Unmanned construction system for aviation weapon ground live ammunition striking training environment

Abstract

The invention provides an unmanned construction system for an aviation weapon live ammunition striking training environment to the ground. The unmanned construction system comprises target setting equipment, microwave detection equipment, a control tower control analysis system, a Beidou differential base station and a wireless communication network, the target setting equipment is used for designing target types with different shapes in a target range; the microwave detection equipment is used for detecting a bullet drop point of the aerial weapon for ground target live bullet shooting; the control tower control analysis system is used for pre-editing a ground target type in a target range map by a group trainee; the control tower control analysis system calculates an optimal detection position and a detection airspace, and generates a maneuvering route and a detection direction of the microwave detection equipment; the Beidou differential base station provides position correction data for the microwave detection equipment and the target setting equipment; and the wireless communication network is used for providing data communication between the target setting equipment and the microwave detection equipment and the control tower control analysis system. According to the invention, the convenience of installation and removal is well realized, the objectivity of detection and statistics results is realized, and the working safety is guaranteed.

Description

Technical Field

[0001] The present invention relates to a system for unmanned construction of an actual live ammunition strike training environment for aviation weapons against the ground. Background Art

[0002] Deployment and adjustment are relatively cumbersome during the deployment process, which requires a large amount of personnel support and has a high safety risk. The construction of ground targets basically relies on support personnel entering the impact area and setting up operating tools; for the impact point detection equipment, there are high requirements for the positional accuracy between components, and it cannot be moved after deployment, resulting in a fixed shooting direction. There are also certain defects in aspects such as the applicable environment and dud detection, and there is no supporting visual performance analysis and evaluation system.

[0003] Currently, the implementation methods for actual live ammunition shooting and target detection of aviation airborne weapons against the ground are as follows:

[0004] In the invention patent "A Method for Measuring the Ballistic Trajectory in the Descent Stage by a Staring Radar", an S-band linear frequency modulation continuous wave system is adopted, with 1 transmitting antenna and 1 receiving antenna array. The transmitting antenna is located above the receiving antenna array, and the receiving antenna is a 2×2 square array in a cross shape. It can be manually adjusted in azimuth and elevation. Moving Target Detection (MTD) is used to detect the warhead target, obtain the distance and speed of the warhead, and fuse the radar attitude information obtained by its own sensors to estimate the ballistic parameters of the warhead in the descent stage. The trajectory extrapolation algorithm is used to calculate the impact point of the warhead.

[0005] In this patent, the deployment method of the detection position and detection area requires manual operation and adjustment, and does not have the function of unmanned autonomous operation.

[0006] In the article "Airborne Artillery Ground Attack Training Projectile Impact Point Large Range Detection Laser Target", an impact point detection and positioning target based on the principle of high repetition rate pulsed laser ranging. Several laser target surfaces are configured at appropriate positions above the ground target according to a certain geometric relationship, and detection and positioning are carried out when the projectile passes through the laser target surface, so as to analyze the terminal ballistic trajectory of the projectile and the impact point position on the ground target.

[0007] In this article, it is necessary to manually deploy the detection equipment, and the impact of strong light is relatively large during the detection process, and the actual live ammunition shooting direction is relatively fixed.

[0008] In summary, there are no related products involving an actual live ammunition shooting environment for aviation troops with functions of unmanned layout of the training scene, autonomous selection of the optimal detection position and detection airspace, and high-precision detection of the projectile impact point. Summary of the Invention

[0009] Objective of the Invention: The technical problem to be solved by the present invention is to provide an unmanned construction system for the live ammunition strike training environment of aviation weapons against the ground in view of the deficiencies of the prior art, including a target setting device, a microwave detection device, a tower control and analysis system, a Beidou differential reference station, and a wireless communication network;

[0010] The target setting device is used to design different-shaped target types in the ground range. The target setting device is controlled by the command of the tower control and analysis system, automatically moves to the position of the ground target bull's-eye in the live ammunition shooting area, draws ground targets of different shapes, and remotely observes through the monitoring device;

[0011] The microwave detection device is used for detecting the impact points of live ammunition shooting of aviation weapons against ground targets. The microwave detection device automatically maneuvers to the detection position, adjusts the detection airspace, and real-time tracks the flight trajectory of the projectile in the terminal stage, and accurately calculates the position of the impact point;

[0012] The tower control and analysis system enables the training organizers to pre-edit the ground target types in the ground range map and generate the drawing path of the target setting device; the tower control and analysis system calculates the optimal detection position and detection airspace, generates the maneuvering route and detection direction of the microwave detection device; the tower control and analysis system real-time statistics the shooting scores of the trainees and displays them according to grouping and classification;

[0013] The Beidou differential reference station is connected to the wireless communication network to provide position correction data for the microwave detection device and the target setting device;

[0014] The wireless communication network is used to provide data communication between the target setting device and the microwave detection device and the tower control and analysis system.

