Echo data processing method of radar seeker simulation task equipment

Abstract

The invention discloses an echo data processing method of radar seeker simulation task equipment, which comprises the following steps: S1, receiving an echo signal by a radar, preprocessing, and generating trace point data; s2, performing trace point condensation on the processed trace point data; s3, carrying out track batch building based on a trace point condensation result; s4, after multi-week search, determining the track of the target according to the track building result and the target RCS information; and S5, switching to a tracking mode, repeating the steps S2-S3 to perform trace point condensation and track batch building, and updating the latest track of the tracked target. According to the method, the points in the range of one circle are scanned and divided into a plurality of blocks according to the orientation, one sector corresponds to a period of time, the plot information is condensed into the lattice according to the time sequence, the lattice is converted into the required plot information at the end point of one circle of scanning, and the problem of too many false tracks caused by too high false alarm rate can be effectively avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of electronic countermeasures, and in particular relates to an echo data processing method for a radar seeker simulation mission device. Background Art

[0002] Radar seeker is a key component used to guide and control missiles, rockets and other weapon systems. Radar seeker uses radar technology to achieve target detection, tracking and guidance. Its basic principle is to use the pulse electromagnetic waves emitted by the radar to interact with the reflected signals, and to obtain the target's position, speed and other information by analyzing and processing the echo signals, thereby achieving accurate positioning and tracking of the missile to the target.

[0003] At present, the study is on the scenario of airborne radar seeker detecting ship targets, in order to achieve accurate detection and accurate and stable tracking of targets, which is divided into two stages: target search and tracking. In the search stage, the radar servo conducts a large-scale search, and after multiple circles of search, it builds a navigation for multiple targets within the range and finds the target to be tracked; in the tracking stage, the radar servo rotates in a small range with the target direction as the center, and during this period, it continuously refreshes the latest direction and distance of the tracked target and displays it.

[0004] At each stage, point trace aggregation and track batching are two key technical links in radar data processing. Point trace aggregation is mainly responsible for processing the target echo detected by the radar, merging multiple original point traces belonging to the same target, and finally obtaining point trace data that uniquely represents its physical position for a target. Track batching is to associate the point traces of the same target on the basis of point trace aggregation to form the track of the target.

[0005] The increasingly complex battlefield environment has placed higher requirements on the actual combat training of troops, but there are still deficiencies in the previous radar data processing process. The traditional point trace condensation algorithm processes the echo data of a radar servo scan. As the data rate of echo data continues to increase, more and more target information is contained in the data, and the complexity of the algorithm continues to increase. However, the processing power of the radar sometimes cannot keep up with the radar data rate. In addition, due to the influence of radar resolution, clutter, antenna characteristics, etc., a target is usually split into multiple points. This increases the difficulty of point trace condensation and brings challenges to the stable tracking of the target. Summary of the invention

[0006] Technical purpose: To solve the above technical problems, the present invention proposes a method for processing echo data of a radar seeker simulation mission equipment.

[0007] Technical solution: To achieve the above technical objectives, the present invention adopts the following technical solution:

[0008] 1. A method for processing echo data of a radar seeker simulation mission device, comprising the following steps:

[0009] S1, radar receives echo signal, performs preprocessing, and generates point trace data;

[0010] S2, performing point condensation on the processed point data;

[0011] S3, creating a batch of tracks based on the results of point track aggregation;

[0012] S4. After multiple weeks of searching, the target's track is determined based on the track batching results and the target's RCS information;

[0013] S5, switch to tracking mode, repeat steps S2 to S3 to perform point track condensation and track batch creation, and update the latest track of the tracking target;

[0014] It is characterized in that the specific steps of processing the point trace data in step S2 and performing point trace condensation after the processing are as follows:

[0015] S21: Open a structure, which is equivalent to a grid. The elements of the grid include: distance r current , the distance r of the point with the maximum amplitude maxa , the number of points that have been merged Num, the accumulated angle amplitude Left boundary angle θ left , right boundary angle θ right , maximum amplitude a max , the maximum amplitude point corresponds to the azimuth angle θmaxa;

[0016] S22: Scan the processed trace data, and from the beginning of a circle of scanning, periodically perform trace condensation S = {s0, s1, s2, ..., s N} to perform point condensation, where the point data s i = {r i ,θ i ,a i}, 1≤i≤N, N represents the number of points within a certain time interval, r i represents the distance of the i-th point trace, θ i represents the azimuth of the i-th point, a i Represents the amplitude information of the i-th point trace;

[0017] The point data si is first matched with the grid of the remaining area of ​​the structure in step S21. If |r current -r i |≤τ, τ is the distance error tolerance, then the match is successful and the grid information is updated: r current =r iθ maxa =θ i , if a i >a max ; r maxa =r i , if a i >a max ; a max =a i , if a i >a max ; ifθ i >θ right ,θ right =θ i ; ifθ i <θ left ,θ left =θ i ;Num=Num+1.

