A high-resolution radar area setting method based on ray method

Abstract

The application discloses a high-resolution radar area setting method based on a ray method, relates to the technical field of high-resolution radar detection, and solves the problem of high-resolution radar detection, and comprises the following steps: S1, initializing the coordinates of a distance library, setting data according to a display control interface area, and responding to corresponding area operations; S2, adding an area: calculating the azimuth boundary and the distance boundary of the corresponding area based on area information, and calculating all distance units belonging to the area; S3, updating the area: judging whether the area information corresponding to the distance unit in the area graph needs to be deleted, updating the area information of the corresponding area, and calculating a new area graph; S4, managing an area data link table and an area boundary data link table; and the application determines the processing parameters of the final area to which the area library unit belongs by setting priorities, so as to solve the technical problem of radar cycle processing process blockage caused by the existing radar area setting method.

Description

Technical Field

[0001] This invention belongs to the field of high-resolution radar detection technology, specifically a high-resolution radar area setting method based on the ray method. Background Technology

[0002] High-resolution radar imaging acquires high spatial resolution target images through radar technology. Compared with traditional radar systems, high-resolution radar imaging systems can provide more detailed target information and more accurate location information. For example, VTS (Vessel Traffic Service) shore-based radar uses a large antenna aperture and broadband signal to achieve high-resolution imaging, which can obtain higher azimuth and range resolution, thus providing clearer target images.

[0003] For VTS radar, its coverage area typically includes diverse terrain and environmental conditions, such as water and land areas, variations in terrain elevation, vegetation, fixed buoys, and buildings, all of which affect radar signal propagation and reception. Existing VTS radars mostly apply the same processing parameters across the entire radar coverage area. However, different inspection environments have varying impacts on radar inspection, leading to false alarms or missed detections. It is necessary to make judgments based on different areas and adjust radar parameters and settings accordingly. This requires the calculation of a large amount of data, which may cause data processing congestion and reduce the radar's detection performance. Therefore, there is an urgent need for a high-resolution radar area setting method based on the ray method to achieve regional adjustment of radar parameters and settings, while avoiding data processing congestion caused by concurrent regional calculations, thus achieving higher detection performance. Summary of the Invention

[0004] This invention aims to solve at least one of the technical problems existing in the prior art; to this end, this invention proposes a high-resolution radar region setting method based on the ray method to solve the technical problem that the existing radar region setting method generates a large amount of data, causing the radar periodic processing to be blocked. This invention solves the above problem by setting the region level, calculating the region boundary and updating the region.

[0005] To achieve the above objectives, a first aspect of the present invention provides a high-resolution radar area setting method based on the ray method, comprising the following steps:

[0006] S1. Initialize the coordinates of the range library, convert the polar coordinates of all azimuth range units in the radar range coverage area to rectangular coordinates, and respond to the corresponding area operations according to the area settings data of the display and control interface.

[0007] S2. Adding a region: Based on the region information, calculate the azimuth boundary and distance boundary of the corresponding region, and calculate all distance units belonging to the region; the region information includes the region identifier, region type, region level, region site optimization parameters, and vertex coordinates of the region polygon;

[0008] S3. Update the region: Based on the azimuth boundary and distance boundary of the corresponding region, traverse all distance cells belonging to the region, determine whether the region information corresponding to the distance cell in the region map needs to be deleted, update the region information of the corresponding region, and calculate the new region map.

[0009] S4 manages the region data linked list and the region boundary data linked list.

[0010] This invention divides the radar detection area into multiple detection areas through the above steps, solves the problem of assigning overlapping areas, and sets area information for each detection area. Detection parameters can be set for each area based on the area information, avoiding data processing congestion caused by concurrent area calculations and achieving a higher detection effect.

[0011] As a further aspect of the present invention: S1 includes the following steps:

[0012] S11. Initialize the coordinates of the range library by converting the polar coordinates of all azimuth range units within the radar range coverage area into rectangular coordinates; the azimuth range unit is each pixel that constitutes the high-resolution radar image.

