Tracking radar aerial target elevation angle scanning method and system based on distance self-adaption

Abstract

The invention discloses a tracking radar aerial target elevation angle scanning method and system based on distance self-adaption, and the method comprises the steps: firstly determining the initial value of each variable, and determining the range of elevation angle scanning; and continuously adjusting the radar elevation angle according to the target distance, the target elevation angle lower limit and the elevation angle upper limit to enable the radar elevation angle to quickly track the target angle, thereby achieving the purpose of quickly tracking the target. The system is used for realizing the tracking radar aerial target elevation angle scanning method based on distance self-adaption, and comprises an initialization module, a first judgment module, a second judgment module, a third judgment module and a fourth judgment module. The method can quickly lock the target and stably track the target, is simple in algorithm, and improves the efficiency and accuracy of capturing the aerial target by the tracking radar.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic control of tracking radars, and in particular to a method and system for scanning elevation angles of aerial targets of tracking radars based on distance adaptation. Background Art

[0002] In order to quickly capture the target, the tracking radar needs to quickly adjust its side after the command is given, and lock the target through elevation scanning to stably track the aerial target. The radar azimuth refers to the lateral angle of the target relative to the radar, ranging from 0° to 360°, usually based on the true north direction. The elevation angle refers to the horizontal angle of the target relative to the radar, ranging from 0° to 85°. The azimuth and elevation angles are important parameters for determining the spatial position of the target. The azimuth can be determined by measuring the lateral distance between the target and the radar. The radar's antenna directivity is usually used to determine the lateral position of the target, and the azimuth is calculated by comparing the signal strength in different directions. The elevation angle can be determined by measuring the vertical distance between the target and the radar. The radar's antenna directivity is usually used to determine the vertical position of the target, and the pitch angle is calculated by comparing the signal strength at different heights.

[0003] Invention CN 117388842 A discloses a method for quickly capturing a target by a machine-scanning tracking radar angle servo system. According to radar requirements and elevation servo performance, the maximum scanning speed is determined, and the time of the constant speed stage, the constant speed stage, and the deceleration stage are determined according to the maximum scanning speed, thereby improving the rapidity and target detection capability of the machine-scanning radar. For a three-dimensional target, the target can be quickly locked, and for a two-dimensional target, the azimuth can be quickly adjusted to the target position after the target is issued, while the elevation angle can only be adjusted to a fixed angle. For an aerial target, due to the different target heights, the elevation angle will not be fixed at a certain angle. In order to quickly capture the target, an appropriate method must be adopted at the elevation angle to quickly lock the target. The elevation scanning range of the existing technology can only be fixed at a certain angle, so the target capture reaction time is long and it cannot effectively track fast targets. Summary of the invention

[0004] The object of the present invention is to provide a method and system for scanning the elevation angle of aerial targets of a tracking radar based on distance adaptation, which has short target capture reaction time, high target capture efficiency and can effectively track fast targets.

[0005] The technical solution to achieve the purpose of the present invention is: a distance-adaptive tracking radar aerial target elevation scanning method, comprising the following steps:

[0006] Step 1, determine the initial value of each variable and determine the range of elevation scanning;

[0007] Step 2, calculate the target elevation position according to the first scanning speed, and determine whether the target elevation position is less than the middle position between the lower limit and the upper limit of the elevation angle. If it is less, increase the number of scanning points by one and recalculate the target elevation position; otherwise, set the first scanning speed to the second scanning speed, set the number of scanning points to zero, and proceed to step 3;

[0008] Step 3, calculate the target elevation position according to the second scanning speed, and determine whether the target elevation position is less than the upper limit of the elevation angle. If it is less, increase the number of scanning points by one and recalculate the target elevation position; otherwise, set the second scanning speed to the third scanning speed, and set the number of scanning points to zero, and proceed to step 4;

[0009] Step 4, calculate the target elevation position according to the third scanning speed, and determine whether the target elevation position is greater than the middle position between the lower elevation limit and the upper elevation limit. If it is greater, increase the number of scanning points by one and recalculate the target elevation position; otherwise, set the third scanning speed to the fourth scanning speed, set the number of scanning points to zero, and proceed to step 5;

[0010] Step 5. Calculate the target elevation position according to the fourth scanning speed, and determine whether the target elevation position is greater than the lower limit of the elevation angle. If it is, increase the number of scanning points by one and recalculate the target elevation position; otherwise, set the fourth scanning speed to the first scanning speed, set the number of scanning points to zero, and return to step 2.