[0018] On the contrary, create a new grid and update the data to the new grid:

[0019] r current =r i ,θ maxa =θ i , r maxa =r i , a max =a i ,θ right =θ i ,θ left =θ i , Num=1.

[0020] S23: Determine whether the circle scan has reached the boundary based on the angle information and scanning direction of the point trace. If it has reached the boundary of the circle scan, execute S22 once and then perform point trace condensation before track processing: traverse the grid. If the grid information satisfies |θ left -θ right |≥θ threld_min , where θ threld_min The minimum threshold of the boundary angle difference indicating that the grid is a valid condensation point, execute θ = θ maxa ,r=r maxa ,a=a max , as a focal point.

[0021] 2. The echo data processing method of a radar seeker simulation mission device according to claim 1 is characterized in that after obtaining the condensation point in step S2, side lobe suppression is required, and the specific operation is: compare any two condensation points S i = {r i ,θ i ,a i} and Sj = {r j ,θ j ,a j}, calculate the distance r between the two points based on the distance r and the azimuth θ ij , if r is satisfied ij ≤r threld , then the point with larger amplitude value a is taken as the new condensation point.

[0022] 3. The echo data processing method of a radar seeker simulation mission device according to claim 1 is characterized in that after obtaining the condensation point in step S2, the following processing is required:

[0023] Convert the target amplitude a to the target power P 目标 =20lga, then the radar receiving power S r =P 目标 -G 中 -G 功 +G 线 +G 前 , where G 中 is the intermediate gain of the transmitted signal, G 功 is the receiving gain of the power amplifier, G 线 is the gain of the cables between the amplifier modules, G 前 is the radar front end attenuation;

[0024] Thus, the RCS information of the condensation point is obtained: Where R is the target distance, S r is the radar receiving power, P t is the radar transmission power, G t is the antenna transmission gain, G r is the antenna receiving gain, and f is the radar RF frequency.

[0025] 4. The echo data processing method of a radar seeker simulation mission equipment according to claim 1 is characterized in that the specific steps of receiving the echo signal and preprocessing the echo signal in step S1 to generate the point trace data are as follows:

[0026] S11: The radar receives the echo signal, and the AD chip converts the analog echo signal into a digital echo signal and sends it to the signal processing module;

[0027] S12: applying a pulse compression processing method based on a time domain processing algorithm to the digital echo signal, that is, using a filter that matches the transmitted signal to perform matched filtering on the echo signal;

[0028] S13: According to the pulse compression data obtained by the pulse compression processing method, the echo signals of the same distance unit between pulses are coherently accumulated, and for the signals after pulse compression within N repetition periods, according to the principle that the distance unit positions are the same, N-point FFT calculations are performed on the reflected echoes at the same position, so as to coherently accumulate the energy of the echo signals of the same frequency components to obtain the range Doppler data;

[0029] S14: Perform constant false alarm detection on the echo signal after coherent accumulation to generate a message frame containing k point trace data, which includes distance and echo amplitude, and the azimuth information corresponding to the point trace can be known according to the servo feedback.

[0030] 5. The echo data processing method of a radar seeker simulation mission device according to claim 1 is characterized in that the specific steps of performing track batching based on the result of point track aggregation in step S3 are as follows:

[0031] S31: Take the condensed point obtained in the first scan as the track head and establish a circular correlation gate, that is, the distance between the current point and the track head Δr≤V max T s +r err , where T s is the time interval between two traces, V max is the maximum speed of the target drone, r err is the permissible error of the target machine;

[0032] The second scanning point tracks that meet the above circular correlation gate and have an amplitude of 0.8 to 1.2 times the amplitude of the track head are all established;

[0033] S32: Predict and extrapolate each of the above tracks: perform linear extrapolation based on the latest point and the previous point in the track to obtain a predicted point, take the predicted point as the center, and establish a sector-related wave gate based on the error covariance. If there is a point falling into the sector-related wave gate, execute step S33, if not, execute step S34;