[0013] S12. Wait to receive display and control interface area setting data and respond to the corresponding area operation; the display and control interface area setting is achieved by drawing a polygonal area and assigning parameters through the front-end human-machine interface.

[0014] It is worth noting that this invention simplifies the subsequent calculation process by converting the polar coordinates corresponding to the azimuth distance unit into rectangular coordinates, specifically as follows:

[0015] The radar image is configured to contain Nr×Ns library units;

[0016] The range quantization unit is Δr = Rmax / Nr, and the azimuth quantization unit is Δθ = 360° / Ns, where Rmax is the total radar range and 360° is the radar azimuth coverage area.

[0017] For the azimuth distance unit P i,j Where the distance index i∈(0, Nr-1) and the azimuth index j∈(0, Ns-1), and its polar coordinates P i,j (r, θ), rectangular coordinates P i,j (x,y), where:

[0018] Pr = i × Δr, P.θ = j × Δθ,

[0019] Px = Pr × cosθ, Py = Pr × sinθ, where cos is the cosine function and sin is the sine function.

[0020] Since all distance cells on the same radial direction have the same angle, during the initialization of polar coordinates to rectangular coordinates, it is only necessary to calculate the cosj = cos(j*Δθ) and sinj = sin(j*Δθ) values ​​for the Ns azimuth directions, without needing to calculate the trigonometric function values ​​for the Nr*Ns distance cells. Where:

[0021] Px(i,j)=cosj×i×Δr

[0022] Py(i,j)=sinj×i×Δr

[0023] By utilizing the linear relationship between distance units, the calculation of trigonometric functions can be optimized, saving computational load and reducing the calculation of rectangular coordinate points.

[0024] As a further aspect of the present invention: a high-resolution radar image is formed by receiving and processing electromagnetic waves reflected or scattered by a target object and incident on the radar system, ultimately creating a visual image. The pixels contain three attributes: azimuth, distance, and echo amplitude. The vertex coordinates of the region polygon are represented by polar coordinates, with true north being 0° and azimuth increasing clockwise.

[0025] As a further aspect of the present invention: S2 includes the following steps:

[0026] S21. Calculate and obtain the orientation boundary and distance boundary of the region based on the vertex coordinates of the region polygon in the region information;

[0027] S22. Obtaining the distance boundary of the region includes: calculating the maximum distance value among the vertex coordinates of the region polygon and marking it as Dmax; taking the vertex coordinates of the region polygon where the maximum distance value Dmax is located as the starting point, traversing the distance cells of the entire region from far to near along the distance direction; when a location in the distance library does not belong to the corresponding region, all locations in the distance library with a distance direction smaller than that distance library do not belong to the corresponding region, then setting the distance of the coordinates of that distance library as the minimum distance of the region's distance boundary and marking it as Dmin, thus obtaining the distance boundary range of the region as (Dmin, Dmax);

[0028] S23. Obtaining the azimuth boundary of the region includes: determining whether the coordinate zero point normal passes through the corresponding region.

[0029] No, then the azimuth boundary is denoted by the maximum azimuth value in the coordinates of the polygon vertex as the left azimuth boundary of the corresponding region, labeled Al, and the minimum azimuth value as the right azimuth boundary of the corresponding region, labeled Ar. The range of the azimuth boundary of the region is (Ar, Al).

[0030] If yes, then rotate the coordinates of all vertices of the polygon 180° clockwise, and determine whether the normal to the zero point of the coordinates passes through the corresponding region.

[0031] No, then mark the maximum azimuth value in the coordinates of the vertices of the rotated polygon as Amax' and the minimum azimuth value as Amin'. Calculate the left azimuth boundary Al of the corresponding region before rotation using the formula Al = mod((Amin' + 180°), 360), and calculate the right azimuth boundary Ar of the corresponding region before rotation using the formula Ar = mod((Amax' + 180°), 360). The range of the azimuth boundary of the corresponding region is (Al, 360) ∪ (0, Ar).

