Echo data processing method for a radar seeker simulation task device

Abstract

The present invention discloses a method for processing echo data of a radar seeker simulation task device, comprising the following steps: S1. The radar receives an echo signal, performs preprocessing, and generates track data; S2. Perform track condensation on the processed track data; S3. Based on the result of track condensation, perform track batch construction; S4. After multi-cycle search, determine the track of the target according to the result of track batch construction and the target RCS information; S5. Switch to the tracking mode, repeat steps S2 to S3 to perform track condensation and track batch construction, and update the latest track of the tracked target. In the present invention, the points within the scanning range of one circle are divided into several blocks according to the azimuth, one sector corresponds to a period of time, the track information is condensed into grids in chronological order, and the grids are converted into the track information we need at the end of one circle of scanning, which can effectively avoid the problem of too many false tracks caused by too high a false alarm rate.

Description

Technical Field

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

[0002] A radar seeker is a key component used for guiding and controlling weapon systems such as missiles and rockets. The radar seeker uses radar technology to achieve target detection, tracking, and guidance. Its basic principle is to utilize the interaction between the pulsed electromagnetic wave emitted by the radar and the signal reflected back, and to obtain information such as the position and speed of the target by analyzing and processing the echo signal, thereby achieving precise positioning and tracking of the target by the missile.

[0003] Currently, the scenario of an airborne radar seeker detecting a ship target is studied in order to achieve precise detection and accurate and stable tracking of the target, which is divided into two stages: target search and tracking. Among them, in the search stage, the radar servo conducts a large-range search. After multiple rounds of search, navigation is established for multiple targets within the range, and the target to be tracked is found. In the tracking stage, the radar servo rotates within a small range centered on the target azimuth. During this period, the latest azimuth and distance of the tracking target are continuously refreshed and displayed on the upper screen.

[0004] In each stage, point track condensation and track batch construction are two key technical links in radar data processing. Point track condensation is mainly responsible for processing the target echo detected by the radar, merging multiple original point tracks belonging to the same target, and finally enabling a target to obtain point track data that uniquely represents its physical position. Track batch construction is to perform correlation processing on the point tracks of the same target on the basis of point track condensation to form the track of the target.

[0005] In the modern and increasingly complex battlefield environment, there are higher requirements for the actual combat training of troops. However, there are still deficiencies in the previous radar data processing process. The traditional point track condensation algorithm processes the echo data of one scan circle of the radar servo. As the data rate of the echo data continues to increase, the target information contained in the data is also increasing, and the complexity of the algorithm is continuously increasing. However, the processing ability 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., usually one target will be split into multiple point tracks. This increases the difficulty of point track condensation and poses a challenge to the stable tracking of the target. Summary of the Invention

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

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

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

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

[0010] S2. Perform point condensation on the processed point data;

[0011] S3. Based on the result of point condensation, perform track batch building;

[0012] S4. After multi-week search, determine the target track according to the track batch building result and the target RCS information;

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

[0014] It is characterized in that, when processing the point data in step S2, the specific steps for performing point 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 merged points Num, the accumulated angle amplitude left boundary angle θ left , right boundary angle θ right , maximum amplitude a max , the azimuth angle θ corresponding to the point with the maximum amplitude maxa ;

[0016] S22: Scan the processed point data. Starting from the beginning of a circle scan, perform point condensation S = {s0, s1, s2,..., s N} on the m-frame point data generated within a certain time interval. Among them, the point data s i = {r i , θ i , a i}, 0 ≤ i ≤ N, N represents the number of points within a certain time interval, r i represents the distance of the i-th point, θ i represents the azimuth angle of the i-th point, and a i represents the amplitude information of the i-th point;

[0017] The point data s i first matches with the grids in the remaining area of the structure in step S21. If |r current - r i | ≤ τ, where τ is the allowable tolerance of the distance error, the match is successful and the grid information is updated: rcurrent = 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 ; if θ i > θ right , θ right = θ i , if θ 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 scan of this circle reaches the boundary according to the angle information of the trace and the scan direction. If it reaches the boundary of the scan of this circle, after executing S22 once, perform trace condensation before track processing: Traverse the grid. If the information of the grid satisfies |θ left - θ right | ≥ θ threld_min , where θ threld_min indicates the minimum threshold of the boundary angle difference of the grid as an effective condensation point, and execute θ = θ maxa , r = r maxa , a = a max , as the condensation point.

