Radar shielding angle calculation method and device, equipment and storage medium

Abstract

The invention discloses a radar shielding angle calculation method, apparatus and device, and a storage medium. The method comprises the steps of obtaining topographic data including a to-be-measured range, a radar antenna top end coordinate and an elevation; extracting terrain elevation point data according to the terrain data in the to-be-measured range; acquiring obstacle elevation point data in the to-be-measured range, and combining the obstacle elevation point data with the terrain elevation point data to obtain ground feature elevation point data; calculating a radar shielding angle of each elevation point according to the top end coordinate and elevation of the radar antenna and the coordinate and elevation of each elevation point in the ground object elevation point data; grouping the ground object elevation point data according to a set angle interval by taking the top end of the radar antenna as a circle center; each group approximately represents one direction, and the maximum radar shielding angle in each group is recorded as the radar shielding angle in each direction. According to the method, the direction is approximately replaced by the angle range, and elevation points in the 360-degree range participate in operation, so that data omission is avoided.

Description

Technical Field

[0001] The present invention belongs to the field of radar technology, and in particular relates to a radar shielding angle calculation method, device, equipment and storage medium. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Radar shielding angle refers to the angle range in which radar waves cannot detect targets due to obstruction by ground objects or other objects in the radar system. The size of the radar shielding angle depends on factors such as terrain, antenna height, and target height, and can provide an important basis for the site selection of radar stations and the design of antenna height.

[0004] The traditional method of calculating obstructions is to use the cross-section method, draw multiple (for example, 144, i.e., 2.5 degree intervals) direction lines evenly within the area with the radar antenna as the center, sample the elevation points on each direction line at equal intervals, calculate the shielding angle of these elevation points for the radar antenna, and then extract the maximum shielding angle of each direction line by statistics. However, since this method only samples the elevation points on the direction line, the data within every two direction lines will no longer be included in the calculation. It is understandable that the area between every two direction lines is a fan-shaped area. As the distance from the radar increases, more and more elevation points are not included in the calculation, and isolated obstacles may be missed. Therefore, the larger the range to be measured, the more likely it is that important data will be missing.

[0005] In addition, in order to reduce the workload and improve the degree of automation in the process of calculating the shielding angle, the prior art proposes a method of batch extracting elevation points based on terrain data such as contour lines and DEM (ground elevation model), and uses this to calculate the shielding angle. However, these methods only consider the possible obstruction of radar detection by the terrain, and do not consider the obstruction of ground obstacles such as vegetation and buildings. Summary of the invention

[0006] In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a radar shielding angle calculation method, device, equipment and storage medium. The angle range is used to approximately replace the direction, and all elevation points within the 360-degree range are involved in the calculation, avoiding data omission.

[0007] To achieve the above object, a first aspect of the present invention provides a radar shielding angle calculation method, comprising the following steps:

[0008] Obtain terrain data including the range to be measured, the coordinates and elevation of the top of the radar antenna, and determine the range to be measured with the top of the radar antenna as the center and the set distance as the radius;

[0009] Extracting terrain elevation point data within the range to be measured based on the terrain data within the range to be measured;

[0010] Obtaining obstacle elevation point data within the range to be measured, and merging the data with the terrain elevation point data to obtain terrain elevation point data;

[0011] Calculate the radar shielding angle of each elevation point according to the coordinates and elevation of the top of the radar antenna and the coordinates and elevation of each elevation point in the terrain elevation point data;

[0012] Taking the top of the radar antenna as the center of the circle, the ground feature elevation point data are grouped according to the set angle intervals;

[0013] The elevation point corresponding to the largest radar shielding angle in each group is selected, and each group is used to approximately represent a direction to obtain the radar shielding angle in each direction.