[0032] If yes, then set the azimuth boundary of the corresponding area to (0, 360°);

[0033] mod(A,B) is the remainder function, used to find the remainder of A / B;

[0034] S24. Convert the polar coordinates to a rectangular coordinate system, perform regional calculations using the ray method, and determine whether the distance library belongs to the corresponding region.

[0035] This invention divides the radar detection area into various regions through the operation of S2, and calculates the vertex coordinates, boundaries, and range cells contained in each region, so that each region can be clearly displayed on the radar display and control interface, and facilitates the subsequent processing of overlapping range cells.

[0036] As a further aspect of the present invention: the regional parameters include: regional type and regional site optimization parameters; wherein,

[0037] The area types include water areas and land areas;

[0038] The regional site optimization parameters include signal processing, point processing, and track processing parameters.

[0039] As a further aspect of the present invention: S3 includes the following steps:

[0040] S31. Obtain the region information of the area where the distance cell is located;

[0041] S32. Based on the region level in the region information of the corresponding region, identify the region with the highest region level in the corresponding region, assign the region parameter of the region to the distance cell, and delete the region information of the distance cell in other regions.

[0042] S33. Recalculate all range cells in the corresponding area within the radar range and obtain a new area map.

[0043] This invention solves the problem of assigning range cells at overlapping areas through S3, and divides the range cells at overlapping areas into corresponding regions, and deletes the regional information of the range cells in other regions, so that the range cells at overlapping areas will not be calculated repeatedly during radar detection, thereby reducing the amount of calculation in radar detection.

[0044] As a further aspect of the present invention: S4 includes the following steps:

[0045] S41. Update the regional data linked list, including updating each distance library cell in the regional graph and the regional identifier of the region to which it belongs. Save the data after parallel computation is completed.

[0046] S42. Update the region boundary data linked list, including updating the region boundary, and save the data after parallel computation is completed.

[0047] This invention updates the radar detection area in real time via S4, and updates the divided areas within the radar detection area in real time. This avoids the technical problem of increased computation during the radar detection process due to sudden changes in the area, which could lead to blockages in the radar cycle processing.

[0048] Compared with the prior art, the beneficial effects of the present invention are:

[0049] 1. This invention converts the polar coordinates of all azimuth and range units within the radar range coverage area into rectangular coordinates during initialization, avoiding repetitive calculations for each area setting and providing a foundation for optimizing polygon attribution decisions. By calculating the boundary values ​​of polygon azimuth and range, the range of traversed range library units is reduced, further decreasing the computational load of polygon attribution decisions. By setting region-level parameters, the multi-region coverage problem in region drawing is solved. By setting priority, the processing parameters for determining the final region to which the coverage area library unit belongs are determined.

[0050] 2. In this invention, the region boundary data linked list management is used to store the boundary data of the added region for potential deletion and update operations of the region, which further saves the amount of computation;

[0051] 3. This invention optimizes the high-resolution radar region setting algorithm based on the ray method. The region can support arbitrary polygons, which greatly reduces the algorithm complexity. Especially for high-resolution long-range radars with a large number of library units, for polygon regions with an area of ​​1 / n of the radar coverage range, the computational load can be reduced to 1 / n of that under global traversal. This avoids sudden concurrent computations from preempting resources and affecting the radar cycle processing, and has stronger practicality. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a flowchart illustrating the high-resolution radar area setting method based on the ray method of the present invention.

[0054] Figure 2 This is a diagram illustrating the steps of S22 in this invention for obtaining the distance to the boundary of the region.

