including a detection processing unit and a transmission unit; the detection processing unit is used to acquire first estimation information at time t0, the first estimation information being used to describe the motion state of the radar and the motion state of multiple targets observed by the radar; the transmission unit is used to send the first estimation information at time t0 to an information processing center, so that the information processing center can correct the first estimation information at time t0 based on the first estimation information and the radar error parameters obtained from the second estimation information from the reference radar, and obtain the motion parameters of the target at time t0.

[0049] For example, the first estimation information is used to describe the motion state of the radar and the motion state of multiple targets observed by the radar.

[0050] For example, the second estimation information is used to describe the motion state of the reference radar and the motion state of multiple targets observed by the reference radar.

[0051] For example, the target's motion parameters are used to describe the target's motion state.

[0052] It is understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0053] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows: According to the method provided by the present invention, the first estimation information of the radar to be corrected is corrected by the first estimation information or the second estimation information of the target obtained by the radar to be corrected and the reference radar at the same time, and the motion parameters of the target at time t0 are determined. It does not require each radar to measure the target synchronously, which can reduce the impact of data transmission delay on the accuracy of radar navigation error estimation, thereby improving the accuracy of radar navigation error estimation in motion scenarios. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the structure of a radar navigation error estimation system provided in an embodiment of the present invention;

[0055] Figure 2 A schematic flowchart of a radar navigation error estimation method provided in an embodiment of the present invention;

[0056] Figure 3 This is a schematic diagram of the structure of an information processing center provided in an embodiment of the present invention;

[0057] Figure 4 A schematic diagram of a radar structure provided in an embodiment of the present invention;

[0058] Figure 5 A comparative diagram of communication volume provided in an embodiment of the present invention;

[0059] Figure 6 A comparative schematic diagram of estimation accuracy provided for an embodiment of the present invention;

[0060] Figure 7 This is a comparative diagram of the position information of a target at time t0, provided as an embodiment of the present invention. Detailed Implementation

[0061] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0062] It should be understood that when the term "comprising" is used in the specification and appended claims to indicate the presence of a described feature, integral, step, operation, element, and / or component, it does not preclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or a collection thereof.

[0063] It should also be understood that the term “and / or” as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0064] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0065] Furthermore, in the description of this invention and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0066] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of the invention include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0067] Figure 1 The diagram illustrates a structural schematic of a radar navigation error estimation system based on a non-cooperative target according to an embodiment of the present invention. As an example and not a limitation, system 100 may include at least one radar to be corrected 110 (only one is shown here), a reference radar 120, and an information processing center 130.

[0068] The radar 110 to be corrected is used to acquire the first estimate information at time t0 and send the first estimate information at time t0 to the information processing center 130.

[0069] Reference radar 120 is used to acquire the second estimate information at time t0 and send the second estimate information at time t0 to information processing center 130.

[0070] The information processing center 130 is used to estimate the error parameters of the radar to be corrected based on the first and second estimation information at time t0.

[0071] The information processing center 130 is also used to correct the first estimated information at time t0 based on the error parameters, and to obtain the motion parameters of the target at time t0.

[0072] For example, the first estimation information is used to describe the motion state of the radar to be corrected and the motion state of multiple targets observed by the radar to be corrected.

[0073] For example, the second estimation information is used to describe the motion state of the reference radar and the motion state of the target observed by the reference radar.

[0074] For example, the measurement error of the reference radar can be less than the measurement error of the radar to be calibrated, or the same as the measurement error of the radar to be calibrated.

[0075] For example, the target's motion parameters are used to describe the target's motion state.

[0076] Optionally, the radar to be calibrated 110, the reference radar 120, and the information processing center 130 can be connected wirelessly.

[0077] According to the system provided by the present invention, the first estimation information of the radar to be rectified is corrected by the first estimation information or the second estimation information of the target obtained by the radar to be rectified and the reference radar at the same time, and the motion parameters of the target at time t0 are determined. It does not require each radar to measure the target synchronously, and can avoid the impact of data transmission delay on the accuracy of radar navigation error estimation, thereby improving the accuracy of radar navigation error estimation in motion scenarios.

[0078] Figure 2 The diagram shown is a schematic flowchart of a radar navigation error estimation method based on non-cooperative targets provided by an embodiment of the present invention. As an example and not a limitation, method 200 can be applied to the radar error estimation system 100 described above. Method 200 may include steps S201-S206, which are described below.

[0079] S201, the radar to be corrected acquires the first estimation information at time t0.

[0080] For example, the first estimation information is used to describe the motion state of the radar to be corrected and the motion state of multiple targets observed by the radar to be corrected, such as the position, velocity, angular velocity, acceleration, etc. of the radar to be corrected.

[0081] In some embodiments, the radar to be calibrated can acquire first and second observation information, and then determine the first estimated information at time t0 based on the first and second observation information. Since the order of magnitude of the first and second observation information directly acquired by the radar is much larger than the first estimated information, transmitting the first estimated information obtained through linear fitting to the information processing center instead of the first and second observation information can reduce the demand for communication volume and bandwidth in practical applications.