[0014] A second aspect of the present invention provides a radar shielding angle calculation method, comprising the following steps:

[0015] Obtain terrain data including the range to be measured, the coordinates and elevation of the top of the radar antenna, and determine the range to be measured with the top of the radar antenna as the center and the set distance as the radius;

[0016] Extracting terrain elevation point data within the range to be measured based on the terrain data within the range to be measured;

[0017] Obtaining obstacle elevation point data within the range to be measured, and merging the data with the terrain elevation point data to obtain terrain elevation point data;

[0018] Calculate the radar shielding angle of each elevation point according to the coordinates and elevation of the top of the radar antenna and the coordinates and elevation of each elevation point in the terrain elevation point data;

[0019] Taking the top of the radar antenna as the center of the circle, generating direction lines according to the set initial angle intervals, and taking the elevation point data of the object between two adjacent direction lines as a group;

[0020] Calculate the maximum radar shielding angle on each direction line and the maximum radar shielding angle between two adjacent direction lines; determine whether the maximum shielding angle between two adjacent direction lines is greater than the maximum radar shielding angle on these two direction lines. If so, it is considered that an obstacle is missed, and a new direction line is generated between each two adjacent direction lines. Repeat this step until the loop termination condition is met to obtain the final direction line and the corresponding maximum radar shielding angle.

[0021] A third aspect of the present invention provides a method for drawing an isobeam height map, comprising the following steps:

[0022] Obtaining the radar shielding angle in each direction based on the radar shielding angle calculation method;

[0023] Obtain multiple specified altitudes, calculate the radar detection distance in each direction at each specified altitude; draw an equal beam altitude map.

[0024] A fourth aspect of the present invention provides a radar shielding angle calculation device, comprising:

[0025] The test range initialization module is configured to obtain terrain data including the test range, the coordinates and elevation of the top of the radar antenna, and determine the test range with the top of the radar antenna as the center and the set distance as the radius;

[0026] A terrain elevation point extraction module is configured to extract terrain elevation point data within the range to be measured based on the terrain data within the range to be measured;

[0027] A ground object elevation point merging module is configured to merge the obstacle elevation point data within the to-be-measured range with the terrain elevation point data to obtain ground object elevation point data;

[0028] The radar shielding angle calculation module is configured to calculate the radar shielding angle of each elevation point according to the coordinates and elevation of the top of the radar antenna and the coordinates and elevation of each elevation point in the terrain elevation point data;

[0029] The azimuth shielding angle determination module is configured to group the terrain elevation point data according to the set angle interval with the top of the radar antenna as the center of the circle; select the elevation point corresponding to the largest radar shielding angle in each group, and use each group to approximately represent a direction to obtain the radar shielding angle in each direction.

[0030] A fifth aspect of the present invention provides an electronic device, comprising a processor and a memory, wherein the memory stores computer instructions, and when the computer instructions are executed by the processor, the electronic device executes the described method.

[0031] A sixth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the program implements the method described when executed by a processor.

[0032] A seventh aspect of the present invention provides a computer program product, wherein the computer executable instructions, when executed by a processor, perform the method described.

[0033] One or more of the above technical solutions are different from the traditional method of taking each direction line as a direction. A very small angle range is used to approximate a direction. All elevation points within the 360-degree measurement range of the radar are involved in the calculation, grouped according to the angle range to which they belong, and the maximum shielding angle in each group is calculated, thus avoiding the possible loss of isolated obstacles. In addition, after merging the terrain elevation points and the obstacle elevation points, the shielding angle is calculated for each direction separately, which can obtain a more accurate shielding angle.

[0034] In addition, some of the above technical solutions will also use the maximum shielding angle calculation method that uses angle range instead of direction as an optimization means of the traditional directional line sampling method to make up for the possible directional deviation when using angle range instead of direction and the problem of missing obstacles due to unsafe data considerations of the directional line sampling method, and the two methods will complement each other's advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0036] Figure 1 A flow chart of a method for calculating a radar shielding angle in one or more embodiments of the present invention;

[0037] Figure 2 is an example diagram of an iso-beam height map in one or more embodiments of the present invention;

[0038] Figure 3 This is an example diagram of another radar shielding angle calculation method in one or more embodiments of the present invention. DETAILED DESCRIPTION

[0039] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not intended to limit the scope of protection of the present application.

[0040] In the description of the embodiments of the present application, the term “including” and similar terms should be understood as open inclusion, that is, “including but not limited to.” The term “based on” should be understood as “based at least in part on.”

[0041] Terminology explanation:

[0042] Elevation point data: ground elevation data recorded in a geographic information system. These data are usually expressed as three-dimensional coordinate points, including longitude, latitude and elevation values.