[0055] Figure 3 This is the logic diagram for obtaining the regional orientation boundary in S23 of this invention;

[0056] Figure 4 This is a schematic diagram of the azimuth range unit in high-resolution radar imaging;

[0057] Figure 5 This is a schematic diagram of the region polygons corresponding to the three regional orientation boundaries in S23 of the present invention;

[0058] Figure 6 This is a schematic diagram of multi-area coverage in radar area settings;

[0059] Figure 7 This is a schematic diagram of the radar multi-area rendering priority processing on the display and control interface;

[0060] Figure 8 This is a schematic diagram showing the result of priority processing for multi-area rendering of the radar on the display and control interface. Detailed Implementation

[0061] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] Please see Figures 1-8 The first aspect of this invention provides a method for setting up a high-resolution radar area based on the ray method, comprising the following steps:

[0063] S1. Initialize the coordinates of the range library, convert the polar coordinates of all azimuth range units in the radar range coverage area to rectangular coordinates, and respond to the corresponding area operations according to the area settings data of the display and control interface.

[0064] S2. Add Region: Calculate the azimuth and distance boundaries of the corresponding region based on the region information, and calculate all distance cells belonging to the region; the region information includes region identifier, region type, region level, region site optimization parameters, and vertex coordinates of the region polygon;

[0065] S3. Update the region: Based on the azimuth boundary and distance boundary of the corresponding region, traverse all distance cells belonging to the region, determine whether the region information corresponding to the distance cell in the region map needs to be deleted, update the region information of the corresponding region, and calculate the new region map.

[0066] S4 manages the region data linked list and the region boundary data linked list.

[0067] S1 includes the following steps:

[0068] S11. Initialize the coordinates of the range library, converting the polar coordinates of all azimuth range units within the radar range coverage area to rectangular coordinates; the azimuth range unit is each pixel that constitutes the high-resolution radar image.

[0069] S12. Wait to receive display and control interface area setting data and respond to the corresponding area operation; the display and control interface area setting is done by drawing the area polygon through the front-end human-machine UI interface and assigning parameter values.

[0070] It is worth noting that this invention simplifies the subsequent calculation process by converting the polar coordinates corresponding to the azimuth distance unit into rectangular coordinates, specifically as follows:

[0071] The radar image is configured to contain Nr×Ns library units;

[0072] The range quantization unit is Δr = Rmax / Nr, and the azimuth quantization unit is Δθ = 360° / Ns, where Rmax is the total radar range and 360° is the radar azimuth coverage area.

[0073] For the azimuth distance unit P i,j Where the distance index i∈(0, Nr-1) and the azimuth index j∈(0, Ns-1), and its polar coordinates P i,j (r, θ), rectangular coordinates P i,j (x,y), where:

[0074] Pr = i × Δr, P.θ = j × Δθ,

[0075] Px = Pr × cosθ, Py = Pr × sinθ, where cos is the cosine function and sin is the sine function. Since all distance cells on the same radial direction have the same angle, during the initialization of polar coordinates to rectangular coordinates, it is only necessary to calculate the cosj = cos(j*Δθ) and sinj = sin(j*Δθ) values ​​for Ns azimuth directions, without needing to calculate the trigonometric function values ​​for Nr*Ns distance cells. Where:

[0076] Px(i,j)=cosj×i×Δr

[0077] Py(i,j)=sinj×i×Δr

[0078] By utilizing the linear relationship between distance units, the calculation of trigonometric functions can be optimized, saving computational load and reducing the calculation of rectangular coordinate points.

[0079] S2 includes the following steps:

[0080] S21. Calculate and obtain the orientation boundary and distance boundary of the region based on the vertex coordinates of the region polygon in the region information;

[0081] S22. Obtaining the distance boundary of the region includes: calculating the maximum distance value among the vertex coordinates of the region polygon and marking it as Dmax; taking the vertex coordinates of the region polygon where the maximum distance value Dmax is located as the starting point, traversing the distance cells of the entire region from far to near along the distance direction; when a location in the distance library does not belong to the corresponding region, all locations in the distance library with a distance direction smaller than that distance library do not belong to the corresponding region, then setting the distance of the coordinates of that distance library as the minimum distance of the region's distance boundary and marking it as Dmin, thus obtaining the distance boundary range of the region as (Dmin, Dmax);

[0082] S23. Obtaining the azimuth boundary of the region includes: determining whether the coordinate zero point normal passes through the corresponding region.