[0015] The system completes the unmanned construction of the training environment through the following steps:

[0016] Step 1: After the training task is issued, the tower control and analysis system loads the high-precision map of the range. The training organizers pre-edit the shape and position of the ground target on the map through the target setting device, automatically extract the outline of the target, and then the target setting device draws the movement trajectory of the ground target;

[0017] Step 2: The tower control and analysis system issues a control command, and the target setting device automatically moves to the position of the ground target bull's-eye in the impact area to complete the drawing of the ground target;

[0018] Step 3: According to the attack direction and dive angle of each round of shooting subjects, the tower control and analysis system calculates the optimal detection position and detection airspace, and drives the microwave detection device to automatically move to the detection position and adjust the pitch and azimuth detection angles;

[0019] Step 4: The microwave detection device collects the terminal flight data of a single projectile or more than two projectiles in real time. After calculation, the impact point position is transmitted back to the tower control and analysis system in real time.

[0020] Step 5: The tower control and analysis system displays the impact point position in real time, and displays it classified according to the subjects and establishment.

[0021] Step 6: According to the change of the shooting subject, repeat Step 2 to Step 5.

[0022] Step 3 includes: The optimal detection position is on the vertical plane of the live firing direction and the ground. Combining the ground target position and the maximum detection distance, the optimal detection position of the microwave detection device is determined.

[0023] Step 4 includes: Adopting a multi-model fusion impact point target inspection algorithm, according to the number of acquisition points on the projectile flight trajectory, respectively select the parabolic approximation extrapolation method, the least square fitting extrapolation method and the non-linear filtering method to describe and match the actual flight state of the projectile, assign different weight coefficients, and continuously iterate to obtain more than two impact point position coordinates. After multiplying the above impact point position coordinates by the weight coefficients and performing weighted averaging, the impact point position is obtained.

[0024] In Step 4, let n represent the number of microwave sampling points, and the non-linear filtering impact point pre-target inspection result is R f , R f corresponding weight is W f ; while the impact point pre-target inspection results of the parabolic two-point ballistic extrapolation and the least square fitting are R z , R z corresponding weight is W z , then the final impact point pre-target inspection result R is:

[0025] R = R f W f + R z W z

[0026] By performing weighted averaging on the pre-target inspection results, the prediction deviation of the non-linear filtering when the microwave sampling data is less is reduced, and the accuracy of the impact point prediction is improved. In the initial stage when the microwave detection device tracks the projectile, the error of the filtering algorithm for predicting the impact point is relatively large. Therefore, W f takes a smaller value; as the number of microwave sampling points increases, the error of the filtering algorithm for predicting the impact point gradually converges and becomes smaller and smaller, then W f gradually increases. The weight setting method is as follows:

[0027]

[0028] Among them, the intermediate parameters a and b are determined by combining the projectile target and the ground range environment.

[0029] The microwave detection front-end adopts a wide transmission and narrow reception method. The front-end includes one transmitting antenna and one L-shaped receiving array. The receiving array adopts an L-shaped configuration, and the number of receiving channels is M + N - 1. The values of intermediate parameters M and N are determined by combining the beam width and scanning range. The transmitting antenna is located at the diagonal position of the receiving antenna according to spatial isolation.

[0030] The present invention also provides a storage medium storing a computer program or instruction. When the computer program or instruction is run, the method of steps 1 to 6 is implemented.

[0031] Through wide transmission and narrow reception, one transmission and M + N - 1 receptions, and an L-shaped receiving front-end, the present invention uses a multi-model fusion algorithm for real-time accurate calculation. The detection device can be deployed unmanned and can independently select the optimal detection position and detection airspace.