[0043] The coordinate system used in one or more of the following embodiments is: 2000 National Geodetic Coordinate System; the central meridian is: 117 degrees; the elevation system is: 1985 National Elevation Datum.

[0044] As described in the background technology, the method based on direction line sampling only samples the elevation points on the direction line, which results in that the data within every two direction lines no longer participates in the calculation, and isolated obstacles may be omitted. In addition, the larger the range to be measured, the more likely it is that important data will be missing. In order to solve the above problems, one or more embodiments of the present invention provide a radar shielding angle calculation method, such as Figure 1 As shown, the following steps are included:

[0045] S101: obtaining terrain data including the range to be measured, the coordinates and elevation of the top of the radar antenna, and determining the range to be measured with the top of the radar antenna as the center and the set distance as the radius;

[0046] S102: extracting terrain elevation point data within the range to be measured according to the terrain data within the range to be measured;

[0047] S103: Obtain obstacle elevation point data within the to-be-measured range, and merge the data with the terrain elevation point data to obtain terrain elevation point data;

[0048] S104: Calculating the radar shielding angle of each elevation point according to the coordinates and elevation of the top of the radar antenna and the coordinates and elevation of each elevation point in the terrain elevation point data;

[0049] S105: taking the top of the radar antenna as the center of the circle, grouping the ground feature elevation point data according to the set angle interval;

[0050] S106: Filter the elevation point corresponding to the maximum radar shielding angle in each group, and use each group to approximately represent a direction to obtain the radar shielding angle in each direction.

[0051] The above method provides a new way of calculation. Different from the traditional method of taking each direction line as a direction, a very small angle range is used to approximate a direction. All elevation points within the 360-degree measurement range around the radar are involved in the calculation, grouped according to the angle range, and the maximum shielding angle in each group is calculated, avoiding the possible loss of isolated obstacles. In addition, after merging the terrain elevation points and obstacle elevation points, the shielding angle is calculated for each direction separately, which can obtain a more accurate shielding angle.

[0052] In step S101, the radius of the range to be measured is related to the detection distance of the radar. Different radar types have different detection distances, and the ranges that need to be calculated for the shielding angle are also different.

[0053] In step S102, the terrain data may be contour data, ground elevation model, etc., which are not specifically limited here. As an example, the terrain data is contour data, and elevation points are extracted from the contour data to obtain terrain elevation point data. It can be understood that for high-precision contour data, thinning processing is also required to control the subsequent calculation amount.

[0054] In step S103, the obstacle elevation point data within the to-be-measured range is obtained through field surveying and mapping, and step S103 specifically includes:

[0055] S1031: Obtain an orthophoto map containing the area to be measured, and perform indoor interpretation to determine the area that needs to be surveyed. To improve the interpretation efficiency, the orthophoto map and the terrain data are superimposed, and a three-dimensional display is performed based on the terrain data. Combined with the interpretation of the ground objects on the orthophoto map, the area that needs to be surveyed is determined. Of course, computer-assisted interpretation can also be used.

[0056] S1032: Through field surveying, the latitude, longitude and elevation of the survey point, i.e. the obstacle elevation point data, are obtained. During the field surveying process, the recorded data is entered at regular intervals and superimposed on the predetermined area range, so that it is clear which obstacles have been measured and which have not been measured. This is suitable for field surveying with division of labor to avoid duplication of work.

[0057] In step S4, for an elevation point whose elevation is less than the elevation of the top of the radar antenna and the elevation, the radar shielding angle is zero; for an elevation point whose elevation is greater than or equal to the elevation of the top of the radar antenna and the elevation, the radar shielding angle calculation formula is:

[0058]

[0059]

[0060] Among them, θ rs represents the radar shielding angle, θ os Indicates the ground object sight obstruction angle, d s It represents the horizontal distance between the top of the radar antenna and the elevation point, and Δh represents the height difference between the top of the radar antenna and the elevation point.