[0082] For example, the first observation information of the radar to be corrected may include all historical angle information and all historical distance information of the target obtained by the radar to be corrected from observing the target.

[0083] For example, the second observation information of the radar to be corrected may include all historical location information and all historical time information of the radar to be corrected.

[0084] In one example, when the radar to be corrected makes its l-th observation of the target, the position information of the radar to be corrected can satisfy the following formula:

[0085]

[0086] in, For the nth radar S to be corrected n For target gm During the first observation, the radar S to be corrected n Location information; p n (t n,m,l ) is the radar S to be corrected n At time t n,m,l The actual position coordinates at that time; For the radar S to be corrected n The position measurement deviation is stable over a period of time; z n,m,l For the radar S to be corrected n Position measurement error; 1≤l≤L, where L is the radar S to be corrected. n The total number of times the target is observed within one observation period is L≥2.

[0087] For example, when the radar to be corrected makes its l-th observation of the target, the position information of the radar to be corrected can also satisfy the following formula:

[0088]

[0089] Where, x n,m,l y n,m,l z n,m,l The nth radar S to be corrected n Radar S to be corrected during the lth observation of the target n The location information is represented by the components along the X, Y, and Z axes of a Cartesian coordinate system. T This indicates the transpose operation.

[0090] In one possible implementation, the first estimation information of the radar to be corrected may include the first estimated position and first estimated velocity of the target observed by the radar to be corrected at time t0, and the estimated position and estimated velocity of the radar to be corrected at time t0.

[0091] In one example, the radar to be calibrated can determine its estimated position and estimated velocity at time t0 using the first observation information.

[0092] For example, the estimated position and estimated velocity of the radar to be corrected at time t0 can satisfy the following formula:

[0093]

[0094]

[0095] in, For the nth radar S to be corrected n The estimated position at time t0, n = 1, 2, ..., N. For the nth radar S to be corrected nThe estimated velocity at time t0, where N is the total number of radars to be corrected, M is the total number of targets, and 1 ML This represents a vector of length ML consisting entirely of 1s. For the position measurement matrix, Let t0 be the time variance. The mean value over time t0, t n This is the time measurement vector.

[0096] For example, the time variance at time t0, the time mean at time t0, and the measurement time vector are all determined based on the historical time information of the radar to be corrected.

[0097] The variance at time t0, the mean at time t0, and the measurement time vector can each satisfy the following formulas:

[0098]

[0099]

[0100]

[0101] t n,m =[t n,m,1 -t0,t n,m,2 -t0,…,t n,m,L -t0] T

[0102] Among them, t n,m,l For the radar S to be corrected n In the lth observation target g m Time information, t n,m This is the time measurement matrix.

[0103] For example, the time measurement matrix can also be determined based on the historical time information of the radar to be corrected.

[0104] For example, the position measurement matrix is ​​determined based on the historical position information of the radar to be corrected.

[0105] The position measurement matrix can satisfy the following formula:

[0106]

[0107] in, For the nth radar S to be corrected n For target g m During the first observation, the radar S to be corrected n Location information.

[0108] In one example, the radar to be corrected can determine the first estimated position and the first estimated velocity of the target observed by the radar at time t0 using the first observation information and the second observation information.

[0109] For example, the first estimated position and the first estimated velocity of the target at time t0 can satisfy the following formulas:

[0110]

[0111]

[0112] in, For the nth radar S to be corrected n The m-th target g obtained from observation m The first estimated position and the first estimated velocity, m = 1, 2...M, 1 L Let A be a vector of length L consisting entirely of 1s. n,m Let E be the coefficient matrix. n,m Let α be the direction matrix. n,m Let I be the distance measurement vector, and let I represent the 3×3 identity matrix.

[0113] For example, the direction matrix is ​​a direction vector constructed based on the historical angle information of the target obtained from radar observations of the target to be corrected.

[0114] The direction matrix can satisfy the following formula:

[0115] E n,m =diag(e n,m,1 ,e n,m,2 ,…,e n,m,L )

[0116]

[0117] Where, θ n,m,l , The radar S to be corrected n For the m-th target g m The azimuth and elevation information collected in the lth observation, and diag(·) represents the construction of a diagonal matrix.

[0118] For example, the range measurement vector is determined based on the historical range information of the target obtained from radar observations of the target to be corrected.

[0119] The distance measurement vector can satisfy the following formula:

[0120] α n,m =[α n,m,1 ,α n,m,2 ,…,α n,m,L ]T

[0121] Where, α n,m,l For the radar S to be corrected n For the m-th target g m Distance information collected during the lth observation.

[0122] S202, the radar to be corrected sends the first estimate information at time t0 to the information processing center.

[0123] Accordingly, the information processing center receives the first estimate information at time t0.

[0124] S203, referencing radar to obtain the second estimation information at time t0.