[0011] The present invention also provides a tracking radar aerial target elevation scanning system based on distance adaptation, which is used to implement the tracking radar aerial target elevation scanning method based on distance adaptation. The system includes an initialization module, a first determination module, a second determination module, a third determination module and a fourth determination module, wherein:

[0012] Initialization module, determines the initial value of each variable and the range of elevation scanning;

[0013] The first determination module calculates the target elevation position according to the first scanning speed, and determines whether the target elevation position is less than the middle position between the lower elevation limit and the upper elevation limit. If so, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the first scanning speed is set to the second scanning speed, and the number of scanning points is set to zero, and the second determination module is entered;

[0014] The second determination module calculates the target elevation position according to the second scanning speed, and determines whether the target elevation position is less than the upper limit of the elevation angle. If it is less, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the second scanning speed is set to the third scanning speed, and the number of scanning points is set to zero, and the third determination module is entered;

[0015] The third determination module calculates the target elevation position according to the third scanning speed, and determines whether the target elevation position is greater than the middle position between the lower elevation limit and the upper elevation limit. If so, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the third scanning speed is set to the fourth scanning speed, and the number of scanning points is set to zero, and the third determination module is entered;

[0016] The fourth determination module calculates the target elevation position according to the fourth scanning speed, and determines whether the target elevation position is greater than the lower limit of the elevation angle. If so, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the fourth scanning speed is set to the first scanning speed, and the number of scanning points is set to zero, and the module returns to the first determination module.

[0017] The present invention also provides a mobile terminal, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the distance-adaptive-based tracking radar aerial target elevation scanning method is implemented.

[0018] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps in the distance-adaptive-based tracking radar aerial target elevation scanning method are implemented.

[0019] Compared with the prior art, the present invention has the following significant advantages: (1) it can adaptively calculate the upper and lower limits of the elevation scanning range according to the target distance, and by controlling the azimuth and pitch movement of the antenna, the center of the beam is aimed at the designated target as quickly as possible, thereby achieving rapid target locking and stable target tracking, thereby improving the efficiency and accuracy of the tracking radar in capturing aerial targets; (2) the algorithm is simple, the target capture efficiency is high, and fast targets can be effectively tracked. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The present invention is a flow chart of a method for tracking radar aerial targets with elevation scanning based on distance adaptation. DETAILED DESCRIPTION

[0021] It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, a person skilled in the art can imagine various implementation methods of the present invention. Therefore, the following specific implementation methods and drawings are only exemplary descriptions of the technical solution of the present invention, and should not be regarded as the whole of the present invention or as a limitation or restriction of the technical solution of the present invention.

[0022] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0023] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0024] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0025] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0026] Combination Figure 1 The present invention provides a distance-adaptive tracking radar aerial target elevation scanning method, comprising the following steps:

[0027] Step 1, determine the initial value of each variable and determine the range of elevation scanning;

[0028] Step 2, calculate the target elevation position according to the first scanning speed, and determine whether the target elevation position is less than the middle position between the lower limit and the upper limit of the elevation angle. If it is less, increase the number of scanning points by one and recalculate the target elevation position; otherwise, set the first scanning speed to the second scanning speed, set the number of scanning points to zero, and proceed to step 3;

[0029] Step 3, calculate the target elevation position according to the second scanning speed, and determine whether the target elevation position is less than the upper limit of the elevation angle. If it is less, increase the number of scanning points by one and recalculate the target elevation position; otherwise, set the second scanning speed to the third scanning speed, and set the number of scanning points to zero, and proceed to step 4;

[0030] Step 4, calculate the target elevation position according to the third scanning speed, and determine whether the target elevation position is greater than the middle position between the lower elevation limit and the upper elevation limit. If it is greater, increase the number of scanning points by one and recalculate the target elevation position; otherwise, set the third scanning speed to the fourth scanning speed, set the number of scanning points to zero, and proceed to step 5;

[0031] Step 5. Calculate the target elevation position according to the fourth scanning speed, and determine whether the target elevation position is greater than the lower limit of the elevation angle. If it is, increase the number of scanning points by one and recalculate the target elevation position; otherwise, set the fourth scanning speed to the first scanning speed, set the number of scanning points to zero, and return to step 2.