[0034] S33: If a single point track falls into the sector correlation wave gate, the point track is considered to be the measurement point track of the target. If multiple points track fall into the sector correlation wave gate, the point track closest to the predicted point is used as the measurement point track of the track at the current moment, and the other points track are used as new track heads waiting for the next scanning association;

[0035] α-β filtering is performed using the measured point traces and the predicted point traces, and the filtering result is used as the real point trace at the current moment and associated with the track, the number of track missing points is cleared, the track batch is successfully created, and step S32 is continued;

[0036] S34: If no point track falls into the wave gate, the number of missing points of the track is increased by one. If the number of missing points reaches the threshold, the track is destroyed, otherwise, step S32 is executed.

[0037] 6. The echo data processing method of a radar seeker simulation mission device according to claim 5 is characterized in that in step S32, a sector-correlation gate is established according to the error covariance, specifically:

[0038] In polar coordinates, the target is measured as radial distance ρ and azimuth θ. Let ρ k+1 and Respectively represent the measured distance and predicted distance at time k+1, θ k+1 , denote the measured angle and predicted angle at time k+1 respectively, and the sector gate criterion is:

[0039]

[0040] The (ρ, θ) that satisfies the above equation and falls into the gate is called a candidate echo, where and They represent the variance of the distance measurement error and the variance of the prediction error, respectively. and They represent the variance of the angle measurement error and the variance of the prediction error, respectively, and K ρ and K θ By 2 The square root of the parameter found in the distribution table.

[0041] Beneficial effects: Due to the adoption of the above technical solution, the present invention has the following beneficial effects: In order to improve the probability of target search, the method of increasing the false alarm probability of the radar system is often used in engineering to obtain a lower detection threshold, thereby ensuring that the target point track can be output with a high probability. However, a high false alarm probability will cause too many false tracks to be output at the beginning of the track. When performing point track condensation, in order to avoid processing too much echo data at one time, the present invention considers a point track condensation method similar to that based on a sector structure. The points within the scanning range of one circle are divided into several blocks according to the azimuth, and one sector corresponds to a period of time. The point track information is condensed into a grid in chronological order, and the grid is converted into the point track information we need at the end of the scanning circle.

[0042] At the same time, in order to avoid the same target being split into multiple targets and affecting the subsequent track batching, the present invention condenses several points into one point according to the amplitude for the condensation points with similar distance and azimuth when condensing the point traces. This point trace condensation method avoids the situation where the task fails due to processing a large amount of data in a short time. In addition, by eliminating small-amplitude point traces when there are large-amplitude point traces, the problem of too many false tracks due to excessive false alarm rate can be effectively avoided. After the device is started, the method can automatically search and track the tracking target with the largest RCS. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 The invention discloses a working flow chart of an echo data processing method of a radar seeker simulation mission device. DETAILED DESCRIPTION

[0044] The following is a further detailed description of the embodiments of the present invention.

[0045] Embodiment 1

[0046] This paper proposes a method for processing echo data of radar seeker simulation mission equipment. The workflow diagram is as follows: Figure 1 As shown, the working steps are described in detail below.

[0047] S1. The radar receives the echo signal, performs preprocessing, and generates point trace data, including:

[0048] S11: The radar receives the echo signal, and the AD chip converts the analog echo signal into a digital echo signal and sends it to the signal processing module.

[0049] S12: A pulse compression processing method based on a time domain processing algorithm is used for the digital echo signal, that is, a filter matching the transmission signal is used to perform matched filtering on the echo signal.

[0050] S13: Based on the pulse compression data obtained by the pulse compression processing method, the echo signals of the same distance unit between pulses are coherently accumulated. For the signals after pulse compression within N repeated cycles, based on the principle of the same distance unit position, N-point FFT calculations are performed on the reflected echoes at the same position to coherently accumulate the energy of the echo signals of the same frequency components to obtain range Doppler data.

[0051] S14: Perform constant false alarm detection on the echo signal after coherent accumulation to generate a message frame containing k point trace data, which includes distance and echo amplitude, and the azimuth information corresponding to the point trace can be known according to the servo feedback.