[0032] Beneficial effects: When the system of the present invention is configured in a ground firing range and an airborne weapon air-to-ground live firing training mission is carried out, the ground target is deployed unmanned, reducing the probability of personnel entering the impact area, effectively reducing the workload of support, and eliminating the risk of personnel entering the impact area. The performance perception device is highly integrated and can independently adjust the detection area to meet the requirements of live firing of multiple ammunition types, multiple calibers, and all angles, accurately detecting the impact point position of the ammunition, effectively eliminating the harm of dud ammunition, and preferably solving the problems of convenience in installation and removal, objectivity of detection and statistical performance, and safety of support work. Description of the Drawings

[0033] The following further specifically describes the present invention in conjunction with the drawings and specific embodiments, and the above and / or other advantages of the present invention will become clearer.

[0034] Figure 1 It is a scene layout diagram.

[0035] Figure 2 It is a system composition diagram.

[0036] Figure 3 It is a schematic diagram of the target setting device.

[0037] Figure 4 It is a schematic diagram of the microwave detection device.

[0038] Figure 5 It is a schematic diagram of the system principle of the present invention.

[0039] Figure 6 It is a flow chart of the algorithm involved in the system of the present invention.

[0040] Figure 7 It is a schematic diagram of the microwave detection front-end.

[0041] Figure 8 It is a schematic diagram of the principle for determining the optimal detection. Detailed Embodiments

[0042] The present invention provides a system for unmanned construction of an actual live-fire ground strike training environment for aviation weapons, including a target setting device, a microwave detection device, a tower control and analysis system, a Beidou differential reference station, and a wireless communication network;

[0043] The target setting device is used to design target types of different shapes in the ground range. The target setting device is controlled by the instructions of the tower control and analysis system, automatically moves to the center position of the ground target in the actual live-fire shooting area, draws ground targets of different shapes, and remotely observes through a monitoring device;

[0044] The microwave detection device is used for detecting the impact point of an actual live-fire shooting of an aviation weapon on a ground target. The microwave detection device automatically maneuvers to the detection position, adjusts the detection airspace, real-time tracks the flight trajectory of the projectile in the terminal stage, and accurately calculates the position of the impact point;

[0045] The tower control and analysis system allows the training organizer to pre-edit the ground target type in the ground range map and generate the drawing path of the target setting device; the tower control and analysis system calculates the optimal detection position and detection airspace, generates the maneuvering route and detection direction of the microwave detection device; the tower control and analysis system real-time statistics the shooting scores of the trainees and displays them according to grouping and classification;

[0046] The Beidou differential reference station is connected to the wireless communication network and provides position correction data for the microwave detection device and the target setting device;

[0047] The wireless communication network is used to provide data communication between the target setting device and the microwave detection device and the tower control and analysis system.

[0048] The system completes the unmanned construction of the training environment through the following steps:

[0049] Step 1: After the training task is issued, the tower control and analysis system loads the high-precision map of the range. The training organizer pre-edits the shape and position of the ground target on the map through the target setting device, automatically extracts the outline of the target, and then the target setting device draws the movement trajectory of the ground target;

[0050] Step 2: The tower control and analysis system issues a control instruction, and the target setting device automatically moves to the center position of the ground target in the impact area to complete the drawing of the ground target;

[0051] Step 3: According to the attack direction and dive angle of each round of shooting subject, the tower control and analysis system calculates the optimal detection position and detection airspace, and drives the microwave detection device to automatically move to the detection position and adjust the pitch and azimuth detection angles;

[0052] Step 4: The microwave detection device collects the end - stage flight data of a single projectile or more than two projectiles in real time. After calculation, it transmits the position of the impact point back to the tower control and analysis system in real time;

[0053] Step 5: The tower control and analysis system displays the position of the impact point in real time, and displays it classified according to the subject and establishment;

[0054] Step 6: According to the change of the shooting subject, repeat Steps 2 to 5.

[0055] Step 3 includes: The optimal detection position is on the vertical plane of the live - fire shooting direction and the ground. Combining the position of the ground target and the maximum detection distance, the optimal detection position of the microwave detection device is determined. As Figure 8 shown.

[0056] Step 4 includes: Adopting a multi - model fusion impact point target inspection algorithm, according to the number of acquisition points on the projectile flight trajectory, respectively select the parabolic approximation extrapolation method, the least - squares fitting extrapolation method, and the non - linear filtering method to describe and match the actual flight state of the projectile, assign different weight coefficients, and continuously iterate to obtain the coordinate positions of more than two impact points. After multiplying the above - mentioned impact point coordinate positions by the weight coefficients and performing weighted averaging, the position of the impact point is obtained.