[0032] As a specific example, in step 1, the initial values ​​of the variables are determined, and the range of the elevation scan is determined, as follows:

[0033] Step 1.1, for the new tracking radar, start aiming and capturing the target at 10 kilometers. Before the elevation scan, the azimuth is first adjusted to the aiming position, the elevation is adjusted to 0°, and then the range of the elevation scan is determined. For air targets, the elevation range is between E1 and E2, the lower limit of the elevation scan is E1, the upper limit of the elevation scan is E2, and the scanning period is SCAN_T; the elevation scan is divided into four sections, represented by i=1, 2, 3, 4; define the variable n as the number of scanning points, v as the scanning speed, a as the scanning acceleration, EL as the current elevation value, aPreEL as the expected scanning elevation value, Scanspeed as the expected scanning angular velocity value, and t as the scanning sampling time;

[0034] Step 1.2, the elevation scan lower limit E1 and the elevation scan upper limit E2 change with the change of target distance, and the calculation formula is:

[0035] E1=1+8.0 / (DistanceCapture*0.001+1)

[0036] E2=arcsin(6470.0 / (DistanceCapture+1))

[0037] Among them, DistanceCapture is the target distance in meters;

[0038] Step 1.3, determine the initial value of each variable, set the number of scanning points n = 1, the number of scanning segments i = 1, indicating that starting from the first segment, the expected scanning elevation angle value aPreEL = EL = 0, and the scanning acceleration a = (E2-E1) / ((SCAN_T / 4.0)*

[0039] (SCAN_T / 4.0)).

[0040] As a specific example, in step 2, the target elevation position is calculated according to the first scanning speed, and it is determined whether the target elevation position is less than the middle position between the lower elevation limit and the upper elevation limit. If it is less, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the first scanning speed is set to the second scanning speed, and the number of scanning points is set to zero, and step 3 is entered, which is as follows:

[0041] Step 2.1, determine whether the expected scanning elevation angle value aPreEL is less than (E1+E2) / 2.0, if so, proceed to step 2.2; otherwise, proceed to step 2.3;

[0042] Step 2.2: Perform the following operations:

[0043] aScanSpeed ​​= a*n*t;

[0044] aPreEL=0.5*a*n*t*(n*t)+E1;

[0045] n=n+1.0;

[0046] Return to step 2.1;

[0047] Step 2.3: Perform the following operations:

[0048] v = aScanSpeed;

[0049] n=0;

[0050] i=2;

[0051] Go to step 3.

[0052] As a specific example, in step 3, the target elevation position is calculated according to the second scanning speed, and it is determined whether the target elevation position is less than the upper limit of the elevation angle. If it is less, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the second scanning speed is set to the third scanning speed, and the number of scanning points is set to zero, and step 4 is entered, which is as follows:

[0053] Step 3.1, determine whether the expected scanning elevation angle value aPreEL is less than E2, if so, proceed to step 3.2; otherwise, proceed to step 3.3;

[0054] Step 3.2: Perform the following operations:

[0055] aScanSpeed ​​= va*n*t;

[0056] aPreE=v*n*t-0.5*a*(n*t)*(n*t)+0.5*(E1+E2);

[0057] n=n+1.0;

[0058] Return to step 3.1;

[0059] Step 3.3: Perform the following operations:

[0060] n=0;

[0061] i=3;

[0062] Go to step 4.

[0063] As a specific example, in step 4, the target elevation position is calculated according to the third scanning speed, and it is determined whether the target elevation position is greater than the middle position between the lower elevation limit and the upper elevation limit. If it is greater, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the third scanning speed is set to the fourth scanning speed, and the number of scanning points is set to zero, and step 5 is entered, which is as follows:

[0064] Step 4.1, determine whether the expected scanning elevation angle value aPreEL is greater than (E1+E2) / 2.0, if it is greater, proceed to step 4.2; otherwise, proceed to step 4.3;

[0065] Step 4.2: Perform the following operations:

[0066] aScanSpeed ​​= -a*n*t;

[0067] aPreEL=E2+0.5*aScanSpeed*(n*t);

[0068] n=n+1.0;

[0069] Return to step 4.1;

[0070] Step 4.3: Perform the following operations:

[0071] v = aScanSpeed;

[0072] n=0;

[0073] i=4;

[0074] Go to step 5.

