Unmanned equipment linkage water area target tracking method and system based on radar detection

Abstract

The invention relates to the field of water target detection and tracking identification, in particular to an unmanned equipment linkage water area target tracking method and system based on radar detection, and the method comprises the steps: detecting the direction information and distance information of a water area target through a radar, and transmitting the detected direction information and distance information of the water area target to a control end; the control end calculates the longitude information and the latitude information of the water area target according to the direction information and the distance information of the water area target detected by the radar and the longitude information and the latitude information of the radar, and pushes the calculated longitude information and the calculated latitude information of the water area target to the unmanned equipment; the unmanned equipment corrects the own navigation destination according to the longitude information and the latitude information of the water area target pushed by the control end, and takes the corrected navigation destination as the final navigation destination, so that the automatic linkage of the radar and the unmanned equipment can be realized, the target observation efficiency is improved, and the target condition can be judged in time.

Description

Technical Field

[0001] The present invention relates to the field of water target detection, tracking and identification, and in particular to a radar detection-based unmanned equipment linkage water target tracking method and system. Background Art

[0002] At present, the detection, tracking and identification of water targets are mainly carried out by detecting the target by radar and then dispatching manned ships, or manually controlling unmanned ships to conduct exploration near the target. This cannot achieve automatic linkage observation between radar and unmanned equipment (unmanned ships), and the time and labor costs of dispatching manned ships for observation are high, and the risks are also greater under special circumstances. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a method and system for tracking water targets in an unmanned device linked to radar detection, which can realize automatic linkage between radar and unmanned equipment, improve target observation efficiency, and further determine the target situation in a timely manner.

[0004] In order to solve the above technical problems, the first technical solution adopted by the present invention is: A method for tracking unmanned equipment linked to water targets based on radar detection, comprising the following steps: S1, detecting the direction information and distance information of the water target by radar, and transmitting the direction information and distance information of the detected water target to the control end; S2, the control end calculates the longitude information and latitude information of the water target according to the direction information and distance information of the water target detected by the radar and the longitude information and latitude information of the radar; S3, the control end pushes the calculated longitude information and latitude information of the water area target to the unmanned device; S4. The unmanned device corrects its own navigation destination according to the longitude information and latitude information of the water area target pushed by the control end, and takes the corrected navigation destination as the final navigation destination.

[0005] The second technical solution adopted by the present invention is: An unmanned equipment linkage water target tracking system based on radar detection includes one or more processors and a memory, wherein the memory stores a program, and when the program is executed by the processor, the following steps are implemented: S1, detecting the direction information and distance information of the water target by radar, and transmitting the direction information and distance information of the detected water target to the control end; S2, the control end calculates the longitude information and latitude information of the water target according to the direction information and distance information of the water target detected by the radar and the longitude information and latitude information of the radar; S3, the control end pushes the calculated longitude information and latitude information of the water area target to the unmanned device; S4. The unmanned device corrects its own navigation destination according to the longitude information and latitude information of the water area target pushed by the control end, and takes the corrected navigation destination as the final navigation destination.

[0006] The beneficial effects of the present invention are: This solution detects the direction information and distance information of water targets through radar, and transmits the direction information and distance information of the detected water targets to the control end. The control end calculates the longitude information and latitude information of the water target based on the direction information and distance information of the water target detected by the radar and the longitude information and latitude information of the radar. The control end pushes the calculated longitude information and latitude information of the water target to the unmanned equipment. The unmanned equipment corrects its own navigation destination based on the longitude information and latitude information of the water target pushed by the control end, and uses the corrected navigation destination as the final navigation destination. After the water target is detected by the radar, the control end automatically links the unmanned equipment to perform observation near the water target, thereby realizing automatic linkage between the radar and the unmanned equipment, improving the target observation efficiency, and thus being able to timely determine the target situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is a flowchart of the steps of the unmanned equipment linkage water area target tracking method based on radar detection of the present invention; Figure 2 It is a connection block diagram of the unmanned equipment linkage water area target tracking method based on radar detection of the present invention; Figure 3 A schematic diagram of the positions of water targets and radars in the unmanned equipment linked water target tracking method based on radar detection of the present invention; Description of labels: 1. Processor; 2. Memory; 3. Water target; 4. Radar. DETAILED DESCRIPTION

[0008] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in combination with the implementation modes and the accompanying drawings.

