Radar-based dud identification and positioning method and device

Abstract

The invention discloses a radar-based dud identification and positioning method and device. The radar-based dud identification and positioning method comprises the following steps: firstly configuring radar working parameters by a display control terminal; then receiving target trace point data returned by the radar; the method comprises the following steps: acquiring target trace point data, performing flight establishment processing on the target trace point data, comparing the target trace point data after the flight establishment processing with shell characteristics to screen a target track, and identifying and positioning a dud according to the screened target track by judging whether fragment information exists at the last position of the target track; due to the fact that the radar is not sensitive to smoke, fire light and dust, the radar can accurately identify and position duds in continuous or simultaneous multi-shot multi-wave shooting tasks, the coverage airspace of the radar to a target area is large, and abnormal shells with large target deviation are more easily captured so that after-event explosive disposal can be facilitated.

Description

Technical Field

[0001] The present invention relates to the field of radar measurement technology, and in particular to a radar-based dud bomb identification and positioning method and device. Background Art

[0002] When conducting live-fire exercises at land-based target ranges during routine exercises and training missions, duds may cause safety hazards in the area and affect subsequent use of the target range. Therefore, it is particularly important to accurately identify and locate the duds during the bomb disposal process.

[0003] At present, high-speed cameras or infrared equipment can accurately identify and locate duds in the case of single shots or continuous shots with long intervals. However, they cannot identify and locate duds when the artillery shells fire multiple shots and waves at the target area continuously or simultaneously, or when the projectiles are abnormally off-target with a large deviation. This is because the terminal speed of the projectile is relatively fast (above subsonic speed). When multiple projectiles enter the target area continuously or simultaneously, they are affected by the smoke, flames, dust, and debris generated by the explosion. High-speed cameras or infrared equipment cannot accurately distinguish and locate targets in the environment. In addition, the field of view of the optical equipment is small, making it difficult to capture abnormal targets with a large deviation, resulting in difficulty in bomb disposal afterwards. Summary of the invention

[0004] The purpose of the present invention is to design a radar-based dud identification and positioning method in order to solve the above-mentioned problem.

[0005] The present invention achieves the above-mentioned purpose through the following technical solutions: The radar-based dud bomb identification and location method includes the following steps: Configure radar operating parameters; Receiving target point trace data returned by the radar; Performing navigation processing on the target point trace data; The target point track data after the navigation process is compared with the shell characteristics to screen the target track, and the dud is identified and located based on the screened target track.

[0006] The present invention further proposes a radar-based dud bullet identification and positioning device, which is used to implement the above-mentioned radar-based dud bullet identification and positioning method, and the radar-based dud bullet identification and positioning device includes: A radar, a display and control terminal and a mounting part, wherein the display and control terminal is connected to the radar and the mounting part respectively; The mounting member is used to set up the radar, and the radar is used to measure the terminal trajectory and explosion fragments of the shell in the target area and output corresponding target point trace signals; The display and control terminal is used to control the mounting part to adjust the radar to a preset elevation angle and a preset azimuth angle, and to control the radar to measure the terminal trajectory and explosion fragments of the shell in the target area, and to identify and locate duds according to the target point trace signal.