[0083] No, then the azimuth boundary is denoted by the maximum azimuth value in the coordinates of the polygon vertex as the left azimuth boundary of the corresponding region, labeled Al, and the minimum azimuth value as the right azimuth boundary of the corresponding region, labeled Ar. The range of the azimuth boundary of the region is (Ar, Al).

[0084] If yes, then rotate the coordinates of all vertices of the polygon clockwise by 180°, and determine whether the normal of the coordinate zero point passes through the corresponding region.

[0085] No, then mark the maximum azimuth value in the coordinates of the vertices of the rotated polygon as Amax' and the minimum azimuth value as Amin'. Calculate the left azimuth boundary Al of the corresponding region before rotation using the formula Al = mod((Amin' + 180°), 360), and calculate the right azimuth boundary Ar of the corresponding region before rotation using the formula Ar = mod((Amax' + 180°), 360). The range of the azimuth boundary of the corresponding region is (Al, 360) ∪ (0, Ar).

[0086] If yes, then set the azimuth boundary of the corresponding area to (0, 360°);

[0087] mod(A,B) is the remainder function, used to find the remainder of A / B;

[0088] S24. Convert the polar coordinates to a rectangular coordinate system, perform regional calculations using the ray method, and determine whether the distance library belongs to the corresponding region.

[0089] This invention uses the ray casting method for region calculation to determine whether a library cell is inside a region. Specifically, in the region determination calculation, for a region AREA(P1(x1, y1), P2(x2, y2), ..., Pn(xn, yn)), for a given distance cell, a ray γ is drawn in the positive x-axis direction. The number of intersections between ray γ and all edges of the polygon is calculated and denoted as num. If num = 2n + 1, the target point is inside the polygon; if num = 2n, the target point is outside the polygon, where n is a positive integer. For a distance cell P(x, y), it is determined whether it intersects with P1-P2.

[0090] Py≥min(P1.y,P2.y)&&P.y≤max(P1.y,P2.y)

[0091] Px≤(Py-P1.y)*(P2.x-P1.x) / (P2.y-P1.y)+P1.x

[0092] When both Equation 1 and Equation 2 are satisfied, it means that point P intersects with line P1-P2, where Px and Py are the x and y coordinates of point P, respectively, and the same applies to P1 and P2.

[0093] This invention divides the radar detection area into various regions through the operation of S2, and calculates the vertex coordinates, boundaries, and range cells contained in each region, so that each region can be clearly displayed on the radar display and control interface, and facilitates the subsequent processing of overlapping range cells.

[0094] S3 includes the following steps:

[0095] S31. Obtain the region information of the area where the distance cell is located;

[0096] S32. Based on the region level in the region information of the corresponding region, identify the region with the highest region level in the corresponding region, assign the region parameter of the region to the distance cell, and delete the region information of the distance cell in other regions.

[0097] S33. Recalculate all range cells in the corresponding area within the radar range and obtain a new area map.

[0098] This invention solves the problem of assigning range cells at overlapping areas through S3, and divides the range cells at overlapping areas into corresponding regions, and deletes the regional information of the range cells in other regions, so that the range cells at overlapping areas will not be calculated repeatedly during radar detection, thereby reducing the amount of calculation in radar detection.

[0099] S4 includes the following steps:

[0100] S41. Update the regional data linked list, including updating each distance library cell in the regional graph and the regional identifier of the region to which it belongs. Save the data after parallel computation is completed.

[0101] S42. Update the region boundary data linked list, including updating the region boundary, and save the data after parallel computation is completed.

[0102] The parallel computing mainly optimizes the system initialization area settings and the continuous operation area settings of the display and control terminal. All area assignments in the parallel computing utilize atomic operations.

[0103] This invention updates the radar detection area in real time via S4, and updates the divided areas within the radar detection area in real time. This avoids the increase in computation during the radar detection process caused by sudden changes in the area, which could lead to technical problems such as blockage in the radar cycle processing. In one embodiment of this invention, to ensure that the area information on the front-end display and control interface is consistent with the back-end calculation area information, the area is updated simultaneously when the parameters are changed.