[0021] 2. According to the echo data processing method of a radar seeker simulation task device described in claim 1, it is characterized in that after obtaining the condensation point in step S2, sidelobe suppression is also required. The specific operation is: Compare any two condensation points s i = {r i , θi , a i}, and s j = {r j , θ j , a j} and calculate the distance r between two points according to the distance r and the azimuth θ ij . If r ij ≤ r threld , then use the point with the larger amplitude value a as the new condensation point.

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

[0023] Convert the target amplitude a to the target power P 目标 = 20lg a, then the radar received 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 received gain of the power amplifier, G 线 is the gain of the cable between the modules of the power amplifier, 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 received power, P t is the radar transmitted power, G t is the antenna transmit gain, G r is the antenna receive gain, and f is the radar radio frequency.

[0025] 4. A method for processing echo data of a radar seeker simulation task device according to claim 1, characterized in that the specific steps of the radar receiving the echo signal and performing preprocessing to generate point data in step S1 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 then sends it to the signal processing module;

[0027] S12: Use the pulse compression processing method based on the time-domain processing algorithm for the digital echo signal, that is, use a filter matching the transmitted signal to perform matched filtering on the echo signal;

[0028] S13: Based on the pulse compression data obtained by the pulse compression processing method, perform coherent integration on the echo signals of the same range cell between pulses. For the signals after pulse compression within M repetition periods, according to the principle of the same range cell position, perform M-point FFT calculation on the reflected echoes at the same position to coherently integrate the energy of the echo signals with the same frequency components, and obtain range-Doppler data;

[0029] S14: Perform constant false alarm rate detection on the echo signals after coherent integration, generate a message containing k trace data points, which includes range and echo amplitude, and know the azimuth information corresponding to the trace according to the servo feedback.

[0030] 5. A method for processing echo data of a radar seeker simulation task device according to claim 1, wherein the specific steps of track batch building based on the result of trace condensation in step S3 are as follows:

[0031] S31: Use the condensed point obtained from the first scan as the track head, and establish a circular correlation gate, that is, the distance Δr between the current point and the track head satisfies 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 aircraft, and r err is the allowable error of the target aircraft;

[0032] For the second scan traces that satisfy the above circular correlation gate and whose amplitude is 0.8 - 1.2 times the amplitude of the track head, establish tracks;

[0033] S32: Perform prediction extrapolation on each of the above tracks: Make a 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 fan-shaped correlation gate according to the error covariance. If there is a trace falling into the fan-shaped correlation gate, execute step S33; if not, execute step S34;

[0034] S33: If there is a single trace falling into the fan-shaped correlation gate, consider this trace as the measurement trace of this target. If there are multiple traces falling into it, take the trace closest to the predicted point as the measurement trace of this track at the current moment, and regard other traces as new track heads waiting for association in the next scan;

[0035] Use the measurement trace and the predicted trace for α-β filtering, take the filtering result as the real trace at the current moment and associate it with the track, clear the track missed detection count, the track batch building is successful, and continue to execute step S32;

[0036] S34: If there is no trace falling into the gate, increment the missed detection count of this track by one. If the missed detection count reaches the threshold, destroy this track; otherwise, execute step S32.

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

[0038] In polar coordinates, the measurement of the target is the radial distance ρ and the azimuth angle θ. Let ρ k+1 and respectively represent the measured distance and the predicted distance at the k+1 moment, and θ k+1 , respectively represent the measured angle and the predicted angle at the k+1 moment. Then the sector gate criterion is:

[0039]

[0040] If (ρ, θ) satisfying the above formula falls within the gate, it is called a candidate echo. In the formula, and respectively represent the variance of the distance measurement error and the variance of the prediction error, and respectively represent the variance of the angle measurement error and the variance of the prediction error, and K ρ and K θ are the square roots of the parameters obtained from the χ 2 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 target search probability, the method of increasing the false alarm probability of the radar system is often adopted in engineering to obtain a lower detection threshold, so as to ensure that the target traces can be output with a high probability. However, a high false alarm probability will result in too many false tracks being output at the start of track initiation. When performing tracklet condensation, in order to avoid processing too many echo data at one time, the present invention considers a tracklet condensation method similar to the sector structure. The points within the scanning range are divided into several blocks according to the azimuth, one sector corresponds to a period of time, and the tracklet information is condensed into the grid in chronological order, and the grid is converted into the tracklet information we need at the end of one scan.