[0007] The beneficial effects of the present invention are: In the radar-based dud identification and positioning method, the display and control terminal first configures the radar working parameters; then receives the target point track data sent back by the radar; then the target point track data is processed for navigation, and the target point track data after navigation processing is compared with the shell characteristics to screen the target track, and then the dud is identified and positioned according to the screened target track; due to the radar's insensitivity to smoke, fire and dust, it can accurately identify and position duds in continuous or simultaneous multi-shot and multi-wave shooting tasks, and it covers a large airspace of the target area, making it easier to capture abnormal shells with large deviations from the target, so as to facilitate subsequent bomb disposal. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a schematic diagram of the process of the radar-based dud bomb identification and positioning method of the present invention; Figure 2 It is an overall block diagram of the radar-based dud bomb identification and positioning device of the present invention; Figure 3 It is a schematic structural diagram of a radar-based dud bomb identification and positioning device of the present invention; Figure 4 It is a schematic diagram of the radar structure of the radar-based dud bomb identification and positioning device of the present invention; Figure 5 It is a schematic diagram of a typical application scenario of the radar-based dud bullet identification and positioning device of the present invention; Figure 6 A coverage diagram of the antenna array beam of the radar-based dud identification and positioning device of the present invention; Figure 7 It is a real-time automatic identification and positioning effect diagram of the explosive shells of the display and control terminal; Figure 8 This is a real-time automatic identification and positioning effect diagram of the display and control terminal; In the figure: 1-transmitting array, 2-Beidou antenna, 3-Beidou combination module, 4-receiving array, 5-azimuth turntable, 6-mounting bracket, 7-pitch adjustment component, 8-processor, 9-frequency synthesizer, 10-power module, 11-display and control terminal, 12-wave controller, 41-receiver. DETAILED DESCRIPTION

[0009] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0010] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0011] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0012] In the description of the present invention, it should be understood that the terms "upper", "lower", "inside", "outside", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use, or are directions or positional relationships commonly understood by those skilled in the art. These directions or positional relationships are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0013] Furthermore, the terms “first”, “second”, etc. are merely used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0014] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms such as "setting" and "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0015] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings.

[0016] like Figure 1-8 As shown, the radar-based dud bomb identification and positioning method includes the following steps: Configure radar operating parameters; Receiving target point trace data returned by the radar; Carrying out navigation processing on the target point trace data; The target point track data after the navigation process is compared with the shell characteristics to screen the target track, and the dud is identified and located based on the screened target track.

[0017] In one embodiment, the step of configuring radar operating parameters is specifically as follows: Sending the radar operating parameters to the radar; Adjusting the radar to a preset elevation angle and a preset azimuth angle; The radar is controlled to measure the terminal trajectory and explosion fragments of the shells in the target area and output corresponding target point trace data.

[0018] In one embodiment, the steps of identifying and locating the dud according to the selected target track are specifically as follows: The last point of the selected target track is used as the shell landing point; Taking the landing point of the shell as the time start and the position center, the number of fragments is counted within a preset time range and a preset space range; The number of fragments is compared with the fragment threshold. If the number of fragments is greater than the fragment threshold, it is identified as an explosion, otherwise it is a dud.

[0019] In this embodiment, the display and control terminal configures the radar working parameters according to the actual situation in the target area, that is, the radar working parameters are first sent to the radar, and the radar is adjusted to a preset elevation angle and a preset azimuth angle through the mounting part; then the radar is controlled to measure the terminal trajectory and explosion fragments of the shells in the target area and output the corresponding target point track data; finally, the target point track data returned by the radar is processed by navigation and compared with the shell characteristics to screen the target track, and the duds are identified and located through the screened target track. Specifically, the last point of the screened target track is used as the shell landing point, and the shell landing point is used as the time start and position center. The number of fragments is counted within a preset time and preset space range, and the number of fragments is compared with the fragment threshold. If the number of fragments is greater than the fragment threshold, it is identified as an explosion, otherwise it is a dud. The landing point position information of the dud can be obtained by using the Beidou combination module in the radar to convert the local coordinate system input into the coordinate output required by the user, thereby completing the identification and positioning of the dud, so as to facilitate the advancement of the bomb disposal task.

[0020] In the radar-based dud identification and positioning method of the present invention, the display and control terminal first configures the radar working parameters; then receives the target point track data sent back by the radar; then performs navigation processing on the target point track data, and compares the target point track data after the navigation processing with the shell characteristics to screen the target track, and then identifies and locates the dud according to the screened target track; due to the radar's insensitivity to smoke, fire and dust, it can accurately identify and locate the dud in continuous or simultaneous multi-shot and multi-wave shooting tasks, and it covers a large airspace of the target area, making it easier to capture abnormal shells with large deviations from the target, so as to facilitate subsequent bomb disposal.