[0075] As a specific example, in step 5, the target elevation position is calculated according to the fourth scanning speed, and it is determined whether the target elevation position is greater than the lower limit of the elevation angle. If it is greater, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the fourth scanning speed is set to the first scanning speed, and the number of scanning points is set to zero, and the process returns to step 2, as follows:

[0076] Step 5.1, determine whether the expected scanning elevation angle value aPreEL is greater than E1, if so, proceed to step 5.2; otherwise, proceed to step 5.3;

[0077] Step 5.2: Perform the following operations:

[0078] aPreEL=v*n*t+0.5*a*(n*t)*(n*t)+0.5*(E1+E2);

[0079] aScanSpeed ​​= v + a*n*t;

[0080] n=n+1.0;

[0081] Return to step 5.1;

[0082] Step 5.3: Perform the following operations:

[0083] n=0;

[0084] i=1;

[0085] Return to step 2.

[0086] As a specific example, in step 1.1, the scanning sampling time t is set to 5 ms.

[0087] The present invention also provides a tracking radar aerial target elevation scanning system based on distance adaptation, which is used to implement the tracking radar aerial target elevation scanning method based on distance adaptation. The system includes an initialization module, a first determination module, a second determination module, a third determination module and a fourth determination module, wherein:

[0088] Initialization module, determines the initial value of each variable and the range of elevation scanning;

[0089] The first determination module calculates the target elevation position according to the first scanning speed, and determines whether the target elevation position is less than the middle position between the lower elevation limit and the upper elevation limit. If so, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the first scanning speed is set to the second scanning speed, and the number of scanning points is set to zero, and the second determination module is entered;

[0090] The second determination module calculates the target elevation position according to the second scanning speed, and determines whether the target elevation position is less than the upper limit of the elevation angle. If it is less, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the second scanning speed is set to the third scanning speed, and the number of scanning points is set to zero, and the third determination module is entered;

[0091] The third determination module calculates the target elevation position according to the third scanning speed, and determines whether the target elevation position is greater than the middle position between the lower elevation limit and the upper elevation limit. If so, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the third scanning speed is set to the fourth scanning speed, and the number of scanning points is set to zero, and the third determination module is entered;

[0092] The fourth determination module calculates the target elevation position according to the fourth scanning speed, and determines whether the target elevation position is greater than the lower limit of the elevation angle. If so, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the fourth scanning speed is set to the first scanning speed, and the number of scanning points is set to zero, and the module returns to the first determination module.

[0093] The present invention also provides a mobile terminal, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the distance-adaptive-based tracking radar aerial target elevation scanning method is implemented.

[0094] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps in the distance-adaptive-based tracking radar aerial target elevation scanning method are implemented.

[0095] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0096] Example

[0097] Step 1: Determine the initial value of each variable and the range of elevation scanning, as follows:

[0098] Step 1.1, turn the radar azimuth to the target position, turn the elevation angle to 0°, and then determine the range of the elevation scan. For aerial targets, the elevation range is between E1 and E2, the lower limit of the elevation scan is E1; the upper limit of the elevation scan is E2; the scanning period is SCAN_T, and SCAN_T=3 seconds; the elevation scan is divided into four sections, represented by i=1, 2, 3, 4; define the variable n as the number of scan points, v as the scan speed, a as the scan acceleration, EL as the current elevation value, aPreEL as the expected scan elevation value, Scanspeed as the expected scan angular velocity value, and t as the scan sampling time, which is set to 5ms;

[0099] Step 1.2, the elevation scan lower limit E1 and the elevation scan upper limit E2 change with the change of target distance, and the calculation formula is:

[0100] E1=1+8.0 / (DistanceCapture*0.001+1)=1.73°

[0101] E2=arcsin(6470.0 / (DistanceCapture+1))=40.3°

[0102] Among them, DistanceCapture is the target distance in meters. In this example, 10 kilometers, that is, 10,000 meters, is selected;.