[0057] In Step 4, as Figure 6 shown, use n to represent the number of microwave sampling points, the non - linear filtering impact point pre - target inspection result is R f , R f corresponds to the weight value W f ; while the impact point pre - target inspection results of the two - point ballistic extrapolation of the parabola and the least - squares fitting are R z , R z corresponds to the weight value W z , then the final impact point pre - target inspection result R is:

[0058] R = R f W f + R z W z

[0059] By performing weighted averaging on the pre - target inspection results, the prediction deviation of the non - linear filtering when the microwave sampling data is less is reduced, and the accuracy of the impact point prediction is improved. In the initial stage when the microwave detection device tracks the projectile, the error of the filtering algorithm for predicting the impact point is relatively large. Therefore, W f takes a smaller value; as the number of microwave sampling points increases, the error of the filtering algorithm for predicting the impact point gradually converges and becomes smaller and smaller, then W f gradually increases. The method for setting the weight value is as follows:

[0060]

[0061] Among them, intermediate parameters a and b are determined by combining the projectile target and the ground range environment.

[0062] The microwave detection front adopts the method of wide emission and narrow reception. The front includes 1 transmitting antenna and 1 L-shaped receiving array. The receiving array adopts an L-shaped configuration, and the number of receiving channels is M + N - 1. The values of intermediate parameters M and N are determined by combining the beam width and the scanning range; the transmitting antenna is located at the diagonal position of the receiving antenna according to spatial isolation.

[0063] Embodiment

[0064] This embodiment provides a system for unmanned construction of an air-to-ground live ammunition strike training environment. By integrating devices such as target setting and result perception through an intelligent scheduling of a control analysis system into a complete unmanned system, it realizes an air-to-ground live ammunition shooting training environment with unmanned deployment of equipment, highly integrated detection equipment, and real-time and accurate result perception, and maximally solves the convenience of installation and removal and the objectivity of detecting and counting results, providing unmanned intelligent guarantee conditions for the air-to-ground live ammunition strike training of the aviation force.

[0065] The system of the present invention includes a target setting device 1, a microwave detection device 2, a tower control analysis system 3, a wireless communication network 4, and a Beidou differential base station 5. The Beidou differential base station 5 is connected to the wireless communication network 4 by wire, and the target setting device 1 and the microwave detection device 2 are connected to the tower control analysis system 3 through the wireless communication network 4, forming a complete live ammunition strike unmanned system, providing target setting, result perception, and analysis and evaluation for the air-to-ground live ammunition shooting training of aviation airborne weapons;

[0066] The target setting device 1 integrates a moving platform 1-1, a spraying device 1-2, and a monitoring device 1-3. The spraying device 1-2 and the monitoring device 1-3 are installed above the moving platform 1-1 and are connected by wire. The device can automatically move to the center position of the ground target in the live ammunition shooting area, draw ground targets of different shapes, and remotely observe through the monitoring device 1-3.

[0067] The microwave detection device 2 integrates a mobile adjustment platform 2-1, an information processing center 2-2, and a microwave detection front 2-3. The information processing center 2-2 and the microwave detection front are installed on the mobile adjustment platform 2-1 and are connected by wire. The mobile adjustment platform 2-1 is used to complete the autonomous movement within the equipment area and the automatic adjustment of the azimuth and elevation angles, and carry the information processing center 2-2 and the microwave detection front 2-3 to move to the optimal detection position and detection airspace; the microwave detection front 2-3 is used to transmit and receive electromagnetic waves, and track the flight trajectory of the projectile in the terminal stage in real time, and accurately calculate the position of the impact point by the information processing center 2-2.

[0068] The tower control analysis system 3 can construct a ground target in a three-dimensional scene according to the training task and generate the drawing path of the target setting device 1; calculate the optimal detection position and airspace according to the shooting subject, and generate the maneuvering route and adjustment amount of the microwave detection device 2; and statistically count the battle results information of the trainees in real time and display it in groups and categories.

[0069] The Beidou differential reference station 5 is connected to the wired and wireless communication networks to provide position correction data for the microwave detection device and the target setting device.

[0070] The wireless communication network 4 is used to provide data communication between the target setting device 1, the microwave detection device 2 and the tower control analysis system 3.

[0071] The steps for unmanned construction of the training environment are as follows:

[0072] Step 1: After the training task is issued, the tower control analysis system 3 loads the high-precision map of the shooting range, sets the shape and position of the ground target on the map, and plans the movement trajectory of the target setting device 1 to draw the ground target.