[0021] In one embodiment, the radar-based dud identification and location method further includes the following steps: Storing the radar operating parameters, target point track data and target track; The stored radar operating parameters, target point track data and target track are replayed and analyzed to verify the identification and positioning results of the dud.

[0022] In this embodiment, the display and control terminal can store radar operating parameters, target point track data, target track data, etc. The user can replay and analyze a certain data on site or afterwards to facilitate the observation of the target track; if an "explosive" point track distribution appears at the end of the target track, combined with the speed, direction, signal-to-noise ratio and radar field of view in the target track data, it can be comprehensively judged whether the shell exploded and its landing point location information, such as Figure 7 and Figure 8 As shown, Figure 7 For the real-time automatic identification and positioning effect of the explosive bomb display and control terminal, Figure 8 The real-time automatic recognition and positioning effect of the dumb bullet display and control terminal is more accurate and can meet the user's usage requirements.

[0023] The present invention also proposes a radar-based dud identification and positioning device, which is used to implement the above-mentioned radar-based dud identification and positioning method; the specific structure of the multi-false target interference modulation method based on normalization processing refers to the above-mentioned embodiment. Since the radar-based dud identification and positioning device adopts all the technical solutions of all the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which are not repeated here one by one.

[0024] In one embodiment, the radar-based dud identification and positioning device includes: Radar, display and control terminal 11 and mounting parts, wherein the display and control terminal 11 is connected to the radar and the mounting parts respectively; The mounting member is used to set up the radar, and the radar is used to measure the terminal trajectory and explosion fragments of the shell in the target area and output corresponding target point trace signals; The display and control terminal 11 is used to control the mounting part to adjust the radar to a preset elevation angle and a preset azimuth angle, and to control the radar to measure the terminal trajectory and explosion fragments of the shell in the target area, and to identify and locate duds according to the target point trace signal.

[0025] In one embodiment, the radar is a linear frequency modulation continuous wave KU band radar.

[0026] In one embodiment, the radar-based dud identification and positioning device further includes: A power supply module 10 is connected to the radar, the mounting component and the display and control terminal 11 respectively, and is used to provide corresponding working power to the radar, the mounting component and the display and control terminal 11 respectively.

[0027] In one embodiment, the mounting member includes an azimuth turntable 5, a pitch adjustment assembly 7 and a mounting bracket 6; The mounting bracket 6 is installed on the ground, the azimuth turntable 5 and the pitch adjustment component 7 are arranged on the mounting bracket 6, the azimuth turntable 5 is connected to the display and control terminal 11, and the pitch adjustment component 7 is used to adjust the radar to a preset elevation angle; The display and control terminal 11 is also used to control the azimuth turntable 5 to adjust the radar to the preset azimuth angle.

[0028] In one embodiment, the radar-based dud identification and positioning device also includes a UDP network communication module, which is arranged between the radar and the display and control terminal 11, and the UDP network communication module is used to establish a communication connection between the display and control terminal 11 and the radar.

[0029] In this embodiment, the power module 10 supports two external power sources, DC24V and AC220V, and can output three universal types of power supplies, 5V, 12V, and 24V, to provide the radar, the azimuth turntable 5, and the display and control module with the required working power; the mounting parts are implemented by the azimuth turntable 5, the pitch adjustment component 7, and the mounting bracket 6, and the mounting surface is provided with a mechanical positioning slider for quick assembly; specifically, the azimuth turntable 5 is inserted into the center hole of the mounting bracket 6 and fastened with screws, and the azimuth turntable 5 is also connected to the display and control terminal 11, which can control the azimuth turntable 5 to preset the azimuth angle, that is, to adjust the radar to the preset azimuth angle so that the radar's sky The linear array surface faces the target area, and the working power provided by the power module 10 can be input from the bottom of the azimuth turntable 5, and then transmitted to the radar through the merge ring inside the azimuth turntable 5; the pitch adjustment component 7 is installed on the mounting bracket 6, and the pitch adjustment component 7 and the azimuth turntable 5 are fixed with screws. The user can adjust the radar to a preset elevation angle by shaking the screw at the bottom of the mounting bracket 6. The preset elevation angle range is -2° to 6° to ensure that the radar antenna array surface and the target area are directly unobstructed, so as to facilitate the monitoring of the target area airspace when the radar enters the normal working mode; the mounting bracket 6 is installed on the ground, which has a leveling function, provides a simple installation platform, and has the advantages of rapid folding, unfolding and deployment in the field.