[0103] Step 1.3, determine the initial value of each variable, set the number of scanning points n = 1, the number of scanning segments i = 1, indicating that starting from the first segment, the expected scanning elevation angle value aPreEL = EL = 0, and the scanning acceleration a = (E2-E1) / ((SCAN_T / 4.0)*(SCAN_T / 4.0)) = 68.6° / s2.

[0104] Step 2: Calculate the target elevation position according to the first scanning speed, and determine whether the target elevation position is less than the middle position between the lower and upper elevation limits. If so, add one to the number of scanning points and recalculate the target elevation position; otherwise, set the first scanning speed to the second scanning speed, set the number of scanning points to zero, and proceed to step 3, as follows:

[0105] Step 2.1, determine whether the expected scanning elevation angle value aPreEL is less than (E1+E2) / 2.0=21°, if it is less than 21°, proceed to step 2.2; otherwise, proceed to step 2.3;

[0106] Step 2.2: Perform the following operations:

[0107] aScanSpeed=a*n*t=68.6nt;

[0108] aPreEL=0.5*a*n*t*(n*t)+E1=0+0.5*68.6*(n*t) 2 ;

[0109] n=n+1.0;

[0110] Return to step 2.1;

[0111] Step 2.3: Perform the following operations:

[0112] v = aScanSpeed;

[0113] n=0;

[0114] i=2;

[0115] Go to step 3.

[0116] Step 3: Calculate the target elevation position according to the second scanning speed, and determine whether the target elevation position is less than the upper limit of the elevation angle. If it is, add one to the number of scanning points and recalculate the target elevation position; otherwise, set the second scanning speed to the third scanning speed, and set the number of scanning points to zero, and proceed to step 4, as follows:

[0117] Step 3.1, determine whether the expected scanning elevation angle value aPreEL is less than E2=40.3°, if it is less than 40.3°, proceed to step 3.2; otherwise, proceed to step 3.3;

[0118] Step 3.2: Perform the following operations:

[0119] aScanSpeed ​​= v – 68.6*n*t;

[0120] aPreEL=v*n*t-0.5*68.6*(n*t)*(n*t)+0.5*30;

[0121] n=n+1.0;

[0122] Return to step 3.1;

[0123] Step 3.3: Perform the following operations:

[0124] n=0;

[0125] i=3;

[0126] Go to step 4.

[0127] Step 4: Calculate the target elevation position according to the third scanning speed, and determine whether the target elevation position is greater than the middle position between the lower and upper elevation limits. If so, add one to the number of scanning points and recalculate the target elevation position; otherwise, set the third scanning speed to the fourth scanning speed, set the number of scanning points to zero, and proceed to step 5, as follows:

[0128] Step 4.1, determine whether the expected scanning elevation angle value aPreEL is greater than (E1+E2) / 2.0=21, if it is greater than 21, proceed to step 4.2; otherwise, proceed to step 4.3;

[0129] Step 4.2: Perform the following operations:

[0130] aScanSpeed ​​= -68.6*n*t;

[0131] aPreEL=40.3+0.5*aScanSpeed*(n*t);

[0132] n=n+1.0;

[0133] Return to step 4.1;

[0134] Step 4.3: Perform the following operations:

[0135] v = aScanSpeed;

[0136] n=0;

[0137] i=4;

[0138] Go to step 5.

[0139] Step 5, calculate the target elevation position according to the fourth scanning speed, and determine whether the target elevation position is greater than the lower limit of the elevation angle. If it is greater, increase the number of scanning points by one and recalculate the target elevation position; otherwise, set the fourth scanning speed to the first scanning speed, set the number of scanning points to zero, and return to step 2, as follows:

[0140] Step 5.1, determine whether the expected scanning elevation angle value aPreEL is greater than E1=1.73°, if it is greater than 1.73°, proceed to step 5.2; otherwise, proceed to step 5.3;

[0141] Step 5.2: Perform the following operations:

[0142] aPreEL=v*n*t+0.5*68.6*(n*t)*(n*t)+0.5*30;

[0143] aScanSpeed ​​= v + 68.6*n*t;

[0144] n=n+1.0;

[0145] Return to step 5.1;

[0146] Step 5.3: Perform the following operations:

[0147] n=0;

[0148] i=1;

[0149] Return to step 2.

[0150] Since then, a distance-adaptive tracking radar aerial target elevation scanning method has been completed.