[0052] S2. performing point condensation on the processed point data, including:

[0053] S21: Open a structure, which is equivalent to a grid. The elements of the grid include: distance r current , the distance r of the point with the maximum amplitude maxa , the number of points that have been merged Num, the accumulated angle amplitude Left boundary angle θ left , right boundary angle θ right , maximum amplitude a max , the maximum amplitude point corresponds to the azimuth angle θmaxa.

[0054] S22: Scan the processed trace data, and from the beginning of a circle scan, periodically perform trace condensation S = {s0, s1, s2, ..., s N} to perform point condensation, where the point data s i = {r i ,θ i ,a i}, 1≤i≤N, N represents the number of traces within 40ms, r i represents the distance of the i-th point trace, θ i represents the azimuth of the i-th point, a i Represents the amplitude information of the i-th point trace.

[0055] The point data si is first matched with the grid of the remaining area of ​​the structure in step S21. If |r current -r i |≤τ, τ is the distance error tolerance, then the match is successful and the grid information is updated: r current =r i θ maxa =θ i , if a i >a max ; r maxa =r i , if a i >a max ; a max =a i , if a i >a max ; ifθ i >θ right ,θ right =θ i ; ifθ i <θ left ,θ left =θ i ;Num=Num+1.

[0056] On the contrary, create a new grid and update the data to the new grid:

[0057] r current =r i ,θ maxa =θ i , r maxa =r i , a max =a i ,θ right =θ i ,θ left =θ i , Num=1.

[0058] S23: Determine whether the circle scan has reached the boundary based on the angle information and scanning direction of the point trace. If it has reached the boundary of the circle scan, execute S22 once and then perform point trace condensation before track processing: traverse the grid. If the grid information satisfies |θ left -θ right |≥θ threld_min , where θ threld_min The minimum threshold of the boundary angle difference indicating that the grid is a valid condensation point, execute θ = θ maxa ,r=r maxa ,a=a max , as a focal point.

[0059] S24: After obtaining the condensation point, the following processing is required:

[0060] Convert the target amplitude a to the target power P 目标 =20lga, then the radar receiving power S r =P 目标 -G 中 -G 功 +G 线 +G 前 , where G 中 is the intermediate gain of the transmitted signal, which is related to the signal processing and microwave module and is a constant; G 功 is the receiving gain of the power amplifier. The power amplifier is a module of the radar equipment. The receiving gain is a constant value and is related to the selected power amplifier. 线 is the gain of the cables between the receiving amplifier modules, G 前 is the radar front end attenuation.

[0061] Thus, the RCS information of the condensation point is obtained: Where R is the target distance, S r is the radar receiving power, P t is the radar transmission power, G t is the antenna transmission gain, G r is the antenna receiving gain, and f is the radar RF frequency.

[0062] S25: After obtaining the condensation point, sidelobe suppression is required. The specific operation is: compare any two condensation points S i = {r i ,θ i ,a i} and S j = {r j ,θ j ,a j}, calculate the distance r between the two points based on the distance r and the azimuth θ ij , if r is satisfied ij ≤r threld, then the point with larger amplitude value a is taken as the new condensation point.

[0063] The meaning of sidelobe suppression is: after a circle of scanning, for condensed points with similar distance and azimuth, it is very likely that they are formed by the splitting of the same target. According to the amplitude, several points are condensed into one point, which is called sidelobe suppression. The specific operation is to compare any two condensed points S i = {r i ,θ i ,a i} and S j = {r j ,θ j ,a j}, calculate the distance r between the two points based on the distance r and the azimuth θ ij , if r is satisfied ij ≤r threld , the two points are condensed into a point with a larger amplitude value a.

[0064] S3. Batch track building based on the results of point track aggregation, including:

[0065] S31: Take the condensed point obtained in the first scan as the track head and establish a circular correlation gate, that is, the distance between the current point and the track head Δr≤V max T s +r err , where T s is the time interval between two traces, V max is the maximum speed of the target drone, r err Allowable error for the target machine.

[0066] Tracks are established for the second scanning points that meet the above circular correlation gate and have an amplitude of 0.8 to 1.2 times the amplitude of the track head.

[0067] S32: Predict and extrapolate each of the above-mentioned tracks: perform linear extrapolation based on the latest point and the previous point in the track to obtain the predicted point, and establish a sector-correlated gate based on the error covariance with the predicted point as the center. If there is a point falling within the sector-correlated gate, execute step S33, if not, execute step S34.