[0030] In this embodiment, the radar can be implemented by a KU band radar of a linear frequency modulation continuous wave system. The linear frequency modulation continuous wave system is easy to obtain a higher ranging resolution. The transmitting and receiving arrays are separated to improve the system time utilization rate, thereby achieving high time and high spatial resolution of the target, and further realizing the stable interception of high-speed small targets. Among them, the average repetition period is 84us, the effective use time width is 51.2us, the use bandwidth is 100MHz, and the calculated ranging resolution is 1.5m. When 45 wave positions are scanned in azimuth and each wave position stays for 3 repetition periods, a radar scanning cycle is: 45*3*84=11.34ms, that is, the trajectory measurement data rate is 88Hz; the KU band is suitable for the size and wavelength of artillery shell targets and has good reflection characteristics. While ensuring the system power and angle measurement accuracy, the weight and size are moderate, so as to facilitate deployment, withdrawal and transportation in the field environment.

[0031] In this embodiment, the radar includes an antenna array, a frequency synthesizer 9, a processor 8, a beam controller 12, a Beidou antenna 2 and a Beidou combination module 3; wherein the antenna array includes a transmitting array 1 and a receiving array 4, both of which use slot antennas, with a wide beam pitch and a beam width of 7.5°, a 48-channel linear array arrangement for scanning azimuth, and a phased array electronic scanning method. One scanning cycle has a total of 45 beam positions to complete a -45° to 45° airspace scan. In addition, the transmitting array 1 includes a transmitting antenna array and a T component, the T component is connected to the transmitting antenna array, the receiving array 4 includes a receiving antenna array, an R component and a receiver 41, the R component is connected to the receiving antenna array and the receiver 41 respectively, and the receiver 41 is also connected to the processor 8; the radiation power of each T component channel in the transmitting array 1 is 2W, the spatial synthesis transmission power is 96W, the receiving array 4 has an azimuth synthesis main beam width of 2.5° under the low side lobe weighting of the beam synthesis, and the receiving array 4 adopts a half array scheme to form a sum and difference beam, and then down-converts the sum and difference signals to intermediate frequency signals through the receiver 41. The frequency synthesizer 9 uses two signal sources to synthesize the local oscillator signal and the excitation signal, wherein the frequency of the local oscillator signal is 60MHz higher than that of the excitation signal. The frequency synthesizer 9 adopts a superheterodyne radio frequency signal scheme, and its receiver 41 mixes the two received signal sources to the intermediate frequency signal, so as to facilitate the intermediate frequency filtering process to filter out the low frequency noise of the system, thereby ensuring the detection sensitivity of the system. In this embodiment, the processor 8 is implemented by an AD collector and a signal processing circuit. The AD collector converts the echo signal into a digital signal and performs data processing to obtain the target point trace signal, and transmits the target point trace signal to the display and control terminal 11; the signal processing circuit can generate the timing required by the system, as well as the control and information summary of each subsystem to ensure the stable operation of the system and improve the reliability of the system; the signal processor 8 receives the sum and difference channel intermediate frequency signals of the receiving array 4, and after completing digital sampling using a 200MHz clock according to the Lequist intermediate frequency bandpass sampling theorem, performs digital down-conversion, filtering and extraction into a 20MHz baseband digital signal and performs 1024-point FFT and 3MTI processing, uses a clutter map as the detection background to complete target detection, adopts the sum and difference beam amplitude ratio method to resolve the target azimuth, and screens the target point traces to improve the quality of the output point trace information.