[0009] Please refer to Figure 1 , the first technical solution adopted by the present invention is: A method for tracking unmanned equipment linked to water targets based on radar detection, comprising the following steps: S1, detecting the direction information and distance information of the water target by radar, and transmitting the direction information and distance information of the detected water target to the control end; S2, the control end calculates the longitude information and latitude information of the water target according to the direction information and distance information of the water target detected by the radar and the longitude information and latitude information of the radar; S3, the control end pushes the calculated longitude information and latitude information of the water area target to the unmanned device; S4. The unmanned device corrects its own navigation destination according to the longitude information and latitude information of the water area target pushed by the control end, and takes the corrected navigation destination as the final navigation destination.

[0010] From the above description, it can be seen that the beneficial effects of the present invention are: This solution detects the direction information and distance information of water targets through radar, and transmits the direction information and distance information of the detected water targets to the control end. The control end calculates the longitude information and latitude information of the water target based on the direction information and distance information of the water target detected by the radar and the longitude information and latitude information of the radar. The control end pushes the calculated longitude information and latitude information of the water target to the unmanned equipment. The unmanned equipment corrects its own navigation destination based on the longitude information and latitude information of the water target pushed by the control end, and uses the corrected navigation destination as the final navigation destination. After the water target is detected by the radar, the control end automatically links the unmanned equipment to perform observation near the water target, thereby realizing automatic linkage between the radar and the unmanned equipment, improving the target observation efficiency, and thus being able to timely determine the target situation.

[0011] Furthermore, step S2 is specifically as follows: The direction information of the water target is the angle formed by the straight line between the water target and the radar and the longitude line where the radar is located; The distance information of the water area target is the straight-line distance between the water area target and two radar points; The latitude distance between the water target and the radar is: ; The longitude distance between the water target and the radar is: ; in, is the straight-line distance between the water target and the radar points, It is the angle formed by the straight line between the water target and the radar and the longitude line where the radar is located. ; According to the latitude distance between the water area target and the radar, the latitude of the water area target is calculated, specifically: ; According to the longitude distance between the water target and the radar, the longitude of the water target is calculated, specifically: ; in, is the latitude of the radar, is the longitude of the radar.

[0012] Furthermore, in step S4, the unmanned device corrects its own navigation destination according to the longitude information and latitude information of the water area target pushed by the control end. The correction steps are specifically as follows: S41, the control unit in the unmanned device receives the latest longitude and latitude information of the water area target pushed by the control terminal; S42, the control unit in the unmanned device updates the latest longitude information and latitude information of the water area target pushed by the control terminal to the navigation configuration unit of the unmanned device; S43, controlling the navigation configuration unit in the unmanned device to update the longitude information and latitude information of the navigation destination of the unmanned device to the latest; S44. The control system in the unmanned device sends a command to control the unmanned device to navigate to a new navigation destination.

[0013] Furthermore, after step S4, the following steps are also included: S5. Turn on the camera in the unmanned equipment to shoot the water target, and transmit the captured image data back to the management platform.

[0014] Furthermore, before step S1, the following steps are also included: Select a water target.

[0015] Please refer to Figure 2 , the second technical solution adopted by the present invention is: An unmanned equipment linkage water target tracking system based on radar detection includes one or more processors and a memory, wherein the memory stores a program, and when the program is executed by the processor, the following steps are implemented: S1, detecting the direction information and distance information of the water target by radar, and transmitting the direction information and distance information of the detected water target to the control end; S2, the control end calculates the longitude information and latitude information of the water target according to the direction information and distance information of the water target detected by the radar and the longitude information and latitude information of the radar; S3, the control end pushes the calculated longitude information and latitude information of the water area target to the unmanned device; S4. The unmanned device corrects its own navigation destination according to the longitude information and latitude information of the water area target pushed by the control end, and takes the corrected navigation destination as the final navigation destination.

[0016] From the above description, it can be seen that the beneficial effects of the present invention are: This solution detects the direction information and distance information of water targets through radar, and transmits the direction information and distance information of the detected water targets to the control end. The control end calculates the longitude information and latitude information of the water target based on the direction information and distance information of the water target detected by the radar and the longitude information and latitude information of the radar. The control end pushes the calculated longitude information and latitude information of the water target to the unmanned equipment. The unmanned equipment corrects its own navigation destination based on the longitude information and latitude information of the water target pushed by the control end, and uses the corrected navigation destination as the final navigation destination. After the water target is detected by the radar, the control end automatically links the unmanned equipment to perform observation near the water target, thereby realizing automatic linkage between the radar and the unmanned equipment, improving the target observation efficiency, and thus being able to timely determine the target situation.