[0061] Table 1 Radar shielding angle calculation example

[0062]

[0063] In step S105, the direction is approximately replaced by the angle range. As the distance from the radar increases, there will be a deviation in the direction. This deviation can be reduced by setting the angle interval as small as possible. The smaller the angle interval, the higher the accuracy of the approximate direction. As an example, the detection distance of a weather radar is 10 kilometers, and the angle interval is set to 0.2 degrees. Step S105 specifically includes:

[0064] S1051: Calculate the true azimuth of the elevation point in the elevation data of the ground object. The azimuth is used to measure the angle difference between objects on a plane. If the selected standard direction is the true north direction, it is the true azimuth. Calculate the true azimuth of the elevation point, that is, the horizontal angle between the north direction line at the top of the radar antenna and the direction line where the elevation point is located in a clockwise direction. Table 2 is an example of true azimuth calculation.

[0065] Table 2 True bearing calculation example

[0066]

[0067] S1052: Determine the group to which each elevation point belongs based on the true azimuth of the elevation point and the upper and lower limits of each angle range.

[0068] The above method approximately replaces a direction with an angle range, and all elevation points within the 360-degree measuring range around the radar are involved in the calculation, thus avoiding possible data omissions.

[0069] After calculating the radar shielding angle in each direction, the equal beam height map can also be calculated. The equal beam height map is a line diagram of the maximum distance that the central axis of the beam can reach a certain specified height in each direction, assuming that under standard atmospheric refraction conditions, based on the blocking effect of the terrain and objects around the radar station. It can directly reflect the impact of the shielding of the objects around the radar station on the radar detection capability.

[0070] The method for drawing an equal-beam height map comprises: obtaining a plurality of prescribed heights, calculating the radar detection distance in each direction at each prescribed height; and drawing an equal-beam height map.

[0071] The radar detection distance in each direction at each specified altitude is calculated according to the radar altimetry formula in standard atmosphere:

[0072]

[0073] Among them, h is the elevation of the top of the radar antenna, δ is the radar shielding angle, and H is the specified height, which is set to 1 km, 3 km, and 6 km respectively.

[0074] Drawing an isobeam height map specifically includes:

[0075] With the radar as the center, draw concentric circles with radii of 100 km, 200 km, 300 km and 400 km respectively. Draw the radar detection distances at specified heights on the graph in sequence, and then connect them in sequence.

[0076] The specific implementation method is to organize the calculated true azimuth and detection distance into polar coordinate format, that is, "length < angle", and then use the polar coordinates of these points to generate PL lines in CAD, and then slightly modify the generated PL lines to make the detection distance reach the maximum value circle for a large range of angles with a shielding angle of 0. The effect of the equal beam height map is as follows Figure 2 shown.

[0077] It is understandable that although the shielding angle calculation method provided in one or more of the above embodiments can avoid data omissions, there will be some deviations in the direction. This deviation can be reduced by setting the angle interval as small as possible. In some embodiments of the present invention, on the basis of the above method, a shielding angle calculation method combining the traditional method with this method is also provided. Taking into account the radar surrounding environment, taking the deployment of radar at airports as an example, there are great differences in the surrounding environment of airports in various places. Some airports have more preparations or buildings around them, while others have fewer. This leads to the use of a unified directional line sampling interval (for example, 5 degrees). For some scenarios, the directional line density is too low, and for other scenarios, the directional line density is too high. The density of directional lines can be optimized by the above radar shielding angle calculation method. For example Figure 3 As shown, the method includes:

[0078] S301: Acquire terrain data including the range to be measured, the coordinates and elevation of the top of the radar antenna, and determine the range to be measured with the top of the radar antenna as the center and the set distance as the radius;

[0079] S302: extracting terrain elevation point data within the range to be measured according to the terrain data within the range to be measured;

[0080] S303: Obtain obstacle elevation point data within the to-be-measured range, and merge the data with the terrain elevation point data to obtain terrain elevation point data;

[0081] S304: Calculate the radar shielding angle of each elevation point according to the coordinates and elevation of the top of the radar antenna and the coordinates and elevation of each elevation point in the terrain elevation point data;

[0082] S305: Taking the top of the radar antenna as the center of the circle, generating direction lines according to the set initial angle interval, and taking the elevation point data of the object between two adjacent direction lines as a group;

[0083] S306: Calculate the maximum radar shielding angle on each direction line and the maximum radar shielding angle between two adjacent direction lines;

[0084] S307: Determine whether the maximum shielding angle between two adjacent direction lines is greater than the maximum radar shielding angle of the two direction lines at the same time. If so, it is considered that an obstacle is missed, and a new direction line is generated between each two adjacent direction lines, and step 308 is executed; if not, the current direction line and the corresponding maximum radar shielding angle are the final result;

[0085] S308: Repeat steps S306 to S308 until the loop termination condition is met, and obtain the final direction line and the corresponding maximum radar shielding angle.