[0125] For example, the second estimation information is used to describe the motion state of the reference radar and the motion state of multiple targets observed by the reference radar.

[0126] Similarly, the reference radar can obtain the second estimate information at time t0 using the same method as the radar to be corrected in step S101, which obtains the first estimate information at time t0.

[0127] S204, the reference radar sends the second estimate information at time t0 to the information processing center.

[0128] Accordingly, the information processing center receives the second estimation information at time t0.

[0129] S205, the information processing center estimates the error parameters of the radar to be corrected based on the first and second estimation information at time t0.

[0130] In one possible implementation, the information processing center can obtain the error parameters of the radar to be corrected based on the first error estimation model and the first and second estimation information at time t0.

[0131] For example, error parameters may include navigation error and the rate of change of navigation error.

[0132] For example, the second estimation information at time t0 may include the second estimated position and second estimated velocity of the target at time t0 as observed by the reference radar, and the estimated position and estimated velocity of the reference radar at time t0.

[0133] In one example, the first error estimation model can satisfy the following formula:

[0134]

[0135]

[0136]

[0137]

[0138] in, For error parameters, For the nth radar S to be corrected n The navigation error at time t0 For the nth radar S to be corrected n The rate of change of navigation error at time t0, For the radar S to be corrected n The estimated position and estimated velocity at time t0, Reference radar's estimated position and estimated velocity at time t0, The first estimated position and first estimated velocity of the target at time t0. Let the second estimated position and second estimated velocity of the target at time t0 be vectors. The size is 6×1, and the vector The size is 6×1, and the vector The size is 6×1, matrix A n The size is 3ML×6, matrix The dimensions are 3LM×6M.

[0139] Specifically, the correction can be based on the estimated position and velocity of the radar to be corrected and the reference radar at time t0, the first estimated velocity and first estimated position of the radar to be corrected for a single target at time t0, the second estimated velocity and second estimated position of the reference radar for that target at time t0, and the first relational equation U satisfied by the navigation error and the rate of change of the navigation error of the radar to be corrected at time t0. m First, determine the second relational equation U between the first estimated velocity and first estimated position of all targets at time t0 and the aforementioned parameters. Then, solve the second relational equation to obtain the first error estimation model.

[0140] For example, the first relational equation satisfies the following formula:

[0141]

[0142] in, For the reference radar's estimated position at time t0, The second estimated position of the target at time t0. For the reference radar's estimated velocity at time t0, The second estimated velocity at time t0 is the target velocity. For the radar S to be corrected n The estimated position at time t0, The first estimated position of the target at time t0. For the radar S to be corrected n The navigation error at time t0 For the radar S to be corrected n The estimated velocity at time t0, The first estimated velocity of the target at time t0, For the radar S to be corrected n The rate of change of navigation error.

[0143] For example, the second relational equation satisfies the following formula:

[0144]

[0145]

[0146]

[0147]

[0148]

[0149]

[0150] in, For the first estimated position and first estimated velocity of the m-th target obtained from the n-th radar observation to be corrected, A n,m It is a coefficient matrix.

[0151] S206, the information processing center corrects the first estimated information at time t0 based on the error parameters, and obtains the motion parameters of the target at time t0.

[0152] For example, the target's motion parameters can be used to describe the target's motion state, such as the target's velocity, acceleration, position, angular velocity, etc.

[0153] Optionally, the motion parameters of the target at time t0 may include the target's position and velocity information at time t0.

[0154] In some embodiments, the information processing center can correct the estimated position and velocity of the radar to be corrected at time t0 based on error parameters, thereby obtaining the position and velocity information of the radar to be corrected at time t0. Then, based on the position and velocity information of the radar to be corrected at time t0 and the estimated position and velocity of the target relative to the radar to be corrected at time t0, the position and velocity information of the target at time t0 are estimated.

[0155] In one possible implementation, the position and velocity information of the radar to be corrected at time t0 can satisfy the following formula:

[0156]

[0157]

[0158] in, The location information of the radar to be corrected at time t0. The velocity information of the radar to be corrected at time t0.

[0159] In one possible implementation, the information processing center can obtain the target's position and velocity information at time t0 based on the second error estimation model, according to the position and velocity information of the radar to be corrected at time t0 and the estimated position and velocity of the target by the radar to be corrected at time t0.

[0160] For example, the second error estimation model can satisfy the following formula:

[0161]

[0162]

[0163]

[0164]

[0165]

[0166]

[0167] in, This provides the position information of the m-th target at time t0. For the velocity information of the m-th target at time t0, This provides the position information of the nth radar to be corrected at time t0. For the velocity information of the nth radar to be corrected at time t0, For the nth radar to be corrected, the first estimated position and the first estimated velocity of the mth target are given. A n,m It is a coefficient matrix.