[0017] Furthermore, when the program is executed by the processor, the following steps are implemented: Step S2 is specifically as follows: The direction information of the water target is the angle formed by the straight line between the water target and the radar and the longitude line where the radar is located; The distance information of the water area target is the straight-line distance between the water area target and two radar points; The latitude distance between the water target and the radar is: ; The longitude distance between the water target and the radar is: ; in, is the straight-line distance between the water target and the radar points, It is the angle formed by the straight line between the water target and the radar and the longitude line where the radar is located. ; According to the latitude distance between the water area target and the radar, the latitude of the water area target is calculated, specifically: ; According to the longitude distance between the water target and the radar, the longitude of the water target is calculated, specifically: ; in, is the latitude of the radar, is the longitude of the radar.

[0018] Furthermore, when the program is executed by the processor, the following steps are implemented: In step S4, the unmanned device corrects its own navigation destination according to the longitude and latitude information of the water area target pushed by the control terminal. The correction steps are as follows: S41, the control unit in the unmanned device receives the latest longitude and latitude information of the water area target pushed by the control terminal; S42, the control unit in the unmanned device updates the latest longitude information and latitude information of the water area target pushed by the control terminal to the navigation configuration unit of the unmanned device; S43, controlling the navigation configuration unit in the unmanned device to update the longitude information and latitude information of the navigation destination of the unmanned device to the latest; S44. The control system in the unmanned device sends a command to control the unmanned device to navigate to a new navigation destination.

[0019] Furthermore, when the program is executed by the processor, the following steps are implemented: The step S4 further includes the following steps: S5. Turn on the camera in the unmanned equipment to shoot the water target, and transmit the captured image data back to the management platform.

[0020] Furthermore, when the program is executed by the processor, the following steps are implemented: Before step S1, the following steps are also included: Select a water target.

[0021] Please refer to Figure 1 and Figure 3 As shown, the first embodiment of the present invention is: Please refer to Figure 1 , a method for tracking a water target 3 by unmanned equipment linkage based on radar 4 detection, comprising the following steps: S1, detecting the direction information and distance information of the water target 3 by the radar 4, and transmitting the detected direction information and distance information of the water target 3 to the control end (the control end may use the chip model TD3050 of Taidou Microelectronics Company); S2, the control end calculates the longitude information and latitude information of the water area target 3 according to the direction information and distance information of the water area target 3 detected by the radar 4 and the longitude information and latitude information of the radar 4; step S2 is specifically: The direction information of the water area target 3 is the angle formed by the straight line between the water area target 3 and the radar 4 and the longitude line where the radar 4 is located; The distance information of the water area target 3 is the straight-line distance between the water area target 3 and the radar 4; Please refer to Figure 3 , the latitude distance between the water target 3 and the radar 4 is: ; Please refer to Figure 3 , the longitude distance between the water target 3 and the radar 4 is: ; in, is the straight-line distance between water target 3 and radar 4, is the angle formed by the straight line between the water target 3 and the radar 4 and the longitude line where the radar 4 is located, ; Please refer to Figure 3 , according to the latitude distance between the water area target 3 and the radar 4, the latitude of the water area target 3 is calculated, specifically: ; Please refer to Figure 3 , according to the longitude distance between the water target 3 and the radar 4, the longitude of the water target 3 is calculated, specifically: ; in, is the latitude of radar 4, is the longitude where radar 4 is located.

[0022] S3, the control end pushes the calculated longitude information and latitude information of the water area target 3 to the unmanned device (in this embodiment, the unmanned device may be an unmanned ship or a drone); S4. The unmanned device corrects its own navigation destination according to the longitude information and latitude information of the water area target 3 pushed by the control end, and takes the corrected navigation destination as the final navigation destination.

[0023] In step S4, the unmanned device corrects its own navigation destination according to the longitude and latitude information of the water area target 3 pushed by the control end. The correction steps are as follows: S41, the control unit in the unmanned device receives the latest longitude and latitude information of the water area target 3 pushed by the control terminal; S42, the control unit in the unmanned device updates the latest longitude information and latitude information of the water area target 3 pushed by the control end to the navigation configuration unit of the unmanned device; S43, controlling the navigation configuration unit in the unmanned device to update the longitude information and latitude information of the navigation destination of the unmanned device to the latest; S44. The control system in the unmanned device sends a command to control the unmanned device to navigate to a new navigation destination.

[0024] The step S4 further includes the following steps: S5. Turn on the camera in the unmanned equipment to shoot the water target 3, and transmit the captured image data back to the management platform.

[0025] Before step S1, the following steps are also included: Select water area target 3.