[0042] At the same time, in order to avoid splitting the same target into multiple targets and affecting the subsequent track batch building, when condensing the tracklets, the present invention combines several points with similar distance and azimuth into one point according to the amplitude. Such a tracklet condensation method avoids the situation of task failure caused by processing a large amount of data in a short time. In addition, by removing the small-amplitude tracklets when there are large-amplitude tracklets, the problem of too many false tracks caused by too high a false alarm rate can be effectively avoided. After the device is started, this method can automatically search and track the tracking target with the largest RCS. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is the flowchart of the echo data processing method for a radar seeker simulation task device of the present invention. Specific embodiments

[0044] The following further elaborates on the embodiments of the present invention in detail.

[0045] Embodiment 1

[0046] The present invention proposes a method for processing echo data of a radar seeker simulation task device. The flowchart is as Figure 1 shown below, and the working steps will be described in detail.

[0047] S1. The radar receives the echo signal, performs preprocessing, and generates point track 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 then sends it to the signal processing module.

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

[0050] S13: According to the pulse compression data obtained by the pulse compression processing method, perform coherent integration on the echo signals of the same range cell between pulses. For the signals after pulse compression within M repeated periods, according to the principle of the same range cell position, perform M-point FFT calculation on the reflected echoes at the same position to coherently integrate the energy of the echo signals with the same frequency components and obtain range-Doppler data.

[0051] S14: Perform constant false alarm rate detection on the echo signals after coherent integration, generate a message containing k point track data, including range and echo amplitude, and obtain the azimuth information corresponding to the point track according to the servo feedback.

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

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

[0054] S22: Scan the processed track data. Starting from the beginning of a scan, perform track condensation on the m frames of track data generated within a time interval of 40 ms, for the track condensation of S = {s0, s1, s2,..., s N}, where the track data s i = {r i , θ i , a i}, 0 ≤ i ≤ N, N represents the number of tracks within 40 ms, r i represents the distance of the i-th track, θ i represents the azimuth angle of the i-th track, and a i represents the amplitude information of the i-th track.

[0055] First, match the track data s i with the grids in the remaining area of the structure in step S21. If |r current - r i | ≤ τ, where τ is the allowable tolerance for distance error, 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 ; if θ i > θ right , θ right = θ i ; if θ i < θ left , θ left = θ i ; Num = Num + 1.

[0056] Conversely, 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 current scan circle reaches the boundary based on the angular information of the tracklet and the scanning direction. If it reaches the boundary of the current scan circle, after executing S22 once, perform point track condensation before track processing: Traverse the cells. If the information of the cell satisfies |θ left -θ right |≥θ threld_min , where θ threld_min represents the minimum threshold of the boundary angle difference indicating that the cell is a valid condensation point. Execute θ = θ maxa , r = r maxa , a = a max , and use it as the condensation point.

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

[0060] Convert the target amplitude a to the target power P 目标 = 20lg a, then the radar received 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. The intermediate gain is related to signal processing and the microwave module and is a constant value; G 功 is the receiving gain of the power amplifier. The power amplifier is a module of the radar whole machine equipment, and the receiving gain is a constant value and is related to the selected power amplifier; G 线 is the gain of the cable between the receiving power amplifier modules, and G 前 is the radar front-end attenuation.

[0061] Thus, obtain the RCS information of the condensation point: where R is the target distance, S r is the radar received power, P t is the radar transmitted power, G t is the antenna transmitting gain, G r is the antenna receiving gain, and f is the radar radio frequency.

[0062] S25: After obtaining the condensation points, sidelobe suppression is also required. The specific operation is as follows: 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 ij between the two points according to the distance r and the azimuth θ. If it satisfies r ij≤r threld , then the point with a larger amplitude value a is used as the new condensation point.

[0063] The meaning of sidelobe suppression is that after one circle of scanning

[0064] , for the condensation points with similar distances and azimuths, 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, that is, sidelobe suppression; the specific operation is to 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 ij between the two points according to the distance r and azimuth θ. If r ij ≤r threld , then the two points are condensed into the point with a larger amplitude value a.

[0065] S3. Perform track batch building based on the results of point condensation, including:

[0066] S31: Use the condensation point obtained from the first scan as the track head, and establish a circular correlation gate, that is, the distance Δr between the current point and the track head ≤ V max T s + r err , where T s is the time interval between two point traces, V max is the maximum speed of the target aircraft, and r err is the allowable error of the target aircraft.