[0086] The specific implementation of the above steps S301 to S304 and the calculation method of the radar shielding angle in step S306 are consistent with the above and will not be described in detail here.

[0087] The initial angle interval may be set to 2° or other angles.

[0088] The loop termination condition may be until the maximum shielding angle between two adjacent direction lines is no longer greater than the maximum radar shielding angle on these two direction lines, or it may be that this situation exists but the ratio is less than the set threshold. There is no limitation here, and the user can set the cutoff condition according to the accuracy requirements.

[0089] The above method takes into account the data omissions that may be caused by directional line sampling and the directional deviation that may be caused by the above shielding angle calculation method, and can adapt to different scenarios and different accuracy requirements.

[0090] Based on the above shielding angle calculation method, one or more embodiments of the present invention further provide a radar shielding angle calculation device, including:

[0091] The test range initialization module is configured to obtain terrain data including the test range, the coordinates and elevation of the top of the radar antenna, and determine the test range with the top of the radar antenna as the center and the set distance as the radius;

[0092] A terrain elevation point extraction module is configured to extract terrain elevation point data within the range to be measured based on the terrain data within the range to be measured;

[0093] A ground object elevation point merging module is configured to merge the obstacle elevation point data within the to-be-measured range with the terrain elevation point data to obtain ground object elevation point data;

[0094] The radar shielding angle calculation module is configured to calculate the radar shielding angle of each elevation point according to the coordinates and elevation of the top of the radar antenna and the coordinates and elevation of each elevation point in the terrain elevation point data;

[0095] The azimuth shielding angle determination module is configured to group the terrain elevation point data according to the set angle interval with the top of the radar antenna as the center of the circle; select the elevation point corresponding to the largest radar shielding angle in each group, and use each group to approximately represent a direction to obtain the radar shielding angle in each direction.

[0096] One or more embodiments of the present invention further provide an electronic device that can be used to implement the radar shielding angle calculation method in the above embodiments. The electronic device includes one or more processors, one or more memories coupled to the processors, and a communication module coupled to the processors.

[0097] The memory may include one or more non-volatile memories and one or more volatile memories. Examples of non-volatile memories include, but are not limited to, at least one of the following: read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, hard disk, compact disc (CD), digital video disc (DVD) or other magnetic storage and / or optical storage. Examples of volatile memories include, but are not limited to, at least one of the following: random access memory (RAM), or other volatile memories that do not last during the power outage duration. The computer program may be stored in the ROM. The processor implements the above-mentioned radar shielding angle calculation method when executing the computer program.

[0098] In some embodiments, the program may be tangibly contained in a computer-readable medium, which may be included in a device (such as in a memory) or other storage device accessible by the device. The program may be loaded from the computer-readable medium to the RAM for execution. The computer-readable medium may include any type of tangible non-volatile memory, such as ROM, EPROM, flash memory, hard disk, and the computer-readable storage medium stores a computer program, which implements the above-mentioned radar shielding angle calculation method when executed by the processor.

[0099] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a server or terminal, the process or function described in the embodiment of the present application is generated in whole or in part. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a server or terminal or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (such as a floppy disk, a hard disk and a tape, etc.), an optical medium (such as a digital video disk (digital video disk, DVD), etc.), or a semiconductor medium (such as a solid-state hard disk, etc.).

[0100] In addition, although each operation is described in a specific order, this should be understood as requiring such operation to be performed in the specific order shown or in a sequential order, or requiring that all illustrated operations should be performed to obtain desired results. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the application. Some features described in the context of a separate embodiment can also be implemented in a single implementation in combination. On the contrary, the various features described in the context of a single implementation can also be implemented in multiple implementations individually or in any suitable sub-combination mode.