[0073] Step 2: According to the control instruction issued by the tower control analysis system 3, the target setting device 1 automatically moves to the bull's-eye position of the ground target in the impact area to complete the drawing of the ground target.

[0074] Step 3: The tower control analysis system 3 calculates the optimal detection position and airspace based on the attack direction and dive angle of each round of shooting subject, and drives the microwave detection device 2 to automatically move to the detection position and adjust the pitch and azimuth detection angles.

[0075] Step 4: The microwave detection device 2 real-time collects the end-section flight data of single or multiple projectiles. After being solved by the information processor of the microwave detection device 2, the impact point position is real-time transmitted back to the tower control analysis system 3.

[0076] Step 5: The tower control analysis system 3 real-time displays the impact point position and conducts firepower strike ability analysis and evaluation in combination with the shooting attitude of the weapon equipment.

[0077] Step 6: According to the change of the shooting subject, repeat steps 2 to 5.

[0078] The accurate positioning of the impact point position in step 4 adopts a multi-model fusion impact point detection algorithm. According to the number of acquisition points on the projectile flight trajectory, different models such as the parabolic approximation extrapolation method, the least squares fitting extrapolation method and the non-linear filtering method are respectively selected to describe and match the actual flight state of the projectile. Different weight coefficient are assigned to each model, and through continuous iteration, the weighted average of the two or more impact point position coordinates multiplied by the weight coefficient is obtained to get the impact point position. The algorithm flow chart is as Figure 6 shown:

[0079] The microwave detection front 2-3 adopts a wide transmission and narrow reception method. The front includes a transmitting antenna and an L-shaped receiving array. The receiving array adopts an L-shaped configuration, and the number of receiving channels is M+N-1; the transmitting antenna is spatially isolated and located at the diagonal position of the receiving antenna, as Figure 7 shown;

[0080] The principle of the present invention is as Figure 1 , Figure 2 , Figure 3 , Figure 4 shown. The system includes a target setting device 1, a microwave detection device 2, a tower control and analysis system 3, a Beidou differential reference station 4, and a wireless communication network 5. Among them, the target setting device 1 includes a moving platform 1-1 and a spraying device 1-2, and the microwave detection device 2 includes a mobile adjustment platform 2-1, an information processing center 2-2, and a microwave detection front 2-3;

[0081] After the training task is determined, on the tower control and analysis system 3 of the ground range, the training plan is edited, and the wireless communication network 5 and the Beidou differential station 4 are set up in the outer field of the ground range;

[0082] The microwave detection device 2, the target setting device 1, and the tower control and analysis system 3 are connected through the wireless communication network 5, and the position information of the microwave detection device 2 and the target setting device 1 is initialized;

[0083] In the three-dimensional map of the tower control and analysis system 3, a ground target is constructed, the maneuvering command and the drawing command of the target setting device 1 are generated, the target setting device 1 is driven to move to the center position of the ground target, and according to the ground target drawing trajectory planned by the tower control and analysis system 3, the target setting device 1 automatically moves along the trajectory while spraying the ground target contour, and observes the drawing status through the monitoring device 1-3 for auxiliary management and control.

[0084] After each round of shooting subjects is issued, the tower control and analysis system 3 calculates the optimal detection position and airspace according to information such as the attack direction, dive angle, and geographical location. The information processing center of the microwave detection device 2 plans the movement path in real time, autonomously moves to the target position, adjusts the orientation of the microwave detection front 2-3, and scans the impact area. The data of the speed, distance, azimuth, and pitch of single-shot or multiple-shot salvo projectiles are detected and calculated and sent to the information processing center 2-2 of the microwave detection device. The information processing center 2-2 calculates the impact point coordinates.

[0085] After each round of shooting actions is completed, the battle result information is uploaded to the tower control and analysis system 3 for grouped and classified visual display.

[0086] After this round of shooting subjects is completed, the next round of shooting subjects training is entered, and the microwave detection device 2 re-searches for the optimal detection position and airspace.

[0087] The present invention provides a system for unmanned construction of an air weapon live-fire strike training environment against the ground. There are many methods and ways to specifically implement this technical solution. The above description is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention. Each component not clearly defined in this embodiment can be implemented by using existing technologies.