[0068] The sector-correlation gate is established according to the error covariance, specifically:

[0069] In polar coordinates, the target is measured as radial distance ρ and azimuth θ. Let ρ k+1 and Respectively represent the measured distance and predicted distance at time k+1, θ k+1 , denote the measured angle and predicted angle at time k+1 respectively, and the sector gate criterion is:

[0070]

[0071] The (ρ, θ) that satisfies the above equation and falls into the gate is called a candidate echo, where and They represent the variance of the distance measurement error and the variance of the prediction error, respectively. and They represent the variance of the angle measurement error and the variance of the prediction error, respectively, and K ρ and K θ By 2 The square root of the parameter found in the distribution table.

[0072] S33: If a single point track falls into the sector correlation wave gate, it is considered that the point track is the measurement point track of the target. If multiple points track fall into it, the point track closest to the predicted point is used as the measurement point track of the track at the current moment, and the other points track are used as new track heads waiting for the next scan association.

[0073] α-β filtering is performed using the measured point traces and the predicted point traces, and the filtering result is used as the real point trace at the current moment and associated with the track. The number of track missing points is cleared, the track batch is successfully created, and step S32 is continued.

[0074] S34: If no point track falls into the wave gate, the number of missing points of the track is increased by one. If the number of missing points reaches a threshold, which is generally set to 1, the track is destroyed, otherwise step S32 is executed.

[0075] S4. After multiple weeks of searching, the target's track is determined based on the track batching results and the target's RCS information;

[0076] S5, switch to tracking mode, repeat steps S2 to S3 to perform point track condensation and track batch creation, and update the latest track of the tracking target.

[0077] This embodiment provides an echo data processing method for a radar seeker simulation mission device, which can detect and process the echo signal of its own radiation source, perform active target detection, and simulate enemy air seeker threat targets for shipborne electronic warfare jammers. At the same time, the device can collect loop signals and support both online and offline methods for effect evaluation.

[0078] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any form, and any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present invention.

Claims

1. A method for processing echo data of a radar seeker simulation mission device, comprising the following steps: S1, radar receives echo signal, performs preprocessing, and generates point trace data; S2, performing point condensation on the processed point data; S3, creating a batch of tracks based on the results of point track aggregation; S4. After multiple weeks of searching, the target's track is determined based on the track batching results and the target's RCS information; S5, switch to tracking mode, repeat steps S2 to S3 to perform point track condensation and track batch creation, and update the latest track of the tracking target; It is characterized in that the specific steps of processing the point trace data in step S2 and performing point trace condensation after the processing are as follows: S21: Open a structure, which is equivalent to a grid. The elements of the grid include: distance r current , the distance r of the point with the maximum amplitude max a , the number of points that have been merged Num, the accumulated angle amplitude Left boundary angle θ left , right boundary angle θ right , maximum amplitude a max , the maximum amplitude point corresponds to the azimuth angle θ max a ; S22: Scan the processed trace data, and from the beginning of a circle of scanning, periodically perform trace condensation S = {s0, s1, s2, ..., s N } to perform point condensation, where the point data s i = {r i ,θ i ,a i }, 1≤i≤N, N represents the number of points within a certain time interval, r i represents the distance of the i-th point trace, θ i represents the azimuth of the i-th point, a i Represents the amplitude information of the i-th point trace; Point trace data i First, match the grids in the remaining area of ​​the structure in step S21. If |r current -r i |≤τ, τ is the distance error tolerance, then the match is successful and the grid information is updated: r current =r i θ maxa =θ i , if a i >a max ; r maxa =r i , if a i >a max ; a max =a i , if a i >a max ; ifθ i >θ right ,θ right =θ i ; ifθ i <θ left ,θ left =θ i ; Num = Num + 1; On the contrary, create a new grid and update the data to the new grid: r current =r i ,the maxa =θ i ,r maxa =r i ,a max =a i ,the right =θ i ,the left =θ i ,Num=1. S23: Determine whether the circle scan has reached the boundary based on the angle information and scanning direction of the point trace. If it has reached the boundary of the circle scan, execute S22 once and then perform point trace condensation before track processing: traverse the grid. If the grid information satisfies |θ left -θ right |≥θ threld_min , where θ threld_min The minimum threshold of the boundary angle difference indicating that the grid is a valid condensation point, execute θ = θ maxa ,r=r maxa ,a=a max , as a focal point.