[0101] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A method for calculating a radar shielding angle, characterized in that: The following steps are involved: Obtain terrain data including the range to be measured, the coordinates and elevation of the top of the radar antenna, and determine the range to be measured with the top of the radar antenna as the center and the set distance as the radius; Extracting terrain elevation point data within the range to be measured based on the terrain data within the range to be measured; Obtaining obstacle elevation point data within the range to be measured, and merging the data with the terrain elevation point data to obtain terrain elevation point data; Calculate the radar shielding angle of each elevation point according to the coordinates and elevation of the top of the radar antenna and the coordinates and elevation of each elevation point in the terrain elevation point data; Taking the top of the radar antenna as the center of the circle, the ground feature elevation point data are grouped according to the set angle intervals; The elevation point corresponding to the largest radar shielding angle in each group is selected, and each group is used to approximately represent a direction to obtain the radar shielding angle in each direction.

2. The radar shielding angle calculation method according to claim 1, characterized in that: The terrain data is contour line data, and elevation points are extracted from the contour line data to obtain terrain elevation point data.

3. The radar shielding angle calculation method according to claim 1, characterized in that: The method for obtaining the obstacle elevation point data within the detection range is: Obtain orthophotos of the area to be surveyed and interpret them indoors to determine the area that requires field surveying; Through field surveying, the latitude, longitude and elevation of the measuring point, i.e. the obstacle elevation point data, are obtained.

4. The radar shielding angle calculation method according to claim 1, characterized in that: Grouping of feature elevation point data according to set angle intervals includes: Calculate the true position of the elevation points in the terrain elevation data; Determine the group to which each elevation point belongs based on the true azimuth of the elevation point and the upper and lower limits of each angle range.

5. A method for calculating a radar shielding angle, characterized in that: The following steps are involved: Obtain terrain data including the range to be measured, the coordinates and elevation of the top of the radar antenna, and determine the range to be measured with the top of the radar antenna as the center and the set distance as the radius; Extracting terrain elevation point data within the range to be measured based on the terrain data within the range to be measured; Obtaining obstacle elevation point data within the range to be measured, and merging the data with the terrain elevation point data to obtain terrain elevation point data; Calculate the radar shielding angle of each elevation point according to the coordinates and elevation of the top of the radar antenna and the coordinates and elevation of each elevation point in the terrain elevation point data; Taking the top of the radar antenna as the center of the circle, generating direction lines according to the set initial angle intervals, and taking the elevation point data of the object between two adjacent direction lines as a group; Calculate the maximum radar shielding angle on each direction line and the maximum radar shielding angle between two adjacent direction lines; determine whether the maximum shielding angle between two adjacent direction lines is greater than the maximum radar shielding angle on these two direction lines. If so, it is considered that an obstacle is missed, and a new direction line is generated between each two adjacent direction lines. Repeat this step until the loop termination condition is met to obtain the final direction line and the corresponding maximum radar shielding angle.

6. A method for drawing an equal beam height map, characterized in that: The following steps are involved: Obtaining the radar shielding angle in each direction based on the radar shielding angle calculation method according to any one of claims 1 to 5; Obtain multiple specified altitudes, and calculate the radar detection distance in each direction at each specified altitude; Plot an isobeam height map.

7. A radar shielding angle calculation device, characterized in that: include: The test range initialization module is configured to obtain terrain data including the test range, the coordinates and elevation of the top of the radar antenna, and determine the test range with the top of the radar antenna as the center and the set distance as the radius; A terrain elevation point extraction module is configured to extract terrain elevation point data within the range to be measured based on the terrain data within the range to be measured; A ground object elevation point merging module is configured to merge the obstacle elevation point data within the to-be-measured range with the terrain elevation point data to obtain ground object elevation point data; The radar shielding angle calculation module is configured to calculate the radar shielding angle of each elevation point according to the coordinates and elevation of the top of the radar antenna and the coordinates and elevation of each elevation point in the terrain elevation point data; The azimuth shielding angle determination module is configured to group the terrain elevation point data according to the set angle interval with the top of the radar antenna as the center of the circle; select the elevation point corresponding to the largest radar shielding angle in each group, and use each group to approximately represent a direction to obtain the radar shielding angle in each direction.

8. An electronic device, characterized in that: The electronic device comprises a processor and a memory, wherein the memory stores computer instructions, and when the computer instructions are executed by the processor, the electronic device executes the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. A computer program product, characterized in that The computer executable instructions implement the method of any one of claims 1 to 6 when executed by a processor.

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