[0168] Specifically, the third relational equation E can be derived from the corrected position and velocity information of the radar to be corrected, the first estimated position and first estimated velocity of a target at time t0, and the position and velocity information of the target at time t0. n The fourth relational equation E is determined, which satisfies the first estimated position and first estimated velocity of all targets at time t0, along with the position and velocity information of all targets at time t0. Then, the fourth relational equation is solved to obtain the second error estimation model.

[0169] For example, the third relational equation can satisfy the following formula:

[0170]

[0171] Among them, g m,0 For target g m The position information at time t0, g m,v For target g m Velocity information at time t0, This provides the position information of the nth radar to be corrected at time t0. For the velocity information of the nth radar to be corrected at time t0, The first estimated position of the target at time t0. Let be the first estimated velocity of the target at time t0.

[0172] For example, the fourth relational equation satisfies the following formula:

[0173]

[0174]

[0175]

[0176]

[0177]

[0178]

[0179]

[0180] in, This provides the position information of the nth radar to be corrected at time t0. For the velocity information of the nth radar to be corrected at time t0, g m,0 For target g m The position information at time t0, g m,v For target g m Velocity information at time t0, Let n be the first estimated position and first estimated velocity of the m-th target for the n-th radar to be corrected.

[0181] According to the method provided by the present invention, the first estimation information of the radar to be rectified is corrected by using the first estimation information or the second estimation information of the target obtained by the radar to be rectified and the reference radar at the same time, thereby determining the motion parameters of the target at time t0. This eliminates the need for synchronous measurement of the target by each radar, reducing the impact of data transmission delay on the accuracy of radar navigation error estimation, and thus improving the accuracy of radar navigation error estimation in moving scenarios. Furthermore, since the first and second estimation information are obtained by processing the observation information directly collected by the radar to be rectified or the reference radar, their magnitude is smaller than that of the observation information, thus reducing the demand for communication bandwidth.

[0182] Figure 3 The diagram illustrates the structure of an information processing center according to an embodiment of the present invention. As an example and not a limitation, the information processing center may include a receiving unit 310 and a processing unit 320.

[0183] The receiving unit 310 can be used to receive first estimation information at time t0 from the radar to be corrected, and second estimation information at time t0 from the reference radar.

[0184] The processing unit 320 can be used to estimate the error parameters of the radar to be corrected based on the first and second estimation information at time t0.

[0185] The processing unit 310 can also be used to correct the first estimated information at time t0 based on the error parameters, and obtain the motion parameters of the target at time t0.

[0186] For example, the measurement error of the reference radar can be smaller than that of the radar to be calibrated, or the measurement error can be the same as that of the radar to be calibrated.

[0187] For example, the first estimation information is used to describe the motion state of the radar to be corrected and the motion state of multiple targets observed by the radar to be corrected.

[0188] For example, the second estimation information is used to describe the motion state of the reference radar and the motion state of multiple targets observed by the reference radar.

[0189] In one possible implementation, when the first estimation information at time t0 includes the first estimated position and first estimated velocity of the target observed by the radar to be corrected at time t0, and the estimated position and estimated velocity of the radar to be corrected at time t0; and the second estimation information at time t0 includes the second estimated position and second estimated velocity of the target observed by the reference radar at time t0, and the estimated position and estimated velocity of the reference radar at time t0; the processing unit 310 can specifically be used to obtain the error parameters of the radar to be corrected based on the first error estimation model and the first and second estimation information at time t0.

[0190] For example, the first error estimation model satisfies the following formula:

[0191]

[0192]

[0193]

[0194]

[0195] in, For error parameters, Let be the navigation error of the nth radar to be corrected at time t0. Let be the rate of change of navigation error of the nth radar to be corrected at time t0. The estimated position and estimated velocity of the radar to be corrected at time t0 are given. Reference radar's estimated position and estimated velocity at time t0, The first estimated position and first estimated velocity of the target at time t0. Let be the second estimated position and the second estimated velocity of the target at time t0.

[0196] In one possible implementation, when the target's motion parameters at time t0 include the target's position and velocity information at time t0, the processing unit 310 can specifically be used to correct the estimated position and velocity of the radar to be corrected at time t0 based on error parameters, thereby obtaining the corresponding position and velocity information of the radar to be corrected at time t0. Based on the position and velocity information of the radar to be corrected at time t0 and the estimated position and velocity of the target at time t0, the target's position and velocity information at time t0 are estimated.

[0197] In one possible implementation, the position and velocity information of the radar to be corrected at time t0 can satisfy the following formula:

[0198]

[0199]

[0200] in, The location information of the radar to be corrected at time t0. The velocity information of the radar to be corrected at time t0.

[0201] In one possible implementation, the processing unit 320 can be specifically used to obtain the target's position and velocity information at time t0 based on the second error estimation model, according to the position and velocity information of the radar to be corrected at time t0 and the estimated position and velocity of the target by the radar to be corrected at time t0.