[0026] Please refer to Figure 2 As shown, the second embodiment of the present invention is: An unmanned equipment linkage water target 3 tracking system based on radar 4 detection includes one or more processors 1 and a memory 2, wherein the memory 2 stores a program, and when the program is executed by the processor 1, the following steps are implemented: S1, detecting the direction information and distance information of the water area target 3 by the radar 4, and transmitting the detected direction information and distance information of the water area target 3 to the control end; S2, the control end calculates the longitude information and latitude information of the water area target 3 according to the direction information and distance information of the water area target 3 detected by the radar 4 and the longitude information and latitude information of the radar 4; S3, the control end pushes the calculated longitude information and latitude information of the water area target 3 to the unmanned device; S4. The unmanned device corrects its own navigation destination according to the longitude information and latitude information of the water area target 3 pushed by the control end, and takes the corrected navigation destination as the final navigation destination.

[0027] When the program is executed by processor 1, the following steps are implemented: Step S2 is specifically as follows: The direction information of the water area target 3 is the angle formed by the straight line between the water area target 3 and the radar 4 and the longitude line where the radar 4 is located; The distance information of the water area target 3 is the straight-line distance between the water area target 3 and the radar 4; The latitude distance between the water target 3 and the radar 4 is: ; The longitude distance between the water target 3 and the radar 4 is: ; in, is the straight-line distance between water target 3 and radar 4, is the angle formed by the straight line between the water target 3 and the radar 4 and the longitude line where the radar 4 is located, ; According to the latitude distance between the water area target 3 and the radar 4, the latitude of the water area target 3 is calculated, specifically: ; According to the longitude distance between the water target 3 and the radar 4, the longitude of the water target 3 is calculated, specifically: ; in, is the latitude of radar 4, is the longitude where radar 4 is located.

[0028] When the program is executed by processor 1, the following steps are implemented: In step S4, the unmanned device corrects its own navigation destination according to the longitude and latitude information of the water area target 3 pushed by the control end. The correction steps are as follows: S41, the control unit in the unmanned device receives the latest longitude and latitude information of the water area target 3 pushed by the control terminal; S42, the control unit in the unmanned device updates the latest longitude information and latitude information of the water area target 3 pushed by the control end to the navigation configuration unit of the unmanned device; S43, controlling the navigation configuration unit in the unmanned device to update the longitude information and latitude information of the navigation destination of the unmanned device to the latest; S44. The control system in the unmanned device sends a command to control the unmanned device to navigate to a new navigation destination.

[0029] When the program is executed by processor 1, the following steps are implemented: The step S4 further includes the following steps: S5. Turn on the camera in the unmanned equipment to shoot the water target 3, and transmit the captured image data back to the management platform.

[0030] When the program is executed by processor 1, the following steps are implemented: Before step S1, the following steps are also included: Select water area target 3.

[0031] In summary, the present invention provides a method and system for tracking water targets in unmanned equipment linked to radar detection. The direction information and distance information of the water target are detected by radar, and the direction information and distance information of the detected water target are transmitted to the control end. The control end calculates the longitude information and latitude information of the water target according to the direction information and distance information of the water target detected by the radar and the longitude information and latitude information of the radar. The control end pushes the calculated longitude information and latitude information of the water target to the unmanned equipment. The unmanned equipment corrects its own navigation destination according to the longitude information and latitude information of the water target pushed by the control end, and takes the corrected navigation destination as the final navigation destination. After the water target is detected by the radar, the control end automatically links the unmanned equipment to observe near the water target, thereby realizing automatic linkage between the radar and the unmanned equipment, improving the target observation efficiency, and thus being able to timely determine the target situation.

[0032] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for tracking targets in waters using unmanned equipment linked to radar detection, characterized in that: The following steps are involved: S1, detecting the direction information and distance information of the water target by radar, and transmitting the direction information and distance information of the detected water target to the control end; S2, the control end calculates the longitude information and latitude information of the water target according to the direction information and distance information of the water target detected by the radar and the longitude information and latitude information of the radar; S3, the control end pushes the calculated longitude information and latitude information of the water area target to the unmanned device; S4. The unmanned device corrects its own navigation destination according to the longitude information and latitude information of the water area target pushed by the control end, and takes the corrected navigation destination as the final navigation destination.