[0032] In this embodiment, the wave controller 12 receives the external timing instruction signal and controls the operation of the T component and the R component according to the timing instruction signal to ensure the stability of the system clock timing. In this embodiment, the volume and weight of the transmitting array 1 and the receiving array 4 are moderate to ensure the detection range and angle measurement accuracy of the projectile.

[0033] In this embodiment, the Beidou antenna 2 is connected to the Beidou combination module 3 through an SMA (SubMiniature version A connector, mini version A) connector, and the Beidou combination module 3 is powered by a power module 10, which transmits the positioning, orientation, timing and electronic horizontal indication information to the processor 8 through the SMA connector. The original point track and track information obtained by the radar-based dumb bomb identification and positioning device is the radar target coordinate system to output the target distance and azimuth angle; combined with the Beidou self-positioning and orientation data, the target coordinate system can be converted to the WGS84 coordinate system. The Beidou combination module 3 has the origin translation and azimuth rotation, and can convert the radar target coordinate system into a user-defined local coordinate system to output the target point track signal.

[0034] In this embodiment, the display and control terminal 11 can be set at the radar according to actual conditions, or the display and control terminal 11 can be set in the command hall through a wireless network to complete the control of the radar and the processing, storage and display of its return information, so as to automatically identify and locate duds in real time. The display and control terminal 11 can also replay and analyze the stored historical data to facilitate the user's subsequent review and manual verification. Among them, the display and control terminal 11 can exchange data with the radar through the UDP (User Datagram Protocol) network communication module. The display and control terminal 11 receives the target point track signal output by the radar, performs navigation processing, and performs track screening processing on the track according to the basic characteristics of the shell to screen the completed target track, and takes the last measured point on the route as the landing point, and takes the landing point as the center and the time start, and counts the fragment point tracks within a certain space and time range to determine whether it is a dud. If the number of fragments is greater than the fragment threshold, it is identified as an explosion, otherwise it is a dud. The radar coordinate system can be converted into a user-defined local coordinate system to obtain the landing point position of the dud. In addition, the user can observe the displayed point tracks on-site or after the data playback, such as Figure 7 and Figure 8 As shown in the figure, if an "explosive" point distribution appears at the end of the track, combined with the speed, direction, signal-to-noise ratio and radar field of view in the track data, a comprehensive judgment is made on whether the shell exploded and the landing point information to meet the user's requirements.

[0035] In this embodiment, the radar-based dud identification and positioning device adopts a modular design, with dimensions of 549.5mm*160mm*894mm in length, width and height, and a weight of about 60Kg. A carrying handle is provided on the side of the radar, so as to be suitable for field assembly, disassembly and transportation. Among them, the radar installation point selection and angle preset are simple, and the radar measurement information can be controlled and displayed in real time through the display and control terminal 11 to automatically complete the dud identification and positioning analysis of the artillery shells. The device has high integration, high reliability, and low operating difficulty, and is suitable for shooting tasks in a shooting range in a field environment.

[0036] The radar-based dud shell identification and positioning device of the present invention provides the required working power to the radar, the display and control terminal 11 and the mounting part through the power module 10. After the display and control terminal 11 controls the mounting part to adjust the radar to a preset position, the radar is controlled to measure the terminal trajectory and explosion fragments of the shell in the target area, and the terminal trajectory of the shell is constructed according to the target point trace signal to complete the identification and positioning of the dud shell. The radar in the present invention covers a large airspace of the target area and is more likely to capture abnormal shells with large deviations from the target; it can improve the recognition and positioning probability and environmental adaptability of dud shells in continuous or simultaneous multi-shot and multi-wave shooting tasks; and it adopts an integrated design, which is more convenient to carry, deploy and withdraw, so as to meet the needs of deployment and use in field shooting ranges.