[0067] The second scan point traces that satisfy the above circular correlation gate and whose amplitude is 0.8 - 1.2 times the amplitude of the track head are all used to establish tracks.

[0068] S32: Perform prediction extrapolation for each of the above tracks: Make a linear extrapolation based on the latest point and the previous point in the track to obtain the predicted point. Take the predicted point as the center and establish a sector - shaped correlation gate according to the error covariance. If there is a point trace falling within the sector - shaped correlation gate, then execute step S33; if not, then execute step S34.

[0069] Establish a sector - shaped correlation gate according to the error covariance, specifically:

[0070] In polar coordinates, the measurement of the target is the radial distance ρ and the azimuth angle θ. Let ρ k+1 and respectively represent the measured distance and the predicted distance at the (k + 1) - th moment, θ k+1 , Let \(\rho\) and \(\theta\) represent the measured angle and predicted angle at time \(k + 1\), respectively. Then the sector gate criterion is as follows:

[0071]

[0072] If \((\rho,\theta)\) satisfying the above equation falls within the gate, it is called a candidate echo. In the equation, and represent the variances of the range measurement error and prediction error, respectively, and represent the variances of the angle measurement error and prediction error, respectively. \(K_{1}\) ρ and \(K_{2}\) θ are the square roots of the parameters obtained from the \(\chi^{2}\) 2 distribution table.

[0073] S33: If there is a single trace falling within the sector correlation gate, then this trace is considered as the measurement trace of the target. If there are multiple traces falling within it, then the trace closest to the predicted point is taken as the measurement trace of the track at the current moment, and other traces are regarded as new track heads waiting for association in the next scan.

[0074] Use the measurement trace and predicted trace for \(\alpha-\beta\) filtering, take the filtering result as the true trace at the current moment and make an association with the track. The missed detection count of the track is cleared, the track batch building is successful, and step S32 is continued to be executed.

[0075] S34: If no trace falls within the gate, then the missed detection count of this track is incremented by one. If the missed detection count reaches the threshold, which is generally set to 1, then this track is destroyed. Otherwise, step S32 is executed.

[0076] S4. After multi - cycle search, determine the track of the target according to the track batch building result and the target RCS information;

[0077] S5. Switch to the tracking mode, repeat steps S2 - S3 for trace condensation and track batch building, and update the latest track of the tracked target.

[0078] This embodiment provides a method for processing echo data of a radar seeker simulation task device, which can receive and process its own radiation source echo signals, can perform active target detection, simulate the threat target of an enemy air - borne seeker for ship - borne electronic warfare interference equipment. At the same time, the device can collect loop signals and support online and offline methods for effect evaluation.

[0079] 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. Any technical solutions obtained by means of equivalent replacement or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A method for processing echo data of a radar seeker simulation task device, comprising the following steps: S1. The radar receives an echo signal, performs preprocessing, and generates track data; S2. Perform track condensation on the processed track data; S3. Based on the result of track condensation, establish a track batch; S4. After multi-week search, determine the target track according to the track batch result and the target RCS information; S5. Switch to the tracking mode, repeat steps S2 to S3 for track condensation and track batch establishment, and update the latest track of the tracking target; It is characterized in that, in step S2, when processing the track data, the specific steps for performing track condensation after processing are as follows: S21: Open a structure. This structure is equivalent to a grid, and the elements of the grid include: distance r current , distance r of the point with the maximum amplitude maxa , number of merged traces Num, cumulative angle amplitude left boundary angle θ left , right boundary angle θ right , maximum amplitude a max , azimuth angle θ corresponding to the point with the maximum amplitude maxa ; S22: Scan the processed track data. Starting from the beginning of a scan cycle, periodically perform track condensation on m frames of track data S = {s0, s1, s2,..., s N} generated within a certain time interval, where the track data s i = {r i , θ i , a i}, 0 ≤ i ≤ N, N represents the number of tracks within a certain time interval, r i represents the distance of the i-th track, θ i represents the azimuth angle of the i-th track, and a i represents the amplitude information of the i-th track; Track data s i First, match with the cells in the remaining area of the structure in step S21. If |r current -r i |≤τ, where τ is the allowable tolerance of distance error, then the matching is successful and the cell 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 ; if θ i > θ right , θ right = θ i ; if θ i < θ left , θ left = θ i ; Num = Num + 1; Conversely, create a new grid and update the data to the new grid: 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; S23: Determine whether the scan of this circle reaches the boundary based on the angle information of the plot and the scanning direction. If it reaches the boundary of the scan of this circle, after executing S22 once, perform plot condensation before track processing: traverse the grid. If the information of the grid satisfies |θ left -θ right |≥θ threld_min , where θ threld_min represents 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 , and use it as the condensation point.