[0202] For example, the second error estimation model satisfies the following formula:

[0203]

[0204]

[0205]

[0206]

[0207]

[0208]

[0209] in, This provides the position information of the m-th target at time t0. For the velocity information of the m-th target at time t0, This provides the position information of the nth radar to be corrected at time t0. For the velocity information of the nth radar to be corrected at time t0, For the first estimated position and first estimated velocity of the m-th target by the n-th radar to be corrected, A n,m It is a coefficient matrix.

[0210] According to the information processing center provided by the present invention, the first estimated information of the radar to be corrected is corrected by the first estimated information or the second estimated information of the target obtained by the radar to be corrected and the reference radar at the same time, and the motion parameters of the target at time t0 are determined. It does not require each radar to measure the target synchronously, which can reduce the impact of data transmission delay on the accuracy of radar navigation error estimation, thereby improving the accuracy of radar navigation error estimation in motion scenarios.

[0211] Figure 4 The diagram shown is a structural schematic of a radar provided by an embodiment of the present invention. As an example and not a limitation, radar 400 can be radar 110 to be corrected in system 100. Radar 400 may include a detection processing unit 410 and a transmission unit 420.

[0212] The detection and processing unit 410 can be used to obtain the first estimation information at time t0.

[0213] The transmitting unit 420 can be used to send the first estimated information at time t0 to the information processing center, so that the information processing center can correct the first estimated information at time t0 based on the first estimated information and the radar error parameters obtained from the second estimated information from the reference radar, and obtain the motion parameters of the target at time t0.

[0214] For example, the measurement error of the reference radar can be smaller than that of the radar to be calibrated, or the measurement error can be the same as that of the radar to be calibrated.

[0215] For example, the first estimation information is used to describe the motion state of the radar to be corrected and the motion state of multiple targets observed by the radar to be corrected.

[0216] For example, the second estimation information is used to describe the motion state of the reference radar and the motion state of multiple targets observed by the reference radar.

[0217] For example, the target's motion parameters are used to describe the target's motion state.

[0218] In one possible implementation, the detection and processing unit may include an acquisition module and a processing module. The acquisition module can be used to acquire first observation information and second observation information of the radar to be rectified. The processing module can be used to determine first estimated information at time t0 based on the first and second observation information of the radar to be rectified.

[0219] For example, the first observation information of the radar to be corrected includes all historical angle information and all historical distance information of the target obtained by the radar to be corrected from observing the target.

[0220] For example, the second observation information of the radar to be corrected includes all historical location information and all historical time information of the radar to be corrected.

[0221] Optionally, the acquisition module may further include a time information acquisition module and a position information acquisition module. The time information acquisition module can be used to acquire the time information of the radar to be calibrated when observing the target. The position information acquisition module can be used to acquire the distance information of the radar to be calibrated when observing the target.

[0222] Optionally, the location information acquisition module can also be used to acquire the target's angle and distance information when the radar observes the target to be corrected.

[0223] In one possible implementation, the first estimation information at time t0 may include the first estimated position and first estimated velocity of the target observed by the radar to be corrected at time t0, and the estimated position and estimated velocity of the radar to be corrected at time t0.

[0224] For example, the first estimated information at time t0 satisfies the following formula:

[0225]

[0226]

[0227]

[0228]

[0229] in, Let n be the estimated position of the nth radar to be corrected at time t0, where n = 1, 2, ..., N. Let be the estimated velocity of the nth radar to be calibrated at time t0, N be the total number of radars to be calibrated, L be the total number of observations by the radars to be calibrated, and M be the total number of targets. ML This represents a vector of length ML consisting entirely of 1s. For the position measurement matrix, Let t0 be the time variance. The mean value over time t0, t n Let t be the time measurement vector. n,m The time measurement matrix, including the time variance at time t0, the time mean at time t0, the measurement time vector, and the time measurement matrix, is determined based on the historical time information of the radar to be calibrated. The position measurement matrix is ​​determined based on the historical position information of the radar to be calibrated. Let m be the first estimated position and first estimated velocity of the m-th target obtained from the n-th radar observation to be corrected, where m = 1, 2, ..., M. L Let A be a vector of length L consisting entirely of 1s. n,m Let E be the coefficient matrix. n,m Let α be the direction matrix. n,m Let I be the range measurement vector, where I represents a 3×3 identity matrix. The direction matrix is ​​a direction vector constructed based on the historical angle information of the target obtained from radar observations of the target to be corrected. The range measurement vector is determined based on the historical range information of the target obtained from radar observations of the target to be corrected.

[0230] In one possible implementation, the position and velocity information of the radar to be corrected at time t0 can satisfy the following formula:

[0231]

[0232]

[0233] in, The location information of the radar to be corrected at time t0. The velocity information of the radar to be corrected at time t0.

[0234] To better illustrate the beneficial effects of the method provided by this invention, the following simulation experiment was designed:

[0235] For example, the simulation experiment uses an Intel Core i7 6500U CPU with a main frequency of 2.50GHz, 8.0GB of memory, a 64-bit operating system and Microsoft Windows 10 Professional Edition, and MATLAB 2020a simulation software.