[0037] The radar-based dud identification and positioning device of the present invention has a detection distance of 1.2 km (RCS = 0.01 m) for typical artillery shells. 2 ), the maximum azimuth scanning range is -45 to 45°, and the longest time to complete an airspace detection is 11.34ms. The beam scanning range and working mode can be adjusted through the display and control terminal 11 in combination with actual use to reduce the airspace detection time and improve its adaptability to the measurement of different artillery shells.

[0038] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for identifying and locating duds based on radar, characterized in that: The radar-based dud bomb identification and positioning method comprises the following steps: Configure radar operating parameters; Receiving target point trace data returned by the radar; Carrying out navigation processing on the target point trace data; The target point track data after the navigation process is compared with the shell characteristics to screen the target track, and the dud is identified and located based on the screened target track.

2. The radar-based dud identification and positioning method according to claim 1, characterized in that: The steps of configuring the radar operating parameters are specifically as follows: Sending the radar operating parameters to the radar; Adjusting the radar to a preset elevation angle and a preset azimuth angle; The radar is controlled to measure the terminal trajectory and explosion fragments of the shells in the target area and output corresponding target point trace data.

3. The radar-based dud identification and positioning method according to claim 1, characterized in that: The steps of identifying and locating the dud according to the selected target track are specifically as follows: The last point of the selected target track is used as the shell landing point; Taking the landing point of the shell as the time start and the position center, the number of fragments is counted within a preset time range and a preset space range; The number of fragments is compared with the fragment threshold. If the number of fragments is greater than the fragment threshold, it is identified as an explosion, otherwise it is a dud.

4. The radar-based dud identification and positioning method according to claim 1, characterized in that: The radar-based dud bomb identification and positioning method also includes the following steps: Storing the radar operating parameters, target point track data and target track; The stored radar operating parameters, target point track data and target track are replayed and analyzed to verify the identification and positioning results of the dud.

5. A radar-based dud identification and positioning device, characterized in that: The radar-based dud identification and positioning device is used to implement the radar-based dud identification and positioning method according to any one of claims 1 to 4, and the radar-based dud identification and positioning device includes: A radar, a display and control terminal and a mounting part, wherein the display and control terminal is connected to the radar and the mounting part respectively; The mounting member is used to set up the radar, and the radar is used to measure the terminal trajectory and explosion fragments of the shell in the target area and output corresponding target point trace signals; The display and control terminal is used to control the mounting part to adjust the radar to a preset elevation angle and a preset azimuth angle, and to control the radar to measure the terminal trajectory and explosion fragments of the shell in the target area, and to identify and locate duds according to the target point trace signal.

6. The radar-based dud identification and positioning device according to claim 5, characterized in that: The radar is a linear frequency modulation continuous wave KU band radar.

7. The radar-based dud identification and positioning device according to claim 5, characterized in that: The radar-based dud identification and positioning device also includes: A power supply module, wherein the power supply module is respectively connected to the radar, the mounting piece and the display and control terminal, and the power supply module is used to provide corresponding working power to the radar, the mounting piece and the display and control terminal respectively.

8. The radar-based dud identification and positioning device according to claim 5, characterized in that: The mounting parts include an azimuth turntable, a pitch adjustment assembly and a mounting bracket; The mounting bracket is installed on the ground, the azimuth turntable and the pitch adjustment component are arranged on the mounting bracket, the azimuth turntable is connected to the display and control terminal, and the pitch adjustment component is used to adjust the radar to the preset elevation angle; The display and control terminal is also used to control the azimuth turntable to adjust the radar to the preset azimuth angle.

9. The radar-based dud identification and positioning device according to claim 5, characterized in that: The radar-based dud identification and positioning device also includes a UDP network communication module, which is arranged between the radar and the display and control terminal, and is used to establish a communication connection between the display and control terminal and the radar.

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