[0104] Regional parameters include: regional type and regional site optimization parameters. Among them,

[0105] Area types, including water and land, provide a reference for subsequent signal and data processing methods, such as prohibiting land target tracks for VTS radar.

[0106] Regional site optimization parameters include signal processing, spot processing, and track processing parameters, such as CFAR type and threshold, cohesion threshold and gate, takeoff approval rules, and speed.

[0107] In one embodiment of the present invention, the minimum distance of the boundary region can also be determined by setting all directions of n consecutive distance databases to not belong to the region. When n=2, that is, when all directions of two consecutive distance databases do not belong to the region, the distance database is determined to be the minimum distance of the boundary region. There are a total of 6 region levels, with a maximum of 5, set to 0 / 1 / 2 / 3 / 4 / 5. The CFAR processing type in the signal processing region parameters includes ignore, shield, land CFAR, water surface CFAR, and region CFAR.

[0108] A high-resolution radar image is a visual image formed by receiving and processing electromagnetic waves that are reflected or scattered by a target object and then incident on the radar system. The pixels contain three attributes: azimuth, range, and echo amplitude. The vertex coordinates of the region polygon are represented by polar coordinates, with true north as 0° and azimuth increasing clockwise.

[0109] Please combine Figures 1-8 The processing results of the high-resolution radar region setting method based on the ray method of this invention are shown. The experimental data are the raw echo data accumulated and output by the VTS radar azimuth sliding window in real time. The azimuth resolution is divided into 4096 azimuth resolution units and the range resolution is divided into 4096 range resolution units, for a total of 4096*4096 azimuth and range units in the global region. This invention converts the polar coordinates corresponding to all azimuth and range units within the radar range coverage area to rectangular coordinates during initialization, avoiding repeated calculations for each region setting and providing a basis for optimizing polygon assignment decisions. This invention further reduces the computational load of polygon assignment decisions by calculating the boundary values ​​of the polygon azimuth and range directions, thus narrowing the range of traversed range units. The region boundaries in this invention... A data linked list is used to store the boundary data of added regions for potential deletion and update operations, further saving computational resources. This invention introduces region-level parameters to solve the problem of multi-region coverage in region drawing. The processing parameters of the region to which the coverage region library unit finally belongs are determined by setting priority. This invention optimizes the high-resolution radar region setting algorithm based on the ray method. Regions can support arbitrary polygons, which greatly reduces the algorithm complexity. Especially for high-resolution long-range radars with a large number of library units, for polygon regions with an area of ​​1 / n of the radar coverage range, the computational workload can be reduced to 1 / n of that under global traversal, avoiding sudden concurrent computations that preempt resources and affect the radar cycle processing, thus having greater practicality.

[0110] Some of the data in the above formula are calculated by removing dimensions and taking their numerical values. The formula is the closest to the real situation obtained by software simulation of a large amount of collected data. The preset parameters and preset thresholds in the formula are set by those skilled in the art according to the actual situation or obtained through simulation of a large amount of data.

[0111] The above embodiments are only used to illustrate the technical methods of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical methods of the present invention without departing from the spirit and scope of the technical methods of the present invention.