[0236] For example, in the simulation scenario, there are four radars, denoted as Radar 1, Radar 2, Radar 3, and Radar 4. Radar 1, with the smallest measurement error, is the reference radar, and the others are radars to be calibrated. The simulation scenario includes four targets. Assume the initial time t0 = 0s. The position coordinates of the targets at time t0 are g... 1,0 = [100000, 5000, 2000] meters, g 2,0 = [100000, -5000, 2000] meters, g 3,0 = [100000, 3000, 5000] meters, g 4,0 = [100000, 0, -5000] meters, the target's velocity is g 1,v = [10, 10, 0] meters per second, g 2,v = [10, 10, 0] meters per second, g 3,v = [10, 10, 0] meters per second, g 4,v = [10,10,0] meters per second. Assume that the position measurement errors of each radar along the X, Y, and Z axes are independent and all follow a zero-mean Gaussian distribution with a standard deviation of 10m. Assume radar 1 is the reference radar, which has no navigation error. The azimuth and elevation angle measurements of each radar on the target follow a zero-mean Gaussian distribution with a standard deviation of 0.1°. The ranging errors of each radar on the target also follow a zero-mean Gaussian distribution with a standard deviation of 10m. Let the navigation errors of the radar at time t0 be... The rates of change of radar navigation errors are respectively Every second, Every second, meters per second meters per second.

[0237] Assuming each radar has a measurement time of 10 seconds, the number of measurements L for each target varies from 2 to 20 within those 10 seconds. One hundred Monte Carlo experiments are conducted under each of these varying measurement counts.

[0238] For example, the root mean square error (RMSE) is used to measure the estimation accuracy of the radar error to be corrected. The RMSE of the radar error to be corrected satisfies the following formula:

[0239]

[0240] Where RMSE is the root mean square error of the error estimate of the radar to be corrected, y i The true value of the parameter to be estimated. Indicates the effect of the i-th Monte Carlo experiment on y. i The estimate is given by ||·||, which represents the 2-norm operation.

[0241] Figure 5 The diagram shown is a comparison of communication volume provided by an embodiment of the present invention.

[0242] For example, when the radar to be corrected transmits data to the information processing center, each data point is in 64-bit double-precision floating-point format.

[0243] See Figure 5 , Figure 5 501 in the figure represents the amount of communication required by the method provided by this invention when the radar to be corrected transmits data to the information processing center. Figure 5 The number 502 in the patent application, publication number 202210263702.3, entitled "Error Correction System and Error Correction Method of Inertial Navigation Device", discloses the communication volume required for transmitting data in the existing method.

[0244] This shows that in existing technologies, the communication volume of a single radar increases linearly with the number of samplings. This is because each measurement requires sending 15 data points—the radar's position measurement and the radar's position measurements of four targets—to the information processing center. Each data point uses a 64-bit double-precision floating-point format, requiring the transmission of 120 bytes of data per measurement. As the number of measurements increases, the communication volume of existing technologies also increases linearly. In contrast, this invention transmits the motion parameters of each radar, including position and velocity, as well as the motion parameters of the four targets relative to the radar, also including position and velocity, to the information processing center. Each data point also uses a 64-bit double-precision floating-point format, requiring the transmission of 240 bytes of data. Therefore, when the number of observations is greater than two, the communication volume of this invention is less than that of existing technologies. Furthermore, the communication volume of this invention remains constant with the increase in the number of observations, while the communication volume of existing technologies increases linearly with the increase in the number of observations.

[0245] Figure 6 The diagram shown is a comparative illustration of the estimation accuracy provided by an embodiment of the present invention.

[0246] See Figure 6 , Figure 6(a) in the figure is a schematic diagram showing the change in the estimation accuracy of navigation error obtained by the method provided by the present invention as a function of the number of observations. Figure 6 (b) in the figure is a schematic diagram showing the change in the estimation accuracy of the navigation error rate of change obtained by the method provided in this invention as a function of the number of observations.

[0247] Depend on Figure 6 As can be seen, with the increase of the number of observations, the accuracy of the present invention in estimating the radar navigation error and the rate of change of the navigation error becomes higher and higher. When the number of observations is 10, the navigation error of each radar is estimated to be about 10 meters, and the RMSE of the rate of change of the navigation error is estimated to be about 5 meters per second.

[0248] Figure 7 The diagram shown is a comparison of the position information of a target at time t0 provided by an embodiment of the present invention.

[0249] See Figure 7 , Figure 7 (a) is a schematic diagram of the position information of the target at time t0 in the XOY plane obtained by the method provided by the present invention. Figure 7 (b) is a schematic diagram of the position information of the target at time t0 in the XOZ plane obtained by the method provided by the present invention.

[0250] Depend on Figure 7 It can be seen that due to the existence of radar navigation error, the measurement of target 1 by radar 2-4 deviates from the target's true trajectory. After navigation error estimation and correction, the motion trajectory estimation of target 1 by this invention is closer to the target's true motion trajectory.