[0151] The above are only preferred embodiments 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 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 scanning an aerial target with an elevation angle based on a tracking radar based on distance adaptation, characterized in that: The following steps are involved: Step 1, determine the initial value of each variable and determine the range of elevation scanning; Step 2, calculate the target elevation position according to the first scanning speed, and determine whether the target elevation position is less than the middle position between the lower limit and the upper limit of the elevation angle. If it is less, increase the number of scanning points by one and recalculate the target elevation position; otherwise, set the first scanning speed to the second scanning speed, set the number of scanning points to zero, and proceed to step 3; Step 3, calculate the target elevation position according to the second scanning speed, and determine whether the target elevation position is less than the upper limit of the elevation angle. If it is less, increase the number of scanning points by one and recalculate the target elevation position; otherwise, set the second scanning speed to the third scanning speed, and set the number of scanning points to zero, and proceed to step 4; Step 4, calculate the target elevation position according to the third scanning speed, and determine whether the target elevation position is greater than the middle position between the lower elevation limit and the upper elevation limit. If it is greater, increase the number of scanning points by one and recalculate the target elevation position; otherwise, set the third scanning speed to the fourth scanning speed, set the number of scanning points to zero, and proceed to step 5; Step 5. Calculate the target elevation position according to the fourth scanning speed, and determine whether the target elevation position is greater than the lower limit of the elevation angle. If it is, increase the number of scanning points by one and recalculate the target elevation position; otherwise, set the fourth scanning speed to the first scanning speed, set the number of scanning points to zero, and return to step 2.

2. The method for scanning an aerial target by an elevation angle of a tracking radar based on distance adaptation according to claim 1, characterized in that: In step 1, determine the initial values ​​of each variable and the range of elevation scanning, as follows: Step 1.1, for the new tracking radar, start aiming and capturing the target at 10 kilometers. Before the elevation scan, the azimuth is first adjusted to the aiming position, the elevation is adjusted to 0°, and then the range of the elevation scan is determined. For air targets, the elevation range is between E1 and E2, the lower limit of the elevation scan is E1, the upper limit of the elevation scan is E2, and the scanning period is SCAN_T; the elevation scan is divided into four sections, represented by i=1, 2, 3, 4; define the variable n as the number of scanning points, v as the scanning speed, a as the scanning acceleration, EL as the current elevation value, aPreEL as the expected scanning elevation value, Scanspeed as the expected scanning angular velocity value, and t as the scanning sampling time; Step 1.2, the elevation scan lower limit E1 and the elevation scan upper limit E2 change with the change of target distance, and the calculation formula is: E1=1+8.0 / (DistanceCapture*0.001+1) E2=arcsin(6470.0 / (DistanceCapture+1)) Among them, DistanceCapture is the target distance in meters; Step 1.3, determine the initial value of each variable, set the number of scanning points n = 1, the number of scanning segments i = 1, indicating that starting from the first segment, the expected scanning elevation angle value aPreEL = EL = 0, and the scanning acceleration a = (E2-E1) / ((SCAN_T / 4.0)*(SCAN_T / 4.0)).

3. The method for scanning an aerial target by an elevation angle of a tracking radar based on distance adaptation according to claim 2 is characterized in that: In step 2, the target elevation position is calculated according to the first scanning speed, and it is determined whether the target elevation position is less than the middle position between the lower and upper elevation limits. If it is, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the first scanning speed is set to the second scanning speed, and the number of scanning points is set to zero, and step 3 is entered, as follows: Step 2.1, determine whether the expected scanning elevation angle value aPreEL is less than (E1+E2) / 2.0, if so, proceed to step 2.2; otherwise, proceed to step 2.3; Step 2.2: Perform the following operations: aScanSpeed ​​= a*n*t; aPreEL=0.5*a*n*t*(n*t)+E1; n=n+1.0; Return to step 2.1; Step 2.3: Perform the following operations: v = aScanSpeed; n＝0； i＝2； Go to step 3.