Claims

1. An unmanned construction system for aviation weapon live-fire ground strike training environment, characterized in that: Includes target setting equipment, microwave detection equipment, tower control and analysis system, Beidou differential reference station and wireless communication network; The target setting device is used to design targets of different shapes at the ground shooting range. The target setting device is controlled by the tower control and analysis system command, automatically moves to the bull's eye position of the ground target in the live-fire shooting area, draws ground targets of different shapes, and remotely observes through the monitoring device; The microwave detection equipment is used for detecting the impact point of live ammunition fired by aviation weapons at ground targets. The microwave detection equipment automatically maneuvers to the detection position, adjusts the detection airspace, tracks the terminal flight trajectory of the projectile in real time, and accurately calculates the impact point position.

2. The system according to claim 1, characterized in that The tower control and analysis system allows trainers to pre-edit ground target types in the ground target site map and generate a drawing path for target setting equipment; the tower control and analysis system calculates the optimal detection position and detection airspace and generates a maneuvering route and detection direction for microwave detection equipment; The tower control and analysis system counts the shooting scores of the trainees in real time and displays them by group and category.

3. The system according to claim 2, characterized in that The Beidou differential reference station is connected to the wireless communication network to provide position correction data for the microwave detection equipment and the target setting equipment.

4. The system according to claim 3, characterized in that The wireless communication network is used to provide data communication between the target setting equipment and the microwave detection equipment and the tower control and analysis system.

5. The system according to claim 4, characterized in that The system completes the unmanned construction of the training environment through the following steps: Step 1: After the training task is issued, the tower control and analysis system loads the high-precision map of the shooting range. The trainer pre-edits the shape and position of the ground target on the map through the target setting device, automatically extracts the target outline, and then the target setting device draws the movement trajectory of the ground target; Step 2: the tower control and analysis system issues a control command, and the target setting device automatically moves to the center of the ground target in the drop zone to complete the ground target drawing; Step 3: According to the attack direction and dive angle of each round of shooting, the tower control and analysis system calculates the optimal detection position and detection airspace, drives the microwave detection equipment to automatically move to the detection position and adjusts the pitch and azimuth detection angles; Step 4: The microwave detection equipment collects the terminal flight data of a single or two or more projectiles in real time, and after calculation, transmits the impact point position back to the tower control and analysis system in real time; Step 5: The tower control and analysis system displays the location of the bomb drop point in real time, classified by subject and compilation; Step 6: Repeat steps 2 to 5 according to the changes in the shooting course.

6. The system according to claim 5, characterized in that Step 3 includes: the optimal detection position of the microwave detection equipment is determined by combining the ground target position and the maximum detection distance with the optimal detection position on the vertical plane between the live-fire shooting direction and the ground.

7. The system according to claim 6, characterized in that Step 4 includes: using a multi-model fusion landing point detection algorithm, according to the number of collected points on the projectile flight trajectory, respectively selecting the parabola approximate extrapolation method, the least squares fitting extrapolation method and the nonlinear filtering method to describe and match the actual flight state of the projectile, assigning different weight coefficients, and continuously iterating to obtain more than two landing point position coordinates, multiplying the above landing point position coordinates by the weight coefficients and performing weighted averaging to obtain the landing point position.

8. The system according to claim 7, characterized in that In step 4, n is used to represent the number of microwave sampling points, and the nonlinear filter landing point pre-detection target result is R f , R f The corresponding weight is W f ; The result of the parabola two-point trajectory extrapolation and least square fitting for the landing point preview target is R z , R z The corresponding weight is W z , then the final landing point pre-detection target result R is: R=R f W f +R z W z By weighted averaging the pre-detection target results, the prediction deviation of the nonlinear filter when the microwave sampling data is small is reduced, and the accuracy of the landing point prediction is improved. In the initial stage of microwave detection equipment tracking the projectile, the error of the filtering algorithm in predicting the landing point is large. Therefore, W f The value is small; and as the number of microwave sampling points increases, the error of the filtering algorithm's landing point prediction gradually converges and becomes smaller and smaller, then W f Gradually increase, the weight setting method is as follows: Among them, the intermediate parameters a and b are determined in combination with the projectile target and the ground shooting range environment.

9. The system according to claim 8, characterized in that The microwave detection array adopts a wide-transmit and narrow-receive method. The array includes one transmitting antenna and one L-shaped receiving array. The receiving array adopts an L-shaped configuration. The number of receiving channels is M+N-1. The values ​​of intermediate parameters M and N are determined in combination with the beam width and the scanning range. The transmitting antenna is spatially isolated and located diagonally opposite to the receiving antenna.

10. A storage medium, characterized in that: A computer program or instruction is stored, and when the computer program or instruction is executed, the method of steps 1 to 6 in claim 5 is implemented.

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