[0251] According to the method provided by the present invention, the first estimation information of the radar to be rectified is corrected by the first estimation information or the second estimation information of the target obtained by the radar to be rectified and the reference radar at the same time, and the motion parameters of the target at time t0 are determined. It does not require each radar to measure the target synchronously, which can reduce the impact of data transmission delay on the accuracy of radar navigation error estimation, thereby improving the accuracy of radar navigation error estimation in motion scenarios.

[0252] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0253] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

Claims

1. A radar navigation error estimation method based on non-cooperative targets, characterized in that, The method, applied to a radar error estimation system, comprising a reference radar, at least one radar to be corrected, and an information processing center, includes: The radar to be corrected and the reference radar respectively acquire t The first estimation information and the second estimation information at time 0; wherein, the first estimation information is used to describe the motion state of the radar to be corrected and the motion state of multiple targets observed by the radar to be corrected, and the second estimation information is used to describe the motion state of the reference radar and the motion state of the target observed by the reference radar; The radar to be corrected and the reference radar will respectively t The first estimation information and the second estimation information at time 0 are sent to the information processing center; The information processing center, according to the t The first estimation information and the second estimation information at time 0 are used to estimate the error parameters of the radar to be corrected; The information processing center, according to the t The first estimation information and the second estimation information at time 0 are used to estimate the error parameters of the radar to be corrected, including: The information processing center is based on the first error estimation model, according to... t The first estimation information and the second estimation information at time 0 are used to obtain the error parameters of the radar to be corrected, wherein the error parameters include navigation error and navigation error change rate; The information processing center corrects the error based on the error parameters. t The first estimated information at time 0 is used to obtain the target. t Motion parameters at time 0, wherein the motion parameters are used to describe the motion state of the target.

2. The method according to claim 1, characterized in that, The radar to be corrected and the reference radar respectively acquire t The first and second estimation information at time 0 include: The radar to be corrected acquires first observation information and second observation information of the radar to be corrected. The first observation information of the radar to be corrected includes all historical angle information and all historical distance information of the target obtained by the radar to be corrected from observing the target. The second observation information of the radar to be corrected includes all historical position information and all historical time information of the radar to be corrected. The reference radar acquires first observation information and second observation information of the reference radar, wherein the first observation information of the reference radar includes all historical angle information and all historical distance information of the target obtained by the reference radar from observing the target, and the second observation information of the reference radar includes all historical position information and all historical time information of the reference radar; The radar to be corrected determines, based on the first observation information and the second observation information of the radar to be corrected, that... t The first estimated information at time 0; The reference radar determines, based on its first and second observation information, that... t The second estimated information at time 0.

3. The method according to claim 1 or 2, characterized in that, t The first estimated information at time 0 includes the target observed by the radar to be corrected in... t The first estimated position and first estimated velocity at time 0, and the radar to be corrected at... t Estimated position and estimated velocity at time 0; Among them, the t The first estimated information at time 0 satisfies the following formula: in, For the first n The radar to be corrected t Estimated position at time 0 n =1,2…… N , For the first n The radar to be corrected t The estimated velocity at time 0, where N is the total number of radars to be corrected. L The total number of observations for the radar to be corrected. M The total number of the stated targets. Indicates length is A vector of all 1s For the position measurement matrix, for t 0 time variance for t 0 time mean For time measurement vectors, For time measurement matrix, the t 0 time variance, the aforementioned t The zero-time mean, the time measurement vector, and the time measurement matrix are all determined based on the historical time information of the radar to be corrected, and the position measurement matrix is ​​determined based on the historical position information of the radar to be corrected. For the first n The radar observation obtained by the first one to be corrected m The first estimated position and first estimated velocity of the target, m =1,2…… M , Indicates length is A vector of all 1s The coefficient matrix, The direction matrix, This is the distance measurement vector. Indicates the size is The identity matrix, wherein the direction matrix is ​​a direction vector constructed based on the historical angle information of the target obtained by the radar to be corrected from observing the target, and the range measurement vector is determined based on the historical range information of the target obtained by the radar to be corrected from observing the target.

4. The method according to claim 3, characterized in that, t The second estimation information at time 0 includes the target observed by the reference radar at... t The second estimated position and second estimated velocity at time 0, and the reference radar at... t Estimated position and estimated velocity at time 0; The first error estimation model satisfies the following formula: in, The error parameter is... For the nth radar to be corrected in t The navigation error at time 0, For the nth radar to be corrected in t The rate of change of the navigation error at time 0, For the radar to be corrected in t Estimated position and estimated velocity at time 0 The reference radar is t Estimated position and estimated velocity at time 0 For the target in t The first estimated position and the first estimated velocity at time 0, For the target in t The second estimated position and the second estimated velocity at time 0.