4. The method for scanning an aerial target by an elevation angle of a tracking radar based on distance adaptation according to claim 3 is characterized in that: In step 3, the target elevation position is calculated according to the second scanning speed, and it is determined whether the target elevation position is less than the upper limit of the elevation angle. If it is less, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the second scanning speed is set to the third scanning speed, and the number of scanning points is set to zero, and step 4 is entered, which is as follows: Step 3.1, determine whether the expected scanning elevation angle value aPreEL is less than E2, if so, proceed to step 3.2; otherwise, proceed to step 3.3; Step 3.2: Perform the following operations: aScanSpeed ​​= va*n*t; aPreE=v*n*t-0.5*a*(n*t)*(n*t)+0.5*(E1+E2); n=n+1.0; Return to step 3.1; Step 3.3: Perform the following operations: n＝0； i＝3； Go to step 4.

5. The method for scanning an aerial target by an elevation angle of a tracking radar based on distance adaptation according to claim 4 is characterized in that: In step 4, the target elevation position is calculated according to the third scanning speed, and it is determined whether the target elevation position is greater than the middle position between the lower and upper elevation limits. If it is greater, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the third scanning speed is set to the fourth scanning speed, and the number of scanning points is set to zero, and step 5 is entered, as follows: Step 4.1, determine whether the expected scanning elevation angle value aPreEL is greater than (E1+E2) / 2.0, if it is greater, proceed to step 4.2; otherwise, proceed to step 4.3; Step 4.2: Perform the following operations: aScanSpeed ​​= -a*n*t; aPreEL=E2+0.5*aScanSpeed*(n*t); n=n+1.0; Return to step 4.1; Step 4.3: Perform the following operations: v = aScanSpeed; n＝0； i＝4； Go to step 5.

6. The method for scanning an aerial target with an elevation angle based on tracking radar based on distance adaptation according to claim 5 is characterized in that: In step 5, the target elevation position is calculated according to the fourth scanning speed, and it is determined whether the target elevation position is greater than the lower limit of the elevation angle. If it is, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the fourth scanning speed is set to the first scanning speed, and the number of scanning points is set to zero, and the process returns to step 2, as follows: Step 5.1, determine whether the expected scanning elevation angle value aPreEL is greater than E1, if so, proceed to step 5.2; otherwise, proceed to step 5.3; Step 5.2: Perform the following operations: aPreEL=v*n*t+0.5*a*(n*t)*(n*t)+0.5*(E1+E2); aScanSpeed ​​= v + a*n*t; n=n+1.0; Return to step 5.1; Step 5.3: Perform the following operations: n＝0； i＝1； Return to step 2.

7. The method for scanning an aerial target by an elevation angle of a tracking radar based on distance adaptation according to claim 2, characterized in that: In step 1.1, the scanning sampling time t is set to 5 ms.

8. A distance-adaptive tracking radar aerial target elevation scanning system, characterized in that: The system is used to implement the distance adaptive tracking radar aerial target elevation scanning method according to any one of claims 1 to 7, and the system includes an initialization module, a first determination module, a second determination module, a third determination module and a fourth determination module, wherein: Initialization module, determines the initial value of each variable and the range of elevation scanning; The first determination module calculates the target elevation position according to the first scanning speed, and determines whether the target elevation position is less than the middle position between the lower elevation limit and the upper elevation limit. If so, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the first scanning speed is set to the second scanning speed, and the number of scanning points is set to zero, and the second determination module is entered; The second determination module calculates the target elevation position according to the second scanning speed, and determines whether the target elevation position is less than the upper limit of the elevation angle. If it is less, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the second scanning speed is set to the third scanning speed, and the number of scanning points is set to zero, and the third determination module is entered; The third determination module calculates the target elevation position according to the third scanning speed, and determines whether the target elevation position is greater than the middle position between the lower elevation limit and the upper elevation limit. If so, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the third scanning speed is set to the fourth scanning speed, and the number of scanning points is set to zero, and the third determination module is entered; The fourth determination module calculates the target elevation position according to the fourth scanning speed, and determines whether the target elevation position is greater than the lower limit of the elevation angle. If so, the number of scanning points is increased by one, and the target elevation position is recalculated; otherwise, the fourth scanning speed is set to the first scanning speed, and the number of scanning points is set to zero, and the module returns to the first determination module.

9. A mobile terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method for tracking radar aerial target elevation scanning based on distance adaptation as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in the distance adaptive based tracking radar aerial target elevation scanning method are implemented as described in any one of claims 1 to 7.

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