2. The method for tracking targets in waters linked to unmanned equipment based on radar detection according to claim 1 is characterized in that: Step S2 is specifically as follows: The direction information of the water target is the angle formed by the straight line between the water target and the radar and the longitude line where the radar is located; The distance information of the water area target is the straight-line distance between the water area target and two radar points; The latitude distance between the water target and the radar is: ； The longitude distance between the water target and the radar is: ； in, is the straight-line distance between the water target and the radar points, It is the angle formed by the straight line between the water target and the radar and the longitude line where the radar is located. ; According to the latitude distance between the water area target and the radar, the latitude of the water area target is calculated, specifically: ； According to the longitude distance between the water target and the radar, the longitude of the water target is calculated, specifically: ； in, is the latitude of the radar, is the longitude of the radar.

3. The method for tracking targets in waters linked to unmanned equipment based on radar detection according to claim 1 is characterized in that: In step S4, the unmanned device corrects its own navigation destination according to the longitude and latitude information of the water area target pushed by the control terminal. The correction steps are as follows: S41, the control unit in the unmanned device receives the latest longitude and latitude information of the water area target pushed by the control terminal; S42, the control unit in the unmanned device updates the latest longitude information and latitude information of the water area target pushed by the control terminal to the navigation configuration unit of the unmanned device; S43, controlling the navigation configuration unit in the unmanned device to update the longitude information and latitude information of the navigation destination of the unmanned device to the latest; S44. The control system in the unmanned device sends a command to control the unmanned device to navigate to a new navigation destination.

4. The method for tracking targets in waters linked to unmanned equipment based on radar detection according to claim 1 is characterized in that: The step S4 further includes the following steps: S5. Turn on the camera in the unmanned equipment to shoot the water target, and transmit the captured image data back to the management platform.

5. The method for tracking targets in waters linked to unmanned equipment based on radar detection according to claim 1 is characterized in that: Before step S1, the following steps are also included: Select a water target.

6. An unmanned equipment linked water target tracking system based on radar detection, characterized in that: The system comprises one or more processors and a memory, wherein the memory stores a program, and when the program is executed by the processor, the following steps are implemented: S1, detecting the direction information and distance information of the water target by radar, and transmitting the direction information and distance information of the detected water target to the control end; S2, the control end calculates the longitude information and latitude information of the water target according to the direction information and distance information of the water target detected by the radar and the longitude information and latitude information of the radar; S3, the control end pushes the calculated longitude information and latitude information of the water area target to the unmanned device; S4. The unmanned device corrects its own navigation destination according to the longitude information and latitude information of the water area target pushed by the control end, and takes the corrected navigation destination as the final navigation destination.

7. The unmanned equipment linked water area target tracking system based on radar detection according to claim 1 is characterized in that: When the program is executed by the processor, the following steps are implemented: Step S2 is specifically as follows: The direction information of the water target is the angle formed by the straight line between the water target and the radar and the longitude line where the radar is located; The distance information of the water area target is the straight-line distance between the water area target and two radar points; The latitude distance between the water target and the radar is: ； The longitude distance between the water target and the radar is: ； in, is the straight-line distance between the water target and the radar points, It is the angle formed by the straight line between the water target and the radar and the longitude line where the radar is located. ; According to the latitude distance between the water area target and the radar, the latitude of the water area target is calculated, specifically: ； According to the longitude distance between the water target and the radar, the longitude of the water target is calculated, specifically: ； in, is the latitude of the radar, is the longitude of the radar.

8. The radar detection-based unmanned equipment linkage water target tracking system according to claim 1 is characterized in that: When the program is executed by the processor, the following steps are implemented: In step S4, the unmanned device corrects its own navigation destination according to the longitude and latitude information of the water area target pushed by the control terminal. The correction steps are as follows: S41, the control unit in the unmanned device receives the latest longitude and latitude information of the water area target pushed by the control terminal; S42, the control unit in the unmanned device updates the latest longitude information and latitude information of the water area target pushed by the control terminal to the navigation configuration unit of the unmanned device; S43, controlling the navigation configuration unit in the unmanned device to update the longitude information and latitude information of the navigation destination of the unmanned device to the latest; S44. The control system in the unmanned device sends a command to control the unmanned device to navigate to a new navigation destination.

9. The radar detection-based unmanned equipment linkage water target tracking system according to claim 1 is characterized in that: When the program is executed by the processor, the following steps are implemented: The step S4 further includes the following steps: S5. Turn on the camera in the unmanned equipment to shoot the water target, and transmit the captured image data back to the management platform.

10. The method for tracking targets in waters linked to unmanned equipment based on radar detection according to claim 1, characterized in that: When the program is executed by the processor, the following steps are implemented: Before step S1, the following steps are also included: Select a water target.

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