5. The method according to claim 3, characterized in that, The target t The motion parameters at time 0 include the target t Position and velocity information at time 0; The information processing center corrects the error based on the error parameters. t The first estimated information at time 0 is used to obtain the target. t The motion parameters at time 0 include: The information processing center corrects the radar to be corrected based on the error parameters. t The estimated position and estimated velocity at time 0 correspond to the radar to be corrected at... t Position and velocity information at time 0; The information processing center, based on the radar to be corrected, t Position and velocity information at time 0, and the radar image of the target to be corrected. t The estimated position and estimated velocity at time 0 are used to estimate the target. t Position and velocity information at time 0.

6. The method according to claim 5, characterized in that, The radar to be corrected is in t The position and velocity information at time 0 satisfy the following formula: in, For the radar to be corrected in t Location information at time 0 For the radar to be corrected in t Velocity information at time 0.

7. The method according to claim 5, characterized in that, The information processing center, based on the radar to be corrected, t Position and velocity information at time 0, and the radar image of the target to be corrected. t The estimated position and estimated velocity at time 0 are used to estimate the target. t Position and velocity information at time 0, including: The information processing center, based on the second error estimation model, determines the accuracy of the radar to be corrected in... t Position and velocity information at time 0, and the radar image of the target to be corrected. t The estimated position and estimated velocity at time 0 are used to obtain the target. t Position and velocity information at time 0; The second error estimation model satisfies the following formula: in, For the first m One goal t Location information at time 0 For the first m One goal t Velocity information at time 0 For the first n The radar to be corrected t Location information at time 0 For the first n The radar to be corrected t Velocity information at time 0 For the first n The radar to be corrected is the first... m The first estimated position and the first estimated velocity of the target.

8. A radar navigation error estimation system based on non-cooperative targets, characterized in that, The system includes: a reference radar, at least one radar to be corrected, and an information processing center; The radar to be corrected is used to acquire... t The first estimate information at time 0 is sent to the information processing center. t The first estimated information at time 0, wherein the first estimated information is used to describe the motion state of the radar to be corrected and the motion state of multiple targets observed by the radar to be corrected; The reference radar is used to acquire... t The second estimate information at time 0 is sent to the information processing center. t The second estimation information at time 0, wherein the second estimation information is used to describe the motion state of the reference radar and the motion state of the target observed by the reference radar; The information processing center is used to... t The first estimation information and the second estimation information at time 0 are used to estimate the error parameters of the radar to be corrected; The information processing center, according to the t The first estimation information and the second estimation information at time 0 are used to estimate the error parameters of the radar to be corrected, including: The information processing center is based on the first error estimation model, according to... t The first estimation information and the second estimation information at time 0 are used to obtain the error parameters of the radar to be corrected, wherein the error parameters include navigation error and navigation error change rate; The information processing center is also used to correct the error based on the error parameters. t The first estimated information at time 0 is used to obtain the target. t Motion parameters at time 0, wherein the motion parameters are used to describe the motion state of the target.

9. An information processing center, characterized in that, The information processing center includes a receiving unit and a processing unit; The receiving unit is used to receive signals from the radar to be corrected. t The first estimate information at time 0, and from the reference radar. t The second estimation information at time 0; wherein, the first estimation information is used to describe the motion state of the radar to be corrected and the motion state of multiple targets observed by the radar to be corrected, and the second estimation information is used to describe the motion state of the reference radar and the motion state of the target observed by the reference radar; The processing unit is configured to, according to, the above t The first estimation information and the second estimation information at time 0 are used to estimate the error parameters of the radar to be corrected; The processing unit is used to process the data according to the... t The first estimation information and the second estimation information at time 0 are used to estimate the error parameters of the radar to be corrected, including: The processing unit is based on the first error estimation model, according to t The first estimation information and the second estimation information at time 0 are used to obtain the error parameters of the radar to be corrected, wherein the error parameters include navigation error and navigation error change rate; The processing unit is further configured to correct the error based on the error parameter. t The first estimated information at time 0 is used to obtain the target. t Motion parameters at time 0, wherein the motion parameters are used to describe the motion state of the target.

10. A radar, characterized in that, The radar includes a detection and processing unit and a transmission unit; The detection processing unit is used to acquire t The first estimation information at time 0, which is used to describe the motion state of the radar and the motion state of multiple targets observed by the radar; The sending unit is used to transmit t The first estimation information at time 0 is sent to the information processing center, so that the information processing center can obtain the radar error parameters based on the first estimation information and the second estimation information from the reference radar, and correct them. t The first estimated information at time 0 is used to obtain the target. t Motion parameters at time 0, wherein the motion parameters are used to describe the motion state of the target, wherein the second estimation information is used to describe the motion state of the reference radar and the motion state of the target observed by the reference radar; wherein the information processing center obtains the radar error parameters based on the first estimation information and the second estimation information from the reference radar, including: The information processing center is based on the first error estimation model, according to... t The first estimation information and the second estimation information at time 0 are used to obtain the error parameters of the radar, wherein the error parameters include navigation error and navigation error change rate.

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