2. The echo data processing method of a radar seeker simulation task device according to claim 1, characterized in that After obtaining the condensation points in step S2, sidelobe suppression is still required. The specific operation is as follows: 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 ij between the two points according to the distance r and the azimuth θ. If r ij ≤r threld , then select the point with the larger amplitude value a as the new condensation point.

3. The echo data processing method of a radar seeker simulation task device according to claim 1, wherein After obtaining the condensed points in step S2, the following processing is also required: Convert the target amplitude a to the target power P 目标 = 20lg a, 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 cable between each module of the power amplifier, 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 received power, P t is the radar transmitted power, G t is the antenna transmit gain, G r is the antenna receive gain, and f is the radar radio frequency.

4. The echo data processing method of a radar seeker simulation task device according to claim 1, characterized in that The specific steps for the radar in step S1 to receive the echo signal, perform preprocessing, and generate track data are as follows: 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: Use a pulse compression processing method based on a time-domain processing algorithm for the digital echo signal, that is, use a filter matching 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, perform coherent accumulation on the echo signals of the same range cell between pulses. For the signals after pulse compression within M repeated periods, according to the principle of the same position of the range cell, perform M-point FFT calculation on the reflected echoes at the same position to coherently accumulate the energy of the echo signals with the same frequency component, and obtain range-Doppler data; S14: Perform constant false alarm rate detection on the echo signal after coherent accumulation, generate a message containing k track data points, including range and echo amplitude, and know the azimuth information corresponding to the track points according to the servo feedback.

5. The echo data processing method of a radar seeker simulation task device according to claim 1, wherein, The specific steps for establishing a track batch based on the result of track condensation in step S3 are as follows: S31: Use the condensation point obtained from the first scan as the track head, and establish a circular correlation gate, that is, the distance Δr between the current point and the track head satisfies Δr ≤ V max T s +r err , where T s is the time interval between two point traces, V max is the maximum speed of the target drone, and r err is the allowable error of the target drone; All the second scan track points that meet the above circular correlation gate and whose amplitude is 0.8 to 1.2 times the amplitude of the track head establish tracks; S32: Perform prediction extrapolation on each of the above tracks: Make a linear extrapolation based on the latest point and the previous point in the track to obtain a predicted point. With the predicted point as the center, establish a fan-shaped correlation gate according to the error covariance. If there is a track point falling into the fan-shaped correlation gate, execute step S33; if not, execute step S34; S33: If there is a single track point falling into the fan-shaped correlation gate, it is considered that this track point is the measurement track point of this target. If there are multiple track points falling into it, take the track point closest to the predicted point as the measurement track point of this track at the current moment, and regard other track points as new track heads waiting for association in the next scan; Use the measurement track point and the predicted track point for α-β filtering, take the filtering result as the true track point at the current moment and associate it with the track, clear the number of missed track points, the track batch establishment is successful, and continue to execute step S32; S34: If there is no track point falling into the gate, the number of missed track points of this track is incremented by one. If the number of missed track points reaches the threshold, destroy this track; otherwise, execute step S32.

6. The echo data processing method of a radar seeker simulation task device according to claim 5, characterized in that, In step S32, a sector correlation gate is established based on the error covariance, specifically as follows: In polar coordinates, the measurements of the target are the radial distance ρ and the azimuth angle θ. Let ρ k+1 and represent the measured distance and the predicted distance at time k + 1 respectively, and θ k+1 , represent the measured angle and the predicted angle at time k + 1 respectively. Then the sector gate criterion is: (ρ, θ) that satisfies the above equation falling into the gate is called a candidate echo. In the formula, and represent the variances of the distance measurement error and the prediction error respectively, and represent the variances of the angle measurement error and the prediction error respectively. K ρ and K θ are the square roots of the parameters obtained from the χ 2 distribution table.

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