Claims

1. A high resolution radar zone setting method based on ray method, characterized by, The method comprises the following steps: S1, initializing the coordinates of the distance library, converting the polar coordinates corresponding to all azimuth-distance cells in the radar range coverage into rectangular coordinates, and responding to the corresponding region operation according to the region setting data of the display control interface; S2, adding a region: calculating the azimuth boundary and the distance boundary of the corresponding region based on the region information, and calculating all distance cells belonging to the region; the region information comprises a region identification number, a region type, a region level, a region position optimization parameter and vertex coordinates of a region polygon; S3, updating a region: based on the azimuth boundary and the distance boundary of the corresponding region, traversing all distance cells belonging to the region, judging whether the region information corresponding to the distance cells in the region map needs to be deleted, updating the region information of the corresponding region, and calculating a new region map; S4, managing a region data linked list and a region boundary data linked list; The S2 comprises the following steps: S21, calculating the sector boundary information of the polygon based on the vertex coordinates of the region polygon in the region information, that is, obtaining the azimuth boundary and the distance boundary of the region; S22, obtaining the distance boundary of the region comprises: calculating the maximum distance value in the vertex coordinates of the region polygon, and marking it as Dmax; taking the vertex coordinates of the region polygon where the maximum distance Dmax is located as a starting point, traversing the distance cells of the entire region from far to near along the distance direction, when the azimuth of the distance library does not belong to the corresponding region, the distance of the distance library is set as the minimum distance of the distance boundary of the region, and it is marked as Dmin; S23, obtaining the azimuth boundary of the region comprises: judging whether the normal line of the coordinate zero point passes through the corresponding region, No, the azimuth boundary is marked as the left boundary Al of the corresponding region with the maximum azimuth in the vertex coordinates of the polygon, and the minimum azimuth is marked as the right boundary Ar of the corresponding region, and the range of the azimuth boundary of the region is (Ar, Al); Yes, rotating all vertex coordinates of the polygon clockwise by 180°, judging whether the normal line of the coordinate zero point passes through the corresponding region, No, the maximum azimuth in the vertex coordinates of the rotated polygon is marked as Amax', the minimum azimuth is marked as Amin', the left boundary Al of the corresponding region before rotation is calculated through the formula Al=mod ((Amin'+180°), 360), the right boundary Ar of the corresponding region before rotation is calculated through the formula Ar=mod ((Amax'+180°), 360), and the range of the azimuth boundary of the corresponding region is (Al, 360)∪(0, Ar); Yes, the range of the azimuth boundary of the corresponding region is set as (0, 360°); Wherein mod (A, B) is a remainder function of A / B; S24, converting the polar coordinates into a rectangular coordinate system, performing region calculation through the ray method, and judging whether the distance library belongs to the corresponding region.

2. The high-resolution radar zoning method based on the ray method according to claim 1, wherein, The S1 comprises the following steps: S11, initialize the coordinates of the distance library, convert the polar coordinates corresponding to all azimuth and distance cells in the radar range coverage into rectangular coordinates; the azimuth and distance cell is each pixel point constituting a high-resolution radar image; S12, wait to receive the display and control interface region setting data, and respond to the corresponding region operation; the display and control interface region setting is to draw a region polygon through the front-end human-computer UI interface and perform a parameter assignment operation.

3. The high-resolution radar zoning method based on ray method according to claim 2, wherein, The pixel point contains three attributes of azimuth, distance and echo amplitude; the vertex coordinates of the region polygon are represented by polar coordinates, and the north direction is 0°, and the azimuth increases clockwise.

4. The high resolution radar zoning method based on ray method according to claim 1, wherein, The region parameters include: region type and region position optimization parameters; wherein, The region type includes water area and land, which provides a reference for subsequent signal and data processing methods, and prohibits land target track for VTS radar; The region position optimization parameters include signal processing, plot processing and track processing parameters, CFAR type and threshold, condensation threshold and wave door, starting batch criterion and speed.

5. The high resolution radar zoning method based on ray method according to claim 1, wherein, The S3 includes the following steps: S31, obtain the number of regions where the distance unit is located and the region information of the corresponding region; S32, confirm the region with the highest region level in the corresponding region through the region level in the region information of the corresponding region, and assign the region parameters of the region to the distance unit, and delete part of the region information of the distance unit in other regions; S33, recalculate all distance units in the corresponding region in the radar range, and obtain a new region map.

6. The high resolution radar zoning method based on ray method according to claim 1, wherein, The S4 includes the following steps: S41, update the region data link table, including updating each distance library unit in the region map and the region identification number of the region, and saving the data after the calculation is completed; S42, update the region boundary data link table, including updating the region boundary of the region, and saving the data after the calculation is completed.

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