2. The echo data processing method of a radar seeker simulation mission equipment according to claim 1 is characterized in that: After the condensation point is obtained in step S2, sidelobe suppression is required. The specific operation is: compare any two condensation points S i = {r i ,θ i ,a i } and S j = {r j ,θ j ,a j }, calculate the distance r between the two points based on the distance r and the azimuth θ ij , if r is satisfied ij ≤r threld , then the point with larger amplitude value a is taken as the new condensation point.

3. The echo data processing method of a radar seeker simulation mission equipment according to claim 1 is characterized in that: After the condensation point is obtained in step S2, the following processing is required: Convert the target amplitude a to the target power P 目标 =20lga, then the radar receiving power S r =P 目标 -G 中 -G 功 +G 线 +G 前 , where G 中 is the intermediate gain of the transmitted signal, G 功 is the receiving gain of the power amplifier, G 线 is the gain of the cables between the amplifier modules, G 前 is the radar front end attenuation; Thus, the RCS information of the condensation point is obtained: Where R is the target distance, S r is the radar receiving power, P t is the radar transmission power, G t is the antenna transmission gain, G r is the antenna receiving gain, and f is the radar RF frequency.

4. The echo data processing method of a radar seeker simulation mission equipment according to claim 1 is characterized in that: In step S1, the radar receives the echo signal, performs preprocessing, and generates the point trace data in the following specific steps: S11: The radar receives the echo signal, and the AD chip converts the analog echo signal into a digital echo signal and sends it to the signal processing module; S12: applying a pulse compression processing method based on a time domain processing algorithm to the digital echo signal, that is, using a filter that matches the transmitted signal to perform matched filtering on the echo signal; S13: According to the pulse compression data obtained by the pulse compression processing method, the echo signals of the same distance unit between pulses are coherently accumulated, and for the signals after pulse compression within N repetition periods, according to the principle that the distance unit positions are the same, N-point FFT calculations are performed on the reflected echoes at the same position, so as to coherently accumulate the energy of the echo signals of the same frequency components to obtain the range Doppler data; S14: Perform constant false alarm detection on the echo signal after coherent accumulation to generate a message frame containing k point trace data, which includes distance and echo amplitude, and the azimuth information corresponding to the point trace can be known according to the servo feedback.

5. The echo data processing method of a radar seeker simulation mission equipment according to claim 1, characterized in that: The specific steps of performing track batching based on the result of point track aggregation in step S3 are as follows: S31: Take the condensed point obtained in the first scan as the track head and establish a circular correlation gate, that is, the distance between the current point and the track head Δr≤V max T s +r err , where T s is the time interval between two traces, V max is the maximum speed of the target drone, r err is the permissible error of the target machine; The second scanning point tracks that meet the above circular correlation gate and have an amplitude of 0.8 to 1.2 times the amplitude of the track head are all established; S32: Predict and extrapolate each of the above tracks: perform linear extrapolation based on the latest point and the previous point in the track to obtain a predicted point, take the predicted point as the center, and establish a sector-related wave gate based on the error covariance. If there is a point falling into the sector-related wave gate, execute step S33, if not, execute step S34; S33: If a single point track falls into the sector correlation wave gate, the point track is considered to be the measurement point track of the target. If multiple points track fall into the sector correlation wave gate, the point track closest to the predicted point is used as the measurement point track of the track at the current moment, and the other points track are used as new track heads waiting for the next scanning association; α-β filtering is performed using the measured point traces and the predicted point traces, and the filtering result is used as the real point trace at the current moment and associated with the track, the number of track missing points is cleared, the track batch is successfully created, and step S32 is continued; S34: If no point track falls into the wave gate, the number of missing points of the track is increased by one. If the number of missing points reaches the threshold, the track is destroyed, otherwise, step S32 is executed.

6. The echo data processing method of a radar seeker simulation mission equipment according to claim 5 is characterized in that: In step S32, a sector-correlation gate is established according to the error covariance, specifically: In polar coordinates, the target is measured as radial distance ρ and azimuth θ. Let ρ k+1 and Respectively represent the measured distance and predicted distance at time k+1, θ k+1 , denote the measured angle and predicted angle at time k+1 respectively, then the sector gate criterion is: The (ρ, θ) that satisfies the above equation and falls into the gate is called a candidate echo, where and They represent the variance of the distance measurement error and the variance of the prediction error, respectively. and They represent the variance of the angle measurement error and the variance of the prediction error, respectively, and K ρ and K θ By 2 The square root of the parameter found in